Converts from pose matrices to (position, lookat, up) format.
(poses, dist)
| 464 | poses = np.stack(poses, 0) |
| 465 | |
| 466 | def poses_to_points(poses, dist): |
| 467 | """Converts from pose matrices to (position, lookat, up) format.""" |
| 468 | pos = poses[:, :3, -1] |
| 469 | lookat = poses[:, :3, -1] - dist * poses[:, :3, 2] |
| 470 | up = poses[:, :3, -1] + dist * poses[:, :3, 1] |
| 471 | return np.stack([pos, lookat, up], 1) |
| 472 | |
| 473 | def points_to_poses(points): |
| 474 | """Converts from (position, lookat, up) format to pose matrices.""" |
no outgoing calls
no test coverage detected