camera_utils.py 文件源码

def ray(self, pts, undistort=True, rotate=False, normalize=False): 
        """
        Returns the ray corresponding to the points. 
        Optionally undistort (defaults to true), and 
        rotate ray to the camera's viewpoint 
        """
        upts = self.undistort_points(pts) if undistort else pts
        ret = unproject_points(
            np.hstack([ (colvec(upts[:,0])-self.cx) / self.fx, (colvec(upts[:,1])-self.cy) / self.fy ])
        )

        if rotate: 
            ret = self.extrinsics.rotate_vec(ret)

        if normalize: 
            ret = ret / np.linalg.norm(ret, axis=1)[:, np.newaxis]

        return ret