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_pose_in_camera(self): mat = self.renderer.V.dot(self.pose_trans.T).dot(self.pose_rot).T pose = np.concatenate([mat2xyz(mat), safemat2quat(mat[:3, :3].T)]) return pose