# load points points = np.loadtxt('house.p3d').T points = np.vstack((points, np.ones(points.shape[1]))) #%% # setup camera #P = hstack((eye(3),array([[0],[0],[-10]]))) cam = Camera() ## Test matrix functions cam.set_K(1460, 1460, 608, 480) cam.set_width_heigth(1280, 960) #TODO Yue # cam.set_R(0.0, 0.0, 1.0, 0.0) cam.set_t(0.0, 0.0, -8.0) cam.set_R_axisAngle(1.0, 0.0, 0.0, np.deg2rad(140.0)) #TODO Yue cam.set_P() print(cam.factor()) #%% x = np.array(cam.project(points)) #%% # plot projection plt.figure() plt.plot(x[0], x[1], 'k.') plt.xlim(0, 1280) plt.ylim(0, 960) plt.show() #%% # create transformation