Function transform_mat

util/smplx/smplx/lbs.py:322–333

Creates a batch of transformation matrices Args: - R: Bx3x3 array of a batch of rotation matrices - t: Bx3x1 array of a batch of translation vectors Returns: - T: Bx4x4 Transformation matrix

(R: Tensor, t: Tensor)

def transform_mat(R: Tensor, t: Tensor) -> Tensor:
    ''' Creates a batch of transformation matrices
        Args:
            - R: Bx3x3 array of a batch of rotation matrices
            - t: Bx3x1 array of a batch of translation vectors
        Returns:
            - T: Bx4x4 Transformation matrix
    '''
    # No padding left or right, only add an extra row
    return torch.cat([F.pad(R, [0, 0, 0, 1]),
                      F.pad(t, [0, 0, 0, 1], value=1)],
                     dim=2)


def batch_rigid_transform(rot_mats: Tensor,