Function poses_to_points

utils/camera_utils.py:144–149

Converts from pose matrices to (position, lookat, up) format.

(poses, dist)

  """

    def poses_to_points(poses, dist):
        """Converts from pose matrices to (position, lookat, up) format."""
        pos = poses[:, :3, -1]
        lookat = poses[:, :3, -1] - dist * poses[:, :3, 2]
        up = poses[:, :3, -1] + dist * poses[:, :3, 1]
        return np.stack([pos, lookat, up], 1)

    def points_to_poses(points):
        """Converts from (position, lookat, up) format to pose matrices."""