Convert batched points (xyz) to (xyz1).
(
points,
)
| 114 | return X_cam, valid_mask |
| 115 | |
| 116 | def homogenize_points( |
| 117 | points, |
| 118 | ): |
| 119 | """Convert batched points (xyz) to (xyz1).""" |
| 120 | return torch.cat([points, torch.ones_like(points[..., :1])], dim=-1) |
| 121 | |
| 122 | |
| 123 | def get_gt_warp(depth1, depth2, T_1to2, K1, K2, depth_interpolation_mode = 'bilinear', relative_depth_error_threshold = 0.05, H = None, W = None): |