a606a68ff74ed2b2e35f7079a1570310655e4e6d,torchgeometry/core/depth_warper.py,DepthWarper,compute_projection_matrix,#DepthWarper#Any#,66

Before Change

        extrinsics_src: torch.Tensor = pinhole_src.extrinsics[:, None].expand(
            -1, num_cameras, -1, -1)  // BxNx4x4
        extrinsics_src = extrinsics_src.contiguous().view(-1, 4, 4)  // (B*N)x4x4
        extrinsics_dst: torch.Tensor = self._pinhole_dst.extrinsics.view(
            -1, 4, 4)  // (B*N)x4x4
        dst_trans_src: torch.Tensor = relative_transformation(

After Change

            self, pinhole_src: PinholeCamera) -> "DepthWarper":
        rComputes the projection matrix from the source to destinaion frame.
        
        if not isinstance(self._pinhole_dst, PinholeCamera):
            raise TypeError("Member self._pinhole_dst expected to be of class "
                            "PinholeCamera. Got {}"
                            .format(type(self._pinhole_dst)))
        if not isinstance(pinhole_src, PinholeCamera):
            raise TypeError("Argument pinhole_src expected to be of class "
                            "PinholeCamera. Got {}".format(type(pinhole_src)))
        // compute the relative pose between the non reference and the reference

Instances