| 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 |