INNER CODE UNIT · Python

Frustum

muskie82/MonoGS · gui/gui_utils.py:16

class Frustum:
    def __init__(self, line_set, view_dir=None, view_dir_behind=None, size=None):
        self.line_set = line_set
        self.view_dir = view_dir
        self.view_dir_behind = view_dir_behind
        self.size = size

    def update_pose(self, pose):
        points = np.asarray(self.line_set.points)
        points_hmg = np.hstack([points, np.ones((points.shape[0], 1))])
        points = (pose @ points_hmg.transpose())[0:3, :].transpose()

        base = np.array([[0.0, 0.0, 0.0]]) * self.size
        base_hmg = np.hstack([base, np.ones((base.shape[0], 1))])
        cameraeye = pose @ base_hmg.transpose()
        cameraeye = cameraeye[0:3, :].transpose()
        eye = cameraeye[0, :]

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