compass_calibration_plot.py 文件源码

def __init__(self, plane_fit, gridsize):
        plane = numpy.array(plane_fit)

        origin = -plane / numpy.dot(plane, plane)
        n = numpy.array([plane[1], plane[2], plane[0]])

        u = numpy.cross(plane, n)
        v = numpy.cross(plane, u)

        u /= numpy.linalg.norm(u)
        v /= numpy.linalg.norm(v)

        def project_point(point):
            return origin + point[0]*u + point[1]*v

        vertexes = []

        for x in range(-gridsize+1, gridsize):
            for y in range(-gridsize+1, gridsize):
                vertexes += [project_point((x-1, y-1)),
                             project_point((x, y-1)),
                             project_point((x, y)),
                             project_point((x-1, y))]

        super(self, Plane).__init__(vertexes)