| |
| """ |
| @author: Christian Forster |
| """ |
|
|
| import os |
| import numpy as np |
| import umi.traj_eval.transformations as tf |
| import numba |
|
|
|
|
| def get_rigid_body_trafo(quat, trans): |
| T = tf.quaternion_matrix(quat) |
| T[0:3, 3] = trans |
| return T |
|
|
|
|
| def get_distance_from_start(gt_translation): |
| distances = np.diff(gt_translation[:, 0:3], axis=0) |
| distances = np.sqrt(np.sum(np.multiply(distances, distances), 1)) |
| distances = np.cumsum(distances) |
| distances = np.concatenate(([0], distances)) |
| return distances |
|
|
|
|
| @numba.jit(nopython=True) |
| def compute_comparison_indices_length(distances, dist, max_dist_diff): |
| max_idx = len(distances) |
| comparisons = [] |
| for idx, d in enumerate(distances): |
| best_idx = -1 |
| error = max_dist_diff |
| for i in range(idx, max_idx): |
| if np.abs(distances[i] - (d + dist)) < error: |
| best_idx = i |
| error = np.abs(distances[i] - (d + dist)) |
| if best_idx != -1: |
| comparisons.append(best_idx) |
| return comparisons |
|
|
|
|
| def compute_angle(transform): |
| """ |
| Compute the rotation angle from a 4x4 homogeneous matrix. |
| """ |
| |
| return ( |
| np.arccos(min(1, max(-1, (np.trace(transform[0:3, 0:3]) - 1) / 2))) |
| * 180.0 |
| / np.pi |
| ) |
|
|
