(self)
| 417 | |
| 418 | @torch.no_grad() |
| 419 | def get_updated_poses(self): |
| 420 | frame_poses = [] |
| 421 | for i in range(len(self.frame_poses)): |
| 422 | ref_frame_ind, rel_pose = self.frame_poses[i] |
| 423 | ref_frame = self.kf_graph[ref_frame_ind] |
| 424 | ref_pose = ref_frame.get_ref_pose().detach().cpu() @ ref_frame.get_d_pose().detach().cpu() |
| 425 | pose = ref_pose @ rel_pose |
| 426 | frame_poses += [pose.detach().cpu().numpy()] |
| 427 | return frame_poses |
| 428 | |
| 429 | """ |
| 430 | Get the mesh at the position of the voxel |
no test coverage detected