parameters: (self, pixels)
return_statement: return np.column_stack((x / l, y / l, 1.0 / l))
docstring: Unit vector pointing to the pixel viewing directions.
docstring_summary: Unit vector pointing to the pixel viewing directions.
docstring_tokens: Unit vector pointing to the pixel viewing directions .
function: def pixel_bearing_many(self, pixels):
          """Unit vector pointing to the pixel viewing directions."""
          points = pixels.reshape((-1, 1, 2)).astype(np.float64)
          distortion = np.array([self.k1, self.k2, self.p1, self.p2, self.k3])
          up = cv2.undistortPoints(points, self.get_K(), distortion)
          up = up.reshape((-1, 2))
          x = up[:, 0]
          y = up[:, 1]
          l = np.sqrt(x * x + y * y + 1.0)
          return np.column_stack((x / l, y / l, 1.0 / l))
function_tokens: def pixel_bearing_many ( self , pixels ) : points = pixels . reshape ( ( - 1 , 1 , 2 ) ) . astype ( np . float64 ) distortion = np . array ( [ self . k1 , self . k2 , self . p1 , self . p2 , self . k3 ] ) up = cv2 . undistortPoints ( points , self . get_K ( ) , distortion ) up = up . reshape ( ( - 1 , 2 ) ) x = up [ : , 0 ] y = up [ : , 1 ] l = np . sqrt ( x * x + y * y + 1.0 ) return np . column_stack ( ( x / l , y / l , 1.0 / l ) )