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tools.py

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+import numpy as np
+
+
+def degrees_to_radians(degrees):
+    return degrees * np.pi / 180
+
+def compute_rotation_list(params):
+    x, y, z, yaw, pitch = params
+    
+    yaw_rad = degrees_to_radians(yaw)
+    pitch_rad = degrees_to_radians(pitch)
+    
+    R_y = np.array([[np.cos(yaw_rad), 0, np.sin(yaw_rad)],
+                    [0, 1, 0],
+                    [-np.sin(yaw_rad), 0, np.cos(yaw_rad)]])
+    
+    R_z = np.array([[np.cos(pitch_rad), -np.sin(pitch_rad), 0],
+                    [np.sin(pitch_rad), np.cos(pitch_rad), 0],
+                    [0, 0, 1]])
+    
+    R = np.dot(R_z, R_y)
+    
+    rotation_list = [x, y, z] + R.flatten().tolist()
+    
+    return rotation_list
+
+def convert_rt_to_relative(rt_list_all, ref_rt):
+    def parse_rt(rt):
+        t = np.array(rt[:3]).reshape((3, 1))
+        R = np.array(rt[3:]).reshape((3, 3))
+        return R, t
+
+    R_ref, T_ref = parse_rt(ref_rt)
+    R_ref_inv = R_ref.T
+    T_ref_inv = -R_ref_inv @ T_ref
+
+    new_rt_list = []
+
+    for rt in rt_list_all:
+        R_i, T_i = parse_rt(rt)
+
+        R_new = R_ref_inv @ R_i
+        T_new = R_ref_inv @ T_i + T_ref_inv
+
+        rt_new = T_new.flatten().tolist() + R_new.flatten().tolist()
+        new_rt_list.append(rt_new)
+
+    return new_rt_list