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e168a4d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | import pickle
import os
import numpy as np
def read_pickle(pkl_path):
with open(pkl_path, 'rb') as f:
return pickle.load(f)
def save_pickle(data, pkl_path):
os.system('mkdir -p {}'.format(os.path.dirname(pkl_path)))
with open(pkl_path, 'wb') as f:
pickle.dump(data, f)
def project(xyz, K, RT):
"""
xyz: [N, 3]
K: [3, 3]
RT: [3, 4]
"""
xyz = np.dot(xyz, RT[:, :3].T) + RT[:, 3:].T
xyz = np.dot(xyz, K.T)
xy = xyz[:, :2] / xyz[:, 2:]
return xy
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