ravens/utils.py
def transform_pointcloud(points, transform):
    """Apply rigid transformation to 3D pointcloud.

    Args:
      points: HxWx3 float array of 3D points in camera coordinates.
      transform: 4x4 float array representing a rigid transformation matrix.

    Returns:
      points: HxWx3 float array of transformed 3D points.
    """
    padding = ((0, 0), (0, 0), (0, 1))
    homogen_points = np.pad(points.copy(), padding,
                            'constant', constant_values=1)
    for i in range(3):
        points[..., i] = np.sum(transform[i, :] * homogen_points, axis=-1)
    return points
Apply rigid transformation to 3D pointcloud.

    Args:
      points: HxWx3 float array of 3D points in camera coordinates.
      transform: 4x4 float array representing a rigid transformation matrix.

    Returns:
      points: HxWx3 float array of transformed 3D points.
    
Apply rigid transformation to 3D pointcloud.
Apply rigid transformation to 3D pointcloud .
def transform_pointcloud(points, transform):
    padding = ((0, 0), (0, 0), (0, 1))
    homogen_points = np.pad(points.copy(), padding,
                            'constant', constant_values=1)
    for i in range(3):
        points[..., i] = np.sum(transform[i, :] * homogen_points, axis=-1)
    return points
def transform_pointcloud ( points , transform ) : padding = ( ( 0 , 0 ) , ( 0 , 0 ) , ( 0 , 1 ) ) homogen_points = np . pad ( points . copy ( ) , padding , 'constant' , constant_values = 1 ) for i in range ( 3 ) : points [ ... , i ] = np . sum ( transform [ i , : ] * homogen_points , axis = - 1 ) return points
Apply rigid transformation to 3D pointcloud.
Apply rigid transformation to 3D pointcloud .
"""Apply rigid transformation to 3D pointcloud.

    Args:
      points: HxWx3 float array of 3D points in camera coordinates.
      transform: 4x4 float array representing a rigid transformation matrix.

    Returns:
      points: HxWx3 float array of transformed 3D points.
    """
HxWx3 float array of transformed 3D points.
HxWx3 float array of transformed 3D points .
points
points
HxWx3 float array of 3D points in camera coordinates.
HxWx3 float array of 3D points in camera coordinates .
transform
4x4 float array representing a rigid transformation matrix.
4x4 float array representing a rigid transformation matrix .