Pose

class packnet_sfm.geometry.pose.Pose(mat)

Bases: object

Pose class, that encapsulates a [4,4] transformation matrix for a specific reference frame

classmethod from_vec(vec, mode)

Initializes from a [B,6] batch vector

classmethod identity(N=1, device=None, dtype=torch.float32)

Initializes as a [4,4] identity matrix

inverse()

Returns a new Pose that is the inverse of this one

item()

Returns the transformation matrix

repeat(*args, **kwargs)

Repeats the transformation matrix multiple times

property shape

Returns the transformation matrix shape

to(*args, **kwargs)

Moves object to a specific device

transform_points(points)

Transforms 3D points using this object

transform_pose(pose)

Creates a new pose object that compounds this and another one (self * pose)