What is the difference between transform_from and transform_to in the SE3 object. Which one should be used for direct transformation and inverse transformation

[neanea04]

❓ Questions and Help

[fantaosha]

Hello,

Thanks for your interests in Theseus! For g in SE(3), g.transform_from(x) = g @ x while g.transform_to(x) = g.inverse() @ x.

Best,
-Taosha

[mhmukadam]

Also in the backend where these functions point to the torchlie lib, transform_from == transform and transform_to == untransform.

[neanea04]

Thank you for the response. It helped