add Sim(2) #201
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add Sim(2) #201
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argoverse/utils/sim2.py
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| sRt = -Rt @ (self.s_ * self.t_) | ||
| return Sim2(Rt, sRt, 1.0 / self.s_) | ||
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| def transformFrom(self, point_cloud: np.ndarray) -> np.ndarray: |
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I imagine this naming is by convention, but I personally get confused by it. What would be positive / negatives of something like to_target or to_target_frame vs transformFrom?
Additionally, depending on the discussion above, should we consider conforming to snake case?
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Just switched to snake case -- thanks.
argoverse/utils/sim2.py
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| Refs: | ||
| http://ethaneade.com/lie_groups.pdf | ||
| https://github.com/borglab/gtsam/blob/develop/gtsam_unstable/geometry/Similarity3.h |
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This link gives me a 404.
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good catch -- i just updated it with the correct link
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LGTM 👍 |
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Add support for 2d rigid body transformations with scaling, e.g. Similarity(2), instead of just SE(2) transformations. SE(2) functionality is already implemented in
argoverse-apihere