(poses)
| 164 | |
| 165 | |
| 166 | def recenter_poses(poses): |
| 167 | |
| 168 | poses_ = poses+0 |
| 169 | bottom = np.reshape([0,0,0,1.], [1,4]) |
| 170 | c2w = poses_avg(poses) |
| 171 | c2w = np.concatenate([c2w[:3,:4], bottom], -2) |
| 172 | bottom = np.tile(np.reshape(bottom, [1,1,4]), [poses.shape[0],1,1]) |
| 173 | poses = np.concatenate([poses[:,:3,:4], bottom], -2) |
| 174 | |
| 175 | poses = np.linalg.inv(c2w) @ poses |
| 176 | poses_[:,:3,:4] = poses[:,:3,:4] |
| 177 | poses = poses_ |
| 178 | return poses |
| 179 | |
| 180 | |
| 181 | ##################### |
no test coverage detected