Print colored stream, color options:r, g, b, lb, y, p.

Project a pointcloud into a spherical projection image.projection. Function takes no arguments because it can be also called externa

Caculate the distance between query and negitative query Args: query ([batch, 1, 8192]): Query information neg_vecs ([batch, 2

Find the minimum distance between query feature and positives features. Args: query (tensor: batch_size x 1 x feature_dim): Output fe

:param rotation: (yaw, pitch, roll) in degree :return: general rotational matrix refer this: https://en.wikipedia.org/wiki/Rotation_matrix#Gene

returns the spherical grid in euclidean coordinates, where the sphere's center is moved to (0, 0, 1)

Args: config: parameter configurations gpu_ids: gpu indexes for training is_train: training or testing Returns:

Creates a random rotation matrix. deflection: the magnitude of the rotation. For 0, no rotation; for 1, competely random rotation. Small

Args: num_clusters : int The number of clusters dim : int Dimension of descriptors

blue color

hard_neg: bool, add hard negative? other_neg: bool, add other negatives?(quadra loss fuction required)

green color

green color

Generate Collate_functions Args: config (class): parameter configurations

pink color

returns xy coordinates on the plane obtained from projecting each point of the spherical grid along the ray from the projection origin th

red color

[summary] Args: x ([type]): [description]

yellow color

Randomly jitter points. jittering is per point. Input: BxNx3 array, original batch of point clouds Return: