(RT_list, K_1=4.7, dataset="syn")
| 66 | return RT |
| 67 | |
| 68 | def create_relative(RT_list, K_1=4.7, dataset="syn"): |
| 69 | RT = copy.deepcopy(RT_list[0]) |
| 70 | R_inv = RT[:,:3].T |
| 71 | T = RT[:,-1] |
| 72 | |
| 73 | temp = [] |
| 74 | for _RT in RT_list: |
| 75 | _RT[:,:3] = np.dot(_RT[:,:3], R_inv) |
| 76 | _RT[:,-1] = _RT[:,-1] - np.dot(_RT[:,:3], T) |
| 77 | temp.append(_RT) |
| 78 | RT_list = temp |
| 79 | |
| 80 | return RT_list |
| 81 | |
| 82 | def combine_camera_motion(RT_0, RT_1): |
| 83 | RT = copy.deepcopy(RT_0[-1]) |