def __init__(self, intrinsic: Intrinsic, se3: np.ndarray):
if intrinsic.extract_fx() > 0 or intrinsic.extract_fy() > 0:
warnings.warn(
"focal length is positive in right handed coordinate system, may lead to inverted image",
RuntimeWarning)
self.intrinsic = intrinsic
self.se3 = se3
self.se3_inv = SE3.invert(se3)
self.origin_ws = SE3.extract_translation(self.se3_inv)
def __init__(self, intrinsic: Intrinsic, se3: np.ndarray):
self.intrinsic = intrinsic
self.se3 = se3
self.se3_inv = SE3.invert(se3)
self.origin_ws = SE3.extract_translation(self.se3_inv)