Transform points from 3D camera coordinates to 3D world coordinates.
(
homogeneous_coordinates: Float[Tensor, "*#batch dim"],
extrinsics: Float[Tensor, "*#batch dim dim"],
)
| 31 | |
| 32 | |
| 33 | def transform_cam2world( |
| 34 | homogeneous_coordinates: Float[Tensor, "*#batch dim"], |
| 35 | extrinsics: Float[Tensor, "*#batch dim dim"], |
| 36 | ) -> Float[Tensor, "*batch dim"]: |
| 37 | """Transform points from 3D camera coordinates to 3D world coordinates.""" |
| 38 | return transform_rigid(homogeneous_coordinates, extrinsics) |
| 39 | |
| 40 | |
| 41 | def transform_world2cam( |
nothing calls this directly
no test coverage detected