Noisy aug, pose update, depth abs, render, batch_list

[jsalotti]

Add a mergeable pose label to the Frame object.

It can be used as such

P = aloscene.Pose(cam_pos)

Pose directly inherit from CameraExtrinsic but usually refer to the global world coordinates/

Fix noisy pos to propagate the normalization and to use the device properly.

Add aloscene.render()

You can now directly render a list of view using aloscene.render()

aloscene.render(views)

Here is a example to add views and to record a video

views = []
# Run DFM on side cameras

for frames in data_loader:

    # Build a list of view
    for frames_side in frames:
        output = model.inference(model(frames))
        views.append(output.get_view())
    
    # render the list
    aloscene.render(views, record_file="model_outputs.mp4")

# Save the final video
aloscene.save_renderer()

batch list from aloscene

Instead of doing

SpatialAugmentedTensor.batch_list(tensors)

or

tensors[0].batch_list(tensors)

You can now do:

aloscene.batch_list(tensors)

Compute translation between two pose/extrinsic

ref.pose.translation_with(src.pose)