Align `points_src` to `points_tgt` with respect to a Z-axis shift. ### Parameters: - `points_src: torch.Tensor` of shape (..., N, 3) - `points_tgt: torch.Tensor` of shape (..., N, 3) - `weights: torch.Tensor` of shape (..., N) ### Returns: - `scale: torch.Tensor` of s
(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6)
| 356 | |
| 357 | |
| 358 | def align_points_z_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6): |
| 359 | """ |
| 360 | Align `points_src` to `points_tgt` with respect to a Z-axis shift. |
| 361 | |
| 362 | ### Parameters: |
| 363 | - `points_src: torch.Tensor` of shape (..., N, 3) |
| 364 | - `points_tgt: torch.Tensor` of shape (..., N, 3) |
| 365 | - `weights: torch.Tensor` of shape (..., N) |
| 366 | |
| 367 | ### Returns: |
| 368 | - `scale: torch.Tensor` of shape (...). |
| 369 | - `shift: torch.Tensor` of shape (..., 3) |
| 370 | """ |
| 371 | dtype, device = points_src.dtype, points_src.device |
| 372 | |
| 373 | shift, _, _ = align(torch.ones_like(points_src[..., 2]), points_tgt[..., 2] - points_src[..., 2], weight, trunc) |
| 374 | shift = torch.stack([torch.zeros_like(shift), torch.zeros_like(shift), shift], dim=-1) |
| 375 | |
| 376 | return shift |
| 377 | |
| 378 | |
| 379 | def align_points_xyz_shift(points_src: torch.Tensor, points_tgt: torch.Tensor, weight: Optional[torch.Tensor], trunc: Optional[Union[float, torch.Tensor]] = None, max_iters: int = 30, eps: float = 1e-6): |