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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 |