def compute_PM_rays(self, height, width):
'''
根据Photometric的内参，计算Photometric射线方向与位置
:param height: Photometric图高度
:param width: Photometric图宽度
:return: None
'''
photometric = filter(lambda x: x.cam_id==self.cam_id, self.cams_init)
photometric = list(photometric)[0]
Ks_tensor = torch.Tensor([photometric.cam_k, ]).cuda()
Ts_tensor = torch.Tensor([photometric.cam_rt, ]).cuda()
rays, _ = ut.ray_sampling(Ks_tensor, Ts_tensor, [height, width])
self.PM_rays = rays
def compute_depth_rays(self, height, width):
'''
根据Photoneo的内参，计算深度射线方向与位置
:param height: Photoneo的深度图高度
:param width: Photoneo的深度图宽度
:return: None
'''
photoneo = filter(lambda x: x.cam_id==self.photoneo_id, self.cams_init)
photoneo = list(photoneo)[0]
Ks_tensor = torch.Tensor([photoneo.cam_k, ]).cuda()
Ts_tensor = torch.Tensor([photoneo.cam_rt, ]).cuda()
rays, _ = ut.ray_sampling(Ks_tensor, Ts_tensor, [height, width])
self.PN_depth_rays = rays