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 set_position(self, pos):
"""
Set positions for each part of this InstanceGroup
:param pos: New translations
"""
self.pose_trans = np.ascontiguousarray(xyz2mat(pos))
def set_pose(self, pose, idx):
self.instances[idx].pose_rot = np.ascontiguousarray(
quat2rotmat(pose[3:]))
self.instances[idx].pose_trans = np.ascontiguousarray(xyz2mat(
pose[:3]))
def set_position(self, pos):
self.pose_trans = np.ascontiguousarray(xyz2mat(pos))
