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6a176cb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 | import torch
def relative_ego_transform(global_ego_prev, global_ego_curr):
"""Return transform from previous ego coordinates into current ego coordinates."""
return torch.linalg.inv(global_ego_curr) @ global_ego_prev
def transform_points(points, transform):
ones = torch.ones_like(points[..., :1])
points_h = torch.cat([points, ones], dim=-1)
transformed = points_h @ transform.transpose(-1, -2)
return transformed[..., :3]
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