Right-multiply the pose matrix.
(rs: torch.Tensor, frames: RigidTransform)
| 60 | |
| 61 | |
| 62 | def cartesian_to_internal(rs: torch.Tensor, frames: RigidTransform): |
| 63 | """Right-multiply the pose matrix.""" |
| 64 | rs_loc = rs - frames.t |
| 65 | rs_loc = torch.matmul(rs_loc.unsqueeze(-2), frames.R) |
| 66 | return rs_loc.squeeze(-2) |
| 67 | |
| 68 | |
| 69 | def apply_similarity_transform( |
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