(points, transf_matrix)
| 21 | time : np.array = None |
| 22 | |
| 23 | def geom_transform_points(points, transf_matrix): |
| 24 | P, _ = points.shape |
| 25 | ones = torch.ones(P, 1, dtype=points.dtype, device=points.device) |
| 26 | points_hom = torch.cat([points, ones], dim=1) |
| 27 | points_out = torch.matmul(points_hom, transf_matrix.unsqueeze(0)) |
| 28 | |
| 29 | denom = points_out[..., 3:] + 0.0000001 |
| 30 | return (points_out[..., :3] / denom).squeeze(dim=0) |
| 31 | |
| 32 | def getWorld2View(R, t): |
| 33 | Rt = np.zeros((4, 4)) |
nothing calls this directly
no outgoing calls
no test coverage detected