(cam_coord, intrinsic_param)
| 283 | |
| 284 | |
| 285 | def cam2pixel_matrix(cam_coord, intrinsic_param): |
| 286 | cam_coord = cam_coord.transpose(1, 0) |
| 287 | cam_homogeneous_coord = np.concatenate((cam_coord, np.ones((1, cam_coord.shape[1]), dtype=np.float32)), axis=0) |
| 288 | img_coord = np.dot(intrinsic_param, cam_homogeneous_coord) / (cam_coord[2, :] + 1e-8) |
| 289 | img_coord = np.concatenate((img_coord[:2, :], cam_coord[2:3, :]), axis=0) |
| 290 | return img_coord.transpose(1, 0) |
| 291 | |
| 292 | |
| 293 | def pixel2cam(pixel_coord, f, c): |