Set intrinsic and extrinsic of a camera. Args: K_mat (np.ndarray): In shape [3, 3]. R_mat (np.ndarray): Rotation from world to view in default. In shape [3, 3]. T_vec (np.ndarray): Translatio
(self,
K_mat: np.ndarray,
R_mat: np.ndarray,
T_vec: np.ndarray,
inverse_extrinsic: bool = False)
| 125 | return dist_coeffs |
| 126 | |
| 127 | def set_KRT(self, |
| 128 | K_mat: np.ndarray, |
| 129 | R_mat: np.ndarray, |
| 130 | T_vec: np.ndarray, |
| 131 | inverse_extrinsic: bool = False) -> None: |
| 132 | """Set intrinsic and extrinsic of a camera. |
| 133 | |
| 134 | Args: |
| 135 | K_mat (np.ndarray): |
| 136 | In shape [3, 3]. |
| 137 | R_mat (np.ndarray): |
| 138 | Rotation from world to view in default. |
| 139 | In shape [3, 3]. |
| 140 | T_vec (np.ndarray): |
| 141 | Translation from world to view in default. |
| 142 | In shape [3,]. |
| 143 | inverse_extrinsic (bool, optional): |
| 144 | If true, R_mat and T_vec transform a point |
| 145 | from view to world. Defaults to False. |
| 146 | """ |
| 147 | k_shape = K_mat.shape |
| 148 | assert k_shape[0] == k_shape[1] == 3 |
| 149 | r_shape = R_mat.shape |
| 150 | assert r_shape[0] == r_shape[1] == 3 |
| 151 | assert T_vec.ndim == 1 and T_vec.shape[0] == 3 |
| 152 | self.set_mat_np('in_mat', K_mat) |
| 153 | if inverse_extrinsic: |
| 154 | R_mat = np.linalg.inv(R_mat) |
| 155 | T_vec = -np.dot(R_mat, T_vec).reshape((3)) |
| 156 | self.set_mat_np('rotation_mat', R_mat) |
| 157 | self.set_value('translation', T_vec.tolist()) |
| 158 | |
| 159 | def get_KRT(self, k_dim=3) -> List[np.ndarray]: |
| 160 | """Get intrinsic and extrinsic of a camera. |
nothing calls this directly
no test coverage detected