def build_point_cloud(self, projector_camera: Camera, camera: Camera):
w, h = self._wh
camera_ps3d = self._create_pixels_3d(camera, w, h)
projector_ps3d = self._create_pixels_3d(projector_camera,
2**self._max_projector_lod, 2)
is_central_line_pixel = self._line_extraction_processor.process(
self._stripe_ids_img)
self._is_ok_mask = self._is_ok_mask & is_central_line_pixel
points_3d = []
y_ids, x_ids = np.nonzero(self._is_ok_mask)
for y_id, x_id in zip(y_ids, x_ids): # TODO: this is bottle-neck
ray = math.normalize(camera_ps3d[x_id, y_id] -
camera.get_position())
stripe_id = self._stripe_ids_img[y_id, x_id]
stripe_plane = math.plane_by_points([
projector_camera.get_position(), projector_ps3d[stripe_id, 0],
projector_ps3d[stripe_id, 1]
])
p3d = math.intersect_plane_line(stripe_plane, ray,
camera.get_position())
points_3d.append(p3d)
return np.array(points_3d)
def build_point_cloud(self, projector_camera: Camera, camera: Camera):
w, h = self._wh
camera_ps3d = self._create_pixels_3d(camera, w, h)
projector_ps3d = self._create_pixels_3d(projector_camera, 2 ** self._max_projector_lod, 2)
is_central_line_pixel = self._line_extraction_processor.process(self._stripe_ids_img)
self._is_ok_mask = self._is_ok_mask & is_central_line_pixel
points_3d = []
y_ids, x_ids = np.nonzero(self._is_ok_mask)
for y_id, x_id in zip(y_ids, x_ids): # TODO: this is bottle-neck
ray = math.normalize(camera_ps3d[x_id, y_id] - camera.get_position())
stripe_id = self._stripe_ids_img[y_id, x_id]
stripe_plane = math.plane_by_points([projector_camera.get_position(),
projector_ps3d[stripe_id, 0], projector_ps3d[stripe_id, 1]])
p3d = math.intersect_plane_line(stripe_plane, ray, camera.get_position())
points_3d.append(p3d)
return np.array(points_3d)
