U W`}f@s0ddlZddlmZddZddZddZdS) N)normcCs,|j\}}tjd|ftd}|dkr4d\}} } } } n|\}} } } } |dd} |dd}|dd}|dd}|dddf}|dddf}|dddf}t|ddddfdd}t||}t||}|d|d}|d||| |d| |dd| ||| |d|d}|d||| |d| |d| |d|dd| ||}| |||dddf<||||dddf<|dk}t|dddfdk|dddf|k}t|dddfdk|dddf|k}t|t||}|||fS)  Projects a list of points to the camera defined transform, intrinsics and distortion :param intrinsic_matrix: 3x3 intrinsic camera matrix :param distortion: should be as follows: (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) :param width: the image width :param height: the image height :param pts: a list of point coordinates (in the camera frame) with the following format: np array 4xn or 3xn :return: a list of pixel coordinates with the same length as pts )dtypeNrrrrrr)axis)shapenpzerosfloatrdivide logical_and)intrinsic_matrix distortionwidthheightpts_n_ptspixsk1k2p1p2k3fxfycxcyxyzdistsxlylr2xllyllvalid_z valid_xpix valid_ypix valid_pixsr.;/home/daniela/catkin_ws/src/hpe/scripts/utils/projection.pyprojectToCameras2       LL,,r0cCs|j\}}|d}|d}|d} |d} |dk r>|ddnd\} } } }}|d|d |d }}}||}||}|d |d }|d | || |d ||d d | ||||d |d }|d | || |d ||d | |d |d d |||}t||| g||| gg}|dk}|dddfdk|dddf|k@}|d ddfdk|d ddf|k@}||@|@}||fS) rrrrrrrrrNrrrrrr r array)rrrrrrrrrrr rrrrrr!r"r#r%r&r'r(r)rr*r+r,r-r.r.r/projectToCamera_fasterAs$ "LL"(( r8cCsF|jd}|d}|d}|d}|d} |dk r>|ddnd\} } } } }|d |d|d }}}||}||}|d |d }|d| || |d ||d d | ||| |d |d }|d| || |d ||d | |d |d d | ||}t|||g||| gg}|S) a Projects a batch of points to the camera defined transform, intrinsics, and distortion :param intrinsic_matrix: 3x3 intrinsic camera matrix :param distortion: should be as follows: (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) :param width: the image width :param height: the image height :param pts: a list of point coordinates (in the camera frame) with the following format: np array 4xn or 3xn :return: a list of pixel coordinates with the same length as pts rr1r2r3r4Nr5rrrrr6)rrrrrrrrrr rrrrrr!r"r#r%r&r'r(r)rr.r.r/batch_projectToCameras "LL"r9)numpyr numpy.linalgrr0r8r9r.r.r.r/s <V