From 16d9e82fee9892662bf8dd1c92078562aeca7610 Mon Sep 17 00:00:00 2001 From: dekerr Date: Sat, 6 Apr 2019 01:59:38 -0400 Subject: [PATCH] remove transpose (#588) old-commit-hash: bdf65856506414ed57afe8b79a345ae2477632f4 --- common/transformations/camera.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 42432a7bbc..367c0879af 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -64,7 +64,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics): input_shape = img_pts.shape img_pts = np.atleast_2d(img_pts) img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1)))) - img_pts_normalized = intrinsics_inv.dot(img_pts.T).T + img_pts_normalized = img_pts.dot(intrinsics_inv.T) img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan return img_pts_normalized[:,:2].reshape(input_shape) @@ -76,7 +76,7 @@ def denormalize(img_pts, intrinsics=eon_intrinsics): input_shape = img_pts.shape img_pts = np.atleast_2d(img_pts) img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1)))) - img_pts_denormalized = intrinsics.dot(img_pts.T).T + img_pts_denormalized = img_pts.dot(intrinsics.T) img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan