Removes layers from pretrained state dict that are not used or changed in model Args: model_dict: dict, Default model sta

:param flow: Optical flow tensor. :return: RGB image normalized between 0 and 1.

:param xyz: (N1 + N2 ..., 3) tensor of the xyz coordinates of the features :param xyz_batch_cnt: (batch_size), [N1, N2, ...]

Args: point_centers: (N, 3) max_neighbour_distance: float num_voxels: [num_x, num_y, num_z] Retu

Get model Args: constructor: function, Model constructor Returns: model: nn.Module, Model

Get model Args: constructor: function, Model constructor Returns: model: nn.Module, Model

Args: batch_dict: Returns: keypoints: (N1 + N2 + ..., 4), where 4 indicates [bs_idx, x, y, z]

Calculate grid to LiDAR unprojection for each plane Args: pc_min: [x_min, y_min, z_min], Minimum of point cloud range (m)

Default initialization for Parameters of Module.

Args: keypoints: (N1 + N2 + ..., 4) bev_features: (B, C, H, W) batch_size: bev_stride:

Interpolate poses from INS. Args: ins_path (str): path to file containing poses from INS. pose_timestamps (list[int]): UNIX times

Interpolate poses from visual odometry. Args: vo_path (str): path to file containing relative poses from visual odometry. pose_ti

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

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

Loads and rectifies an image from file. Args: image_path (str): path to an image from the dataset. model (camera_model.CameraMode

Decode a single Oxford Radar RobotCar Dataset radar example Args: example_path (AnyStr): Oxford Radar RobotCar Dataset Example png Ret

Create training and validation dataloaders that return groups of k=2 similar elements :param train_params: :param model_params: :retu

Preprocess images Args: images: (N, 3, H, W), Input images Return x: (N, 3, H, W), Preprocessed image

Projects a pointcloud into the camera using a pinhole camera model. Args: xyz (:obj: `numpy.ndarray`): 3xn array, where each colu

Convert a polar radar scan to cartesian. Args: azimuths (np.ndarray): Rotation for each polar radar azimuth (radians) fft_data (np