# 24 semantic classes + 1 background class :return: Dict

Convert a C{geometry_msgs/Pose} into position/quaternion np arrays @param msg: ROS message to be converted @return: - p: position as a

Convert a C{geometry_msgs/Transform} into position/quaternion np arrays @param msg: ROS message to be converted @return: - p: position

param cloud_array: (6, num_points) return: PointCloud2 msg

Create axis, plane and pyramid geometries in Open3D format : param K : calibration matrix (camera intrinsics) : param R : rotatio

Convert a quaternion into euler angles (roll, pitch, yaw) roll is rotation around x in radians (counterclockwise) pitch is rotation aroun

Conversion from geometric ROS messages into SE(3) @param msg: Message to transform. Acceptable types - C{geometry_msgs/Pose}, C{geometry_msgs/Pos

Converts a numpy record array to a sensor_msgs.msg.PointCloud2.

Convert a C{geometry_msgs/PoseStamped} into position/quaternion np arrays @param msg: ROS message to be converted @return: - p: positio

Convert a C{geometry_msgs/TransformStamped} into position/quaternion np arrays @param msg: ROS message to be converted @return: - p: po

ChangeSim Dataloader Please download ChangeSim Dataset in https://github.com/SAMMiCA/ChangeSim Args: crop_size (

ChangeSim Dataloader for Visualization Please download ChangeSim Dataset in https://github.com/SAMMiCA/ChangeSim Args:

depreciated function, in favor of open3d visualizer :param projected: an aligned point-cloud of N points where each points is 6-dim v