sdf.py 文件源码

def transform_pt_obj_to_grid(self, x_sdf, direction = False):
        """ Converts a point in sdf coords to the grid basis. If direction then don't translate.

        Parameters
        ----------
        x_sdf : numpy 3xN ndarray or numeric scalar
            points to transform from sdf basis in meters to grid basis

        Returns
        -------
        x_grid : numpy 3xN ndarray or scalar
            points in grid basis
        """
        if isinstance(x_sdf, Number):
            return self.T_world_grid_.scale * x_sdf
        if direction:
            points_sdf = NormalCloud(x_sdf.astype(np.float32), frame='world')
        else:
            points_sdf = PointCloud(x_sdf.astype(np.float32), frame='world')
        x_grid = self.T_world_grid_ * points_sdf
        return x_grid.data