synth_utils.py 文件源码

def plane2xyz(center, ij, plane):
        """
        converts image pixel indices to xyz on the PLANE.

        center : 2-tuple
        ij : nx2 int array
        plane : 4-tuple

        return nx3 array.
        """
        ij = np.atleast_2d(ij)
        n = ij.shape[0]
        ij = ij.astype('float')
        xy_ray = (ij-center[None,:]) / DepthCamera.f
        z = -plane[2]/(xy_ray.dot(plane[:2])+plane[3])
        xyz = np.c_[xy_ray, np.ones(n)] * z[:,None]
        return xyz