Get the file path for a specified data asset. Args: data_asset_identifier (str): A string identifier for the data asset.

Retrieve the functionality annotations for a specified scene. Args: visit_id (str or int): The identifier for the scene.

Parses a file containing camera intrinsic parameters and returns them in the specified format. Args: intrinsics_file_pat

Converts a line from the camera trajectory file into translation and rotation matrices. Args: traj_str (str): A space-d

Retrieve the camera intrinsics for a given scene and video sequence. Args: visit_id (str): The identifier of the scene.

Retrieve the camera trajectory from a file and convert it into a dictionary whose keys are timestamps and values are the correspondi

Retrieve the paths to the depth frames for a given scene and video sequence. Args: visit_id (str): The identifier of the

Retrieve the natural language task descriptions for a specified scene. Args: visit_id (str or int): The identifier for t

Load a point cloud from a .ply file containing laser scan data. Args: visit_id (str): The identifier of the scene.

Retrieve the paths to the RGB frames for a given scene and video sequence. Args: visit_id (str): The identifier of the s

Performs rigid body motion interpolation in SO(3) x R^3. See https://www.adrian-haarbach.de/interpolation-methods/doc/haarbach2018survey.pdf.

Extracts the 3x3 rotation matrix from a 4x4 homogeneous transformation matrix. Args: H (numpy.ndarray): A 4x4 homogeneous transforma

:param camera_to_world: 4 x 4 :param coords: N x 3 format :param depth: H x W format :param intrinsic: 3 x 3 format

Converts a rotation from angle-axis representation to a 3x3 rotation matrix. Args: angle_axis (numpy.ndarray): A 3-element array rep

Load ARKit mesh reconstruction data based on the iPad video sequence from a .ply file. Args: visit_id (str): The identif

Load the crop mask from a .npy file. Args: visit_id (str): The identifier of the scene. return_indices (bool

Crop a laser scan using a crop mask. Args: visit_id (str): The identifier of the scene. laser_scan (open3d.g

Retrieve the motion annotations for a specified scene. Args: visit_id (str or int): The identifier for the scene.

Get the nearest pose to a desired timestamp from a dictionary of poses. Args: desired_timestamp (str): The timestamp of

Load the transformation matrix from a .npy file. This transformation matrix converts coordinates from the Faro laser scan coordinate system t

Read a depth frame from the specified path and convert it to depth values. Args: depth_frame_path (str): The full path t

Read an RGB frame from the specified path. Args: rgb_frame_path (str): The full path to the RGB frame file.

Performs rigid body motion interpolation in SE(3). See https://www.geometrictools.com/Documentation/InterpolationRigidMotions.pdf. Args:

Decode rle to get binary mask. Args: rle (dict): rle of encoded mask Returns: mask (np.ndarray): decoded mask

Decode rle to get binary mask. Args: rle (dict): rle of encoded mask Returns: mask (np.ndarray): decoded mask

Encode RLE (Run-length-encode) from 1D binary mask. Args: mask (np.ndarray): 1D binary mask Returns: counts (list): encoded c

Encode RLE (Run-length-encode) from 1D binary mask. Args: mask (np.ndarray): 1D binary mask Returns: counts (list): encoded c

Extracts the 3x1 translation vector from a 4x4 homogeneous transformation matrix. Args: H (numpy.ndarray): A 4x4 homogeneous transfo

Visualize 3D point clouds. This function takes a list of 3D geometries (e.g., point clouds) and visualizes them using Open3D's visualization

Initialize the DataParser instance with the root path. Args: data_root_path (str): The root path where data is located.

Adjust camera intrinsics.

Converts a 3x3 rotation matrix to angle-axis representation (rotation vector). Args: matrix (numpy.ndarray): A 3x3 rotation matrix r

Determines the orientation of a 3D pose based on the alignment of its z-vector with predefined orientations. Args: pose (np.ndarray)

Get the interpolated pose for a desired timestamp from a dictionary of poses. Args: desired_timestamp (str): The timesta

Computes the inverse of a 4x4 homogeneous transformation matrix. The inverse is computed by transposing the 3x3 rotation matrix and negating