triangulate.py 文件源码

def __init__(self, K,R,t):
        self.K = K
        self.R = R
        self.t = t
        self.invR = self.R.T
        self.P = np.matmul(self.K,
                np.concatenate((self.R, self.t.reshape((3,1))), axis=1))
        self.invP3 = la.inv(self.P[:3,:3])
        self.center = np.matmul(-self.invP3, self.P[:3,3])