(entry)
| 167 | |
| 168 | |
| 169 | def entry_convert(entry): |
| 170 | intrinsic = np.array([entry[2], 0., entry[4], |
| 171 | 0., entry[3], entry[5], |
| 172 | 0., 0., 1.]).reshape(3, 3) |
| 173 | |
| 174 | pose = np.eye(4) |
| 175 | pose[:3, :3] = np.array(entry[6:15]).reshape(3, 3) |
| 176 | pose[:3, 3] = np.array(entry[15:]).reshape(3) |
| 177 | |
| 178 | return pose, intrinsic |
| 179 | |
| 180 | def fundamental_matrix_gen(Tcw1, Tcw2, K1, K2): |
| 181 |