Function get_tensor_from_camera

utils/pose_utils.py:183–215

Convert transformation matrix to quaternion and translation.

(RT, Tquad=False)

def get_tensor_from_camera(RT, Tquad=False):
    """
    Convert transformation matrix to quaternion and translation.

    """
    # gpu_id = -1
    # if type(RT) == torch.Tensor:
    #     if RT.get_device() != -1:
    #         gpu_id = RT.get_device()
    #         RT = RT.detach().cpu()
    #     RT = RT.numpy()
    # from mathutils import Matrix
    #
    # R, T = RT[:3, :3], RT[:3, 3]
    # rot = Matrix(R)
    # quad = rot.to_quaternion()
    # if Tquad:
    #     tensor = np.concatenate([T, quad], 0)
    # else:
    #     tensor = np.concatenate([quad, T], 0)
    # tensor = torch.from_numpy(tensor).float()
    # if gpu_id != -1:
    #     tensor = tensor.to(gpu_id)
    # return tensor

    if not isinstance(RT, torch.Tensor):
        RT = torch.tensor(RT).cuda()

    rot = RT[:3, :3].unsqueeze(0).detach()
    quat = rotation2quad(rot).squeeze()
    tran = RT[:3, 3].detach()

    return torch.cat([quat, tran])

def normalize(x):
    return x / np.linalg.norm(x)