relative_trafo.py 文件源码

def _stitch_mat_from_vecs(vector_list):
    """ Stitches a given list of vectors into a 4x4 matrix.

        Input:
            vector_list: list of 16 tensors, which will be stitched into a matrix. list contains matrix elements
                in a row-first fashion (m11, m12, m13, m14, m21, m22, m23, m24, ...). Length of the vectors has
                to be the same, because it is interpreted as batch dimension.
    """

    assert len(vector_list) == 16, "There have to be exactly 16 tensors in vector_list."
    batch_size = vector_list[0].get_shape().as_list()[0]
    vector_list = [tf.reshape(x, [1, batch_size]) for x in vector_list]

    trafo_matrix = tf.dynamic_stitch([[0], [1], [2], [3],
                                      [4], [5], [6], [7],
                                      [8], [9], [10], [11],
                                      [12], [13], [14], [15]], vector_list)

    trafo_matrix = tf.reshape(trafo_matrix, [4, 4, batch_size])
    trafo_matrix = tf.transpose(trafo_matrix, [2, 0, 1])

    return trafo_matrix