princeton-vl/lietorch

Broadcasting of action on point cloud

mhayoz opened this issue · 1 comments

mhayoz commented

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

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