import numpy as np def compute_vanishing_direction(K, v): """ Computes the 3D vanishing direction from a 2D vanishing point. Parameters: K (ndarray): 3x3 Intrinsic camera matrix v (ndarray): 3x1 Homogeneous coordinates of the vanishing point Returns: ndarray: Normalized 3D vanishing direction vector """ # Invert the intrinsic matrix to map pixel space to the normalized image plane K_inv = np.linalg.inv(K) # Compute the 3D direction vector parallel to the dominant 3D direction direction = np.dot(K_inv, v) # Normalize the vector to avoid scaling errors in subsequent pipelines norm = np.linalg.norm(direction) return direction / norm if norm > 0 else direction Use code with caution. Verifying Code Quality and Scalability
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