Update camera comments

flycloud2010 · Dec 31, 2020 · ad41828 · ad41828
1 parent be4097f
commit ad41828
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/camera.py b/camera.py
@@ -60,8 +60,8 @@ def init(self):
     # project a 3D point or an array of 3D points (w.r.t. camera frame), of shape [Nx3]
     # out: Nx2 image points, [Nx1] array of map point depths     
     def project(self, xcs):
-        #u = self.fx * xc[0]/xc[0] + self.cx
-        #v = self.fy * xc[1]/xc[0] + self.cy  
+        #u = self.fx * xc[0]/xc[2] + self.cx
+        #v = self.fy * xc[1]/xc[2] + self.cy  
         projs = self.K @ xcs.T     
         zs = projs[-1]      
         projs = projs[:2]/ zs   
@@ -121,4 +121,4 @@ def is_in_image(self, uv, z):
     def are_in_image(self, uvs, zs):
         return (uvs[:, 0] > self.u_min) & (uvs[:, 0] < self.u_max) & \
                (uvs[:, 1] > self.v_min) & (uvs[:, 1] < self.v_max) & \
-               (zs > 0 )                      
+               (zs > 0 )