Function initK

dataset_loaders/load_7Scenes.py:69–74

(f, cx, cy)

    return (0 < p[0]) & (p[0] < x_res) & (0 < p[1]) & (p[1] < y_res)

def initK(f, cx, cy):
    K = np.eye(3, 3)
    K[0, 0] = K[1, 1] = f
    K[0, 2] = cx
    K[1, 2] = cy
    return K

def generate_sampling_frustum(step, depth, K, f, cx, cy, x_res, y_res):
    x_max = depth * (x_res - cx) / f