def consolidate(self, loc, K):
assert loc, "can't consolidate a null list of positions"
ids = [x[-1] for x in loc]
sviews = np.vstack([l[3] for l in loc])
sworld = np.vstack([self.p3d[l[4]] for l in loc])
return Pose(K, sviews, sworld)
def bestPose(K, view, model):
poses = [Pose(K, v.astype(float), model) for v in rots(view)]
sp = sorted(poses, key=lambda p: p.rms)
return sp[0]
def getCam(K, h, c, p3d):
view = htrans(h, c)
P = Pose(K, view, p3d)
return P.rms, P.M, P.R, P.C, P.view