Function transform_rigid

flowmap/model/projection.py:25–30

Apply a rigid-body transformation to points or vectors.

(
    homogeneous_coordinates: Float[Tensor, "*#batch dim"],
    transformation: Float[Tensor, "*#batch dim dim"],
)

def transform_rigid(
    homogeneous_coordinates: Float[Tensor, "*#batch dim"],
    transformation: Float[Tensor, "*#batch dim dim"],
) -> Float[Tensor, "*batch dim"]:
    """Apply a rigid-body transformation to points or vectors."""
    return einsum(transformation, homogeneous_coordinates, "... i j, ... j -> ... i")


def transform_cam2world(