If points is an instance of Pointclouds, retrieve the padded points tensor along with the number of points per batch and the padded normals.

r"""Calculate the 8 bounding box corners. Args: None Returns: Numpy array of shape (8,3) Co

Creates a RGB representation of an optical flow (borrowed/modified from flowpy). Args: flow: scene flow. flow[..., 0] shoul

Chamfer distance between two pointclouds x and y. Args: x: FloatTensor of shape (N, P1, D) or a Pointclouds object representing

Check the requested reductions are valid. Args: batch_reduction: Reduction operation to apply for the loss across the batch,

Attach the flow value to the coordinate tooltip. It allows you to see on the same figure, the RGB value of the pixel and the underlying value of

Generates a calibration pattern to add as a legend to the scene flow plots. Args: pixel_size: Radius of the square test pattern.

Alpha blend colored rectangle into image. Corner coords given as (x,y) tuples

Get the lidar sweep from the given sweep_directory. ​ Args: sweep_directory: path to middle lidar sweep. sweep_index: index of

Check if 3d cuboid pt (in egovehicle frame) is within range from egovehicle to prevent plot overcrowding.

Creates a colorwheel (borrowed/modified from flowpy). A colorwheel defines the transitions between the six primary hues: Red(255, 0, 0), Yel

Check if 2d-point lies within 3-channel color image boundaries

Create an ObjectLabelRecord. Args: quaternion: Numpy vector representing quaternion, box/cuboid orientation transla

Construct a 2D bounding box from this label. Length is x, width is y, and z is height Alternatively could write code like::

r"""Calculate the 8 bounding box corners. Args: None Returns: Numpy array of shape (8,3) Co

Attach a calibration pattern to axes. This function uses calibration_pattern to generate a figure. Args: calibration_pattern_kwargs

points -> features [B, N, 3] -> [B, K]

r"""We bring the 3D points into each camera, and do the clipping there. Renders box using OpenCV2. Roughly based on https://github