Interpolate extrinsics between two camera poses. Linear interpolation for translation, spherical linear interpolation for rotation. Args:

This method allows to interpolate the pre-trained position encodings, to be able to use the model on higher resolution images. This i

This method allows to interpolate the pre-trained position encodings, to be able to use the model on higher resolution images. This i

Get OpenCV intrinsics matrix Returns: (np.ndarray): [..., 3, 3] OpenCV intrinsics matrix

Laplacian smooth with cotangent weights Args: vertices (torch.Tensor): shape (..., N, 3) faces (torch.Tensor): shape (T, 3)

Linear interpolation between two SE(3) matrices. Args: T1 (np.ndarray): [..., 4, 4] SE(3) matrix 1 T2 (np.ndarray): [..., 4,

Links the output of the source node to the input of the destination node. If the source or destination node is None, the pipeline's i

A quick start function to load and preprocess images for model input. This assumes the images should have the same shape for easier batching,

read camera txt file

Loads images from a directory or video, resizes them to a uniform size, then converts and stacks them into a single [N, 3, H, W] PyTorch tens

Loads images from a directory or video, resizes them to a uniform size, then converts and stacks them into a single [N, 3, H, W] PyTorch tens

Return the split json dict.

Makes an actual torch.device object from the device specified as either a string or torch.device object. If the device is `cuda` without

Resize 2D map by nearest interpolation. Return the nearest neighbor index and mask of the resized map. ### Parameters - `inputs`: a sing

Similar to torch.max, but with mask

Similar to torch.min, but with mask

Convert 3x3 rotation matrix to quaternion (w, x, y, z) Args: rot_mat (torch.Tensor): shape (..., 3, 3), the rotation matrices to convert

Modulate the input tensor using scaling and shifting parameters.

Modify camera intrinsics to follow a different convention. Coordinates of the center of the top-left pixels are by default: - (0.5, 0.5)

Calculate normal map from point map. Value range is [-1, 1]. Normal direction in OpenGL identity camera's coordinate system. Args: p

Calculate normal map from point map. Value range is [-1, 1]. Normal direction in OpenGL identity camera's coordinate system. Args: p

Convert 2D position grid (HxWx2) to sinusoidal embeddings (HxWxC) Args: pos_grid: Tensor of shape (H, W, 2) containing 2D coordinate

Quaternion Order: XYZW or say ijkr, scalar-last Convert rotations given as quaternions to rotation matrices. Args: quaternions:

Given a quaternion representing rotation, get the quaternion representing its inverse. Args: quaternion: Quaternions as tensor o

Convert rotations given as quaternions to axis/angle. Args: quaternions: quaternions with real part first, as tensor of

Convert a batch of quaternions (w, x, y, z) to axis-angle representation (rotation vector) Args: quaternion (torch.Tensor): shape (..., 4

Converts a batch of quaternions (w, x, y, z) to rotation matrices Args: quaternion (np.ndarray): shape (..., 4), the quaternions to c

Generate random quaternions representing rotations, i.e. versors with nonnegative real part. Args: n: Number of quaternions in a

Generate random rotations as 3x3 rotation matrices. Args: n: Number of rotation matrices in a batch to return. dtype: Type t

Remove unreferenced vertices of a mesh. Unreferenced vertices are removed, and the face indices are updated accordingly. Args:

Args: R: estimated rotation matrix [B, 3, 3] Rgt: ground-truth rotation matrix [B, 3, 3] Returns: