(cam_coord, f, c)
| 275 | |
| 276 | |
| 277 | def cam2pixel(cam_coord, f, c): |
| 278 | x = cam_coord[:, 0] / (cam_coord[:, 2] + 1e-8) * f[0] + c[0] |
| 279 | y = cam_coord[:, 1] / (cam_coord[:, 2] + 1e-8) * f[1] + c[1] |
| 280 | z = cam_coord[:, 2] |
| 281 | img_coord = np.concatenate((x[:, None], y[:, None], z[:, None]), 1) |
| 282 | return img_coord |
| 283 | |
| 284 | |
| 285 | def cam2pixel_matrix(cam_coord, intrinsic_param): |
no outgoing calls
no test coverage detected