(target_pose_vec, source_pose_vec)
return transform_mat
[summary]
    get relative pose from two absolution poses
    Arguments:
        target_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        source_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        both are abosulte (up to scale) pose w.r.t. the world coord
        Note: this is different from the original SfMLearner which is [tx, ty, tz, rx, ry, rz].
    Returns:
        transformation from target to source
[summary]
    get relative pose from two absolution poses
    Arguments:
        target_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        source_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        both are abosulte (up to scale) pose w.r.t. the world coord
        Note: this is different from the original SfMLearner which is [tx, ty, tz, rx, ry, rz].
    Returns:
        transformation from target to source
[ summary ] get relative pose from two absolution poses Arguments : target_pose_vec { [ batch_size 6 ] } -- [ rz ry rx tx ty tz ] source_pose_vec { [ batch_size 6 ] } -- [ rz ry rx tx ty tz ] both are abosulte ( up to scale ) pose w . r . t . the world coord Note : this is different from the original SfMLearner which is [ tx ty tz rx ry rz ] . Returns : transformation from target to source
def get_relative_pose(target_pose_vec, source_pose_vec):
    """[summary]
    get relative pose from two absolution poses
    Arguments:
        target_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        source_pose_vec {[batch_size, 6]} -- [rz, ry, rx, tx, ty, tz]
        both are abosulte (up to scale) pose w.r.t. the world coord
        Note: this is different from the original SfMLearner which is [tx, ty, tz, rx, ry, rz].
    Returns:
        transformation from target to source
    """
    target_pose = pose_vec2mat(target_pose_vec)
    source_pose = pose_vec2mat(source_pose_vec)

    target_pose_inv = tf.linalg.inv(target_pose)
    transform_mat = tf.matmul(source_pose, target_pose_inv)
    return transform_mat
def get_relative_pose ( target_pose_vec , source_pose_vec ) : target_pose = pose_vec2mat ( target_pose_vec ) source_pose = pose_vec2mat ( source_pose_vec ) target_pose_inv = tf . linalg . inv ( target_pose ) transform_mat = tf . matmul ( source_pose , target_pose_inv ) return transform_mat