Function interp_homegeneous_matrices

plib/rigid_motion.py:199–229

Interpolate rotation and translation so that it follows the shortest path and has constant speed. Ref: https://www.geometrictools.com/Documentation/InterpolationRigidMotions.pdf Args: t: the interpolation weight in [0, 1]. If 0, we return the camera

(
        t: float,
        H0: np.ndarray,
        H1: np.ndarray,
)

def interp_homegeneous_matrices(
        t: float,
        H0: np.ndarray,
        H1: np.ndarray,
) -> np.ndarray:
    """
    Interpolate rotation and translation so that it
    follows the shortest path and has constant speed.

    Ref: https://www.geometrictools.com/Documentation/InterpolationRigidMotions.pdf

    Args:
        t:
            the interpolation weight in [0, 1].
            If 0, we return the camera pose of H0, and if 1, we return the pose of H1.
        H0:
            (4, 4)
        H1:
            (4, 4)

        Returns:
            (4, 4)

    Returns:
        4*4 homogeneous matrix (from camera cood to world coord)
    """

    H0_rm = RigidMotion(R=H0[:3, :3], t=H0[:3, 3])
    H1_rm = RigidMotion(R=H1[:3, :3], t=H1[:3, 3])
    H_rm = RigidMotion.interp(t, H0_rm, H1_rm)
    return H_rm.homogeneous_matrix()


def interp_homegeneous_tensors(