Rotates box. :param quaternion: <Quaternion>. Rotation to apply. :return: <None>.

Applies a translation. :param x: <np.float: 3, 1>. Translation in x, y, z direction. :return: <None>.

Make `p` listy and the same length as `q`.

Returns the bounding box corners. :param wlh_factor: <float>. Multiply w, l, h by a factor to inflate or deflate the box. :re

Returns the number of points. :return: <int>. Number of points.

Set `val` inside the optimizer dictionary at `key`.

Set weight decay and step optimizer.

Args: data_dict: points: optional, (N, 3 + C_in) gt_boxes: optional, (N, 7 + C) [x, y, z, dx, dy,

Args: batch_dict: batch_size: batch_cls_preds: (B, num_boxes, num_classes | 1) or (N1+N2+..., num

Args: code_weights: (#codes) float list if not None. Code-wise weights.

:param pts_lidar: (N, 3) :return pts_rect: (N, 3)

Read a hyperparameter `key` in the optimizer dictionary.

Args: radii: list of float, list of radii to group with nsamples: list of int, number of samples in each ball query

Args: gt_boxes: (B, M, 8) range_image_polar: (B, 3, H, W) feature_map_size: (2) [H, W] spatia

Check that vector (b - a) is orthogonal to the vector (c - a).

Create an `optim.Optimizer` from `opt_func` with `lr`. Set lr on `layer_groups`.

Args: box_encodings: (B, N, 7 + C) or (N, 7 + C) [x, y, z, dx, dy, dz, heading or *[cos, sin], ...] anchors: (B, N, 7

Args: boxes: (N, 7 + C) [x, y, z, dx, dy, dz, heading, ...] anchors: (N, 7 + C) [x, y, z, dx, dy, dz, heading or *[co

Args: batch_size: rois: (B, N, 7) cls_preds: (BN, num_class) box_preds: (BN, code_size)

:param pts_lidar: (N, 3) :return pts_rect: (N, 3)

Clear optimizer gradients.

:param mlp: list of int, spec of the pointnet before the global max_pool :param npoint: int, number of features :param radius

:param mlp: list of int, spec of the pointnet before the global max_pool :param npoint: int, number of features :param radius

Args: points: (N1 + N2 + N3 + ..., 4) [bs_idx, x, y, z] gt_boxes: (B, M, 8) extend_gt_boxes: [B, M, 8]

Args: boxes3d_fakelidar: (N, 7) [x, y, z, w, l, h, r] in old LiDAR coordinates, z is bottom center Returns:

:param pts: (N, 3 or 2) :return pts_hom: (N, 4 or 3)

:param corners3d: (N, 8, 3) :param fig: :param color: :param line_width: :param cls: :param tag: :param max_num: :ret

Kitti eval. support 2d/bev/3d/aos eval. support 0.5:0.05:0.95 coco AP. Args: gt_annos: dict, must from get_label_annos() in kitti_common.p

Args: data_dict: points: (N, 3 + C_in) gt_boxes: optional, (N, 7) [x, y, z, dx, dy, dz, heading]

:param pts_rect: (N, 3) :return pts_img: (N, 2)