@@ -97,6 +97,7 @@ def corresponding_cameras_alignment(
9797 cameras_src_aligned: `cameras_src` after applying the alignment transform.
9898 """
9999
100+ # pyre-fixme[16]: `CamerasBase` has no attribute `R`.
100101 if cameras_src .R .shape [0 ] != cameras_tgt .R .shape [0 ]:
101102 raise ValueError (
102103 "cameras_src and cameras_tgt have to contain the same number of cameras!"
@@ -120,6 +121,7 @@ def corresponding_cameras_alignment(
120121 torch .bmm (
121122 align_t_T [:, None ].repeat (cameras_src .R .shape [0 ], 1 , 1 ), cameras_src .R
122123 )[:, 0 ]
124+ # pyre-fixme[16]: `CamerasBase` has no attribute `T`.
123125 + cameras_src .T * align_t_s
124126 )
125127
@@ -167,6 +169,7 @@ def _align_camera_extrinsics(
167169 R_A = (U V^T)^T
168170 ```
169171 """
172+ # pyre-fixme[16]: `CamerasBase` has no attribute `R`.
170173 RRcov = torch .bmm (cameras_src .R , cameras_tgt .R .transpose (2 , 1 )).mean (0 )
171174 U , _ , V = torch .svd (RRcov )
172175 align_t_R = V @ U .t ()
@@ -196,6 +199,7 @@ def _align_camera_extrinsics(
196199 T_A = mean(B) - mean(A) * s_A
197200 ```
198201 """
202+ # pyre-fixme[16]: `CamerasBase` has no attribute `T`.
199203 A = torch .bmm (cameras_src .R , cameras_src .T [:, :, None ])[:, :, 0 ]
200204 B = torch .bmm (cameras_src .R , cameras_tgt .T [:, :, None ])[:, :, 0 ]
201205 Amu = A .mean (0 , keepdim = True )
0 commit comments