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# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
from __future__ import print_function
import StructDiffusion.utils.transformations as tra
def make_pose(trans, rot):
"""Make 4x4 matrix from (trans, rot)"""
pose = tra.quaternion_matrix(rot)
pose[:3, 3] = trans
return pose
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