Transform points from 3D world coordinates to 3D camera coordinates.
(
homogeneous_coordinates: Float[Tensor, "*#batch dim"],
extrinsics: Float[Tensor, "*#batch dim dim"],
)
| 39 | |
| 40 | |
| 41 | def transform_world2cam( |
| 42 | homogeneous_coordinates: Float[Tensor, "*#batch dim"], |
| 43 | extrinsics: Float[Tensor, "*#batch dim dim"], |
| 44 | ) -> Float[Tensor, "*batch dim"]: |
| 45 | """Transform points from 3D world coordinates to 3D camera coordinates.""" |
| 46 | return transform_rigid(homogeneous_coordinates, extrinsics.inverse()) |
| 47 | |
| 48 | |
| 49 | def project_camera_space( |
no test coverage detected