pypose.homo2cart

pypose.homo2cart(coordinates)

Converts batched Homogeneous coordinates to Cartesian coordinates by dividing the last row. Size of the last dimension will be reduced by 1.

Parameters:

coordinates (torch.Tensor) – the Homogeneous coordinates to be converted.

Returns:

the coordinates in Cartesian space.

Return type:

torch.Tensor

Example

>>> points = torch.tensor([[4., 3., 2., 1.], [8., 6., 4., 2.]])
>>> homo2cart(points)
tensor([[4., 3., 2.],
        [4., 3., 2.]])