refactory: task generate

others/transforms.py

@@ -0,0 +1,12 @@
+import numpy as np
+from numpy import ndarray
+
+
+def transform_coordinates_3d(coordinates: ndarray, sRT: ndarray):
+    assert coordinates.shape[0] == 3
+    coordinates = np.vstack(
+        [coordinates, np.ones((1, coordinates.shape[1]), dtype=np.float32)]
+    )
+    new_coordinates = sRT @ coordinates
+    new_coordinates = new_coordinates[:3, :] / new_coordinates[3, :]
+    return new_coordinates