Broadcasting of action on point cloud

princeton-vl / lietorch

BSD 3-Clause "New" or "Revised" License

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Closed mhayoz closed 1 year ago

mhayoz commented 1 year ago

I would like to know how I can broadcast the action on a point cloud:

SE3: T, shape(n) point cloud: P, shape(n, m, 4) expect transformed point cloud: P_trans = T * P, shape(n,m,4)

Can anyone help?

mhayoz commented 1 year ago

I found the answer by adding a new dimension to T as T: shape(n, 1)