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Correct start code #9

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Correct start code #9

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8 changes: 4 additions & 4 deletions notebooks/geometry_and_monocular.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -304,7 +304,7 @@
"def translate(points, t):\n",
" pass\n",
"\n",
"translated_points = translate(points, t)"
"translated_points = translate(rotated_points, t)"
]
},
{
Expand All @@ -324,7 +324,7 @@
"outputs": [],
"source": [
"def make_homogenous(points):\n",
" return np.hstack([points, np.ones(points.shape[0])])\n",
" return np.hstack([points, np.ones(points.shape[0]).reshape((points.shape[0], 1))])\n",
"\n",
"# вставьте движение точек с помощью однородных координат сюда. отобразите результат\n",
"def move(points, rot_mat, t):\n",
Expand Down Expand Up @@ -417,7 +417,7 @@
" \n",
" def project(self, points):\n",
" if points.shape[1] == 3:\n",
" homo_pts = self.K.dot(translate(rotate(points, self.R), self.t)).T\n",
" homo_pts = self.K.dot(translate(rotate(points, self.R), self.t).T).T\n",
" elif points.shape[1] == 4:\n",
" homo_pts = self.P.dot(points.T)\n",
" else:\n",
Expand Down Expand Up @@ -580,7 +580,7 @@
" dtype='float64')\n",
"\n",
"#камера расположена немного левее начала с.к.\n",
"R_cam = np.ones((3,3), dtype='float64')\n",
"R_cam = np.identity(3, dtype='float64')\n",
"t_cam = np.array([5.956621e-02, 2.900141e-04, 2.577209e-03],\n",
" dtype='float64')\n",
"img_size = image.shape"
Expand Down