Copybara-Service
827cdfd7d5
PiperOrigin-RevId: 612933036 Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
28 lines
1.1 KiB
Python
28 lines
1.1 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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import numpy as np
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def create_transform_matrix(rotation_matrix, translation_vector):
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# Ensure rotation_matrix and translation_vector are NumPy arrays
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rotation_matrix = np.array(rotation_matrix)
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translation_vector = np.array(translation_vector)
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transform_matrix = np.eye(4)
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transform_matrix[:3, :3] = rotation_matrix
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transform_matrix[:3, 3] = translation_vector
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return transform_matrix
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