(self, R: np.ndarray, t: np.ndarray)
| 120 | return S |
| 121 | |
| 122 | def rotate_translate(self, R: np.ndarray, t: np.ndarray): |
| 123 | self.R = R @ self.R # 3*3 rotation matrix |
| 124 | self.t = self.t + np.reshape(t, (3, 1)) # 3*1 position |
| 125 | return self |
| 126 | |
| 127 | @staticmethod |
| 128 | def get_t_times_V(t: float, S: np.ndarray, theta: float = None): |