def reproject(self,
vector: Vector,
boundary=500,
filter=True) -> Union[Shape, None]:
original_vertices = vector.vertices().copy()
# Convert to camera coord.
projected_vertices = \
original_vertices.dot(self._T_world_to_camera[:3, :3].T) + \
self._T_world_to_camera[:3, 3].T
# Filter backward vertices.
if filter:
forward_mask = projected_vertices[:, 2] > 0.0
projected_vertices = projected_vertices[forward_mask]
original_vertices = original_vertices[forward_mask]
# Project to image coord.
projected_vertices = projected_vertices.dot(self._K.T)
projected_vertices = \
projected_vertices[:, :2] / projected_vertices[:, [2]]
# Clipping.
if filter and boundary > 0:
clipping_mask = \
(projected_vertices[:, 0] >= -boundary) & \
(projected_vertices[:, 1] >= -boundary) & \
(projected_vertices[:, 0] < self._image_width + boundary) & \
(projected_vertices[:, 1] < self._image_height + boundary)
projected_vertices = projected_vertices[clipping_mask]
original_vertices = original_vertices[clipping_mask]
if isinstance(vector, (Polyline3D, Polygon3D)) and \
len(projected_vertices) < 2:
# Make sure at least show a segment of polyline and polygon
# vector.
return
elif isinstance(vector, Point3D) and len(projected_vertices) == 0:
# Make sure the point correspondence in the screen.
return
shape_class = self.get_shape_class(vector.__class__)
shape = shape_class(projected_vertices)
shape.set_origin_vertices(original_vertices)
return shape
