misc.py 文件源码

def read_pose(gt): 
        cam_dir, cam_up = gt.cam_dir, gt.cam_up
        z = cam_dir / np.linalg.norm(cam_dir)
        x = np.cross(cam_up, z)
        y = np.cross(z, x)

        R = np.vstack([x, y, z]).T
        t = gt.cam_pos / 1000.0
        return RigidTransform.from_Rt(R, t)