def transform_pose(self, pose):
pose_rot = quat2rotmat(pose[3:])
pose_trans = xyz2mat(pose[:3])
pose_cam = self.V.dot(pose_trans.T).dot(pose_rot).T
return np.concatenate(
[mat2xyz(pose_cam),
safemat2quat(pose_cam[:3, :3].T)])
def get_poses(self):
mat = [
self.V.dot(self.poses_trans[i].T).dot(self.poses_rot[i]).T
for i in range(self.get_num_instances())
]
poses = [
np.concatenate([mat2xyz(item),
safemat2quat(item[:3, :3].T)]) for item in mat
]
return poses