ct.project.homo_project -> ct.transform.transform_points

yxlao · Oct 22, 2023 · 19534ca · 19534ca
1 parent 3871b62
commit 19534ca
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Showing 2 changed files with 16 additions and 6 deletions.
diff --git a/camtools/__init__.py b/camtools/__init__.py
@@ -8,7 +8,7 @@
 from . import metric
 from . import normalize
 from . import plot
-from . import project
+from . import transform
 from . import raycast
 from . import sanity
 from . import solver

diff --git a/camtools/project.py → camtools/transform.py b/camtools/project.py → camtools/transform.py
@@ -4,21 +4,31 @@
 from . import convert
 
 
-def homo_project(points, mat):
+def transform_points(points, transform_mat):
+    """
+    Transform points by a 4x4 matrix via homogenous coordinates projection.
+
+    Args:
+        points: (N, 3) array.
+        mat: (4, 4) array, the transformation matrix.
+
+    Returns:
+        (N, 3) array, the transformed points.
+    """
     sanity.assert_shape_nx3(points, name="points")
-    sanity.assert_shape_4x4(mat, name="mat")
-    sanity.assert_same_device(points, mat)
+    sanity.assert_shape_4x4(transform_mat, name="mat")
+    sanity.assert_same_device(points, transform_mat)
 
     N = len(points)
-    if torch.is_tensor(mat):
+    if torch.is_tensor(transform_mat):
         ones = torch.ones((N, 1), dtype=points.dtype, device=points.device)
         points_homo = torch.hstack((points, ones))
     else:
         ones = np.ones((N, 1))
         points_homo = np.hstack((points, ones))
 
     # (mat @ points_homo.T).T
-    points_out = points_homo @ mat.T
+    points_out = points_homo @ transform_mat.T
     points_out = points_out[:, :3] / points_out[:, 3:]
     return points_out