search

argoverse / argoverse-api

Official GitHub repository for Argoverse dataset
https://www.argoverse.org
Other
839 stars 240 forks source link

Optimize SE(3) transform_point_cloud() method #229

Closed johnwlambert closed 3 years ago

johnwlambert commented 3 years ago

Currently our implementation is not very efficient. We allocate an array of ones to create homogenous points before the matrix multiply with the transformation matrix, which is unnecessary. The new implementation simply does points @ R.T + t which is all that is needed.

This is also how other libraries like GTSAM implement this (see here).

johnwlambert commented 3 years ago

@benjaminrwilson could you take a look at this when you get a chance?

benjaminrwilson commented 3 years ago

@johnwlambert , what are you thinking in relation to the above comments?