camera_intrinsics_estimation.py 文件源码

def _make_grid(dim=(11,4)):
    """
    this function generates the structure for an asymmetrical circle grid
    domain (0-1)
    """
    x,y = range(dim[0]),range(dim[1])
    p = np.array([[[s,i] for s in x] for i in y], dtype=np.float32)
    p[:,1::2,1] += 0.5
    p = np.reshape(p, (-1,2), 'F')

    # scale height = 1
    x_scale =  1./(np.amax(p[:,0])-np.amin(p[:,0]))
    y_scale =  1./(np.amax(p[:,1])-np.amin(p[:,1]))

    p *=x_scale,x_scale/.5

    return p