def _get_poses(self, indexA, indexB, transform=False):
if self.poses is None:
return None, None, None
indexA = indexA
indexB = indexB
poseA = Transform.from_parameters(*self.poses[indexA], is_degree=True)
poseB = Transform.from_parameters(*self.poses[indexB], is_degree=True)
if transform:
pose_A_flip = Transform.scale(1, -1, -1).combine(poseA)
pose_A_flip = self.matrix_transformation.combine(pose_A_flip,
copy=True)
poseA = Transform().scale(1, -1, -1).combine(pose_A_flip,
copy=True)
pose_B_flip = Transform.scale(1, -1, -1).combine(poseB)
pose_B_flip = self.matrix_transformation.combine(pose_B_flip,
copy=True)
poseB = Transform().scale(1, -1, -1).combine(pose_B_flip,
copy=True)
delta = delta_transform(
poseA, poseB).to_parameters(isDegree=True).astype(np.float32)
return delta, poseA, poseB
def to_event(self, pose):
pose_f_flip = Transform.scale(1, -1, -1).combine(pose, copy=True)
pose_e_flip = self.transform.combine(pose_f_flip, copy=True)
pose_e = Transform().scale(1, -1, -1).combine(pose_e_flip, copy=True)
return pose_e