def transform(time_poses):
pose_table = tables.expand_views(
struct(camera=camera_poses, times=time_poses))
return tables.transform_points(
tables.expand_dims(pose_table, (2, 3)),
tables.expand_dims(world_points, (0, 1)))
def project_points(pose_table, cameras, camera_poses, world_points):
pose_estimates = struct(camera=camera_poses, times=pose_table)
pose_table = tables.expand_views(pose_estimates)
points = tables.transform_points(tables.expand_dims(pose_table, (2, 3)),
tables.expand_dims(world_points, (0, 1)))
return project_cameras(cameras, points)
def world_points(self):
return tables.transform_points(
tables.expand_dims(self.board_poses.pose_table, 1),
self.board_points)