INNER CODE UNIT · Python

base_behind

muskie82/MonoGS · gui/gui_utils.py:34

        base_behind = np.array([[0.0, -2.5, -30.0]]) * self.size
        base_behind_hmg = np.hstack([base_behind, np.ones((base_behind.shape[0], 1))])
        cameraeye_behind = pose @ base_behind_hmg.transpose()
        cameraeye_behind = cameraeye_behind[0:3, :].transpose()
        eye_behind = cameraeye_behind[0, :]

        center = np.mean(points[1:, :], axis=0)
        up = points[2] - points[4]

        self.view_dir = (center, eye, up, pose)
        self.view_dir_behind = (center, eye_behind, up, pose)

        self.center = center
        self.eye = eye
        self.up = up


def create_frustum(pose, frusutum_color=[0, 1, 0], size=0.02):

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