sdf.py 文件源码

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

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

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