| 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] | |