get relative pose from abs pose pose1 to abs pose pose2 R^{v}_{gt} = R_v * R_gt.T :param: pose1 [B, 3, 4] :param: pose2 [B, 3, 4] return rel_pose [B, 3, 4]
(pose1, pose2)
| 85 | return np.power(base, np.random.uniform(low, high, size)) |
| 86 | |
| 87 | def getrelpose(pose1, pose2): |
| 88 | ''' get relative pose from abs pose pose1 to abs pose pose2 |
| 89 | R^{v}_{gt} = R_v * R_gt.T |
| 90 | :param: pose1 [B, 3, 4] |
| 91 | :param: pose2 [B, 3, 4] |
| 92 | return rel_pose [B, 3, 4] |
| 93 | ''' |
| 94 | assert(pose1.shape == pose2.shape) |
| 95 | rel_pose = pose1 - pose2 # compute translation term difference |
| 96 | rel_pose[:,:3,:3] = pose2[:,:3,:3] @ torch.transpose(pose1[:,:3,:3], 1, 2) # compute rotation term difference |
| 97 | return rel_pose |
| 98 | |
| 99 | parser = config_parser() |
| 100 | args = parser.parse_args() |
nothing calls this directly
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