Reads a calibration file and creates corresponding pose, camera calibration objects. Reference frame (world frame) is camera 0. Retur

Horizontally flip 3D box. CAVEAT: This function makes assumption about the object symmetry wrt *y=0* plane. new quaternion: [quat.z, -quat.y

If distributed, only the master executes the function and broadcast the results to other workers. Usage: @broadcast_from_master def foo(a

Args: cfg: a detectron2 CfgNode Returns: backbone (Backbone): backbone module, must be a subclass of :class:`Backbone`.

Args: cfg: a detectron2 CfgNode Returns: backbone (Backbone): backbone module, must be a subclass of :class:`Backbone`.

Args: cfg: a detectron2 CfgNode Returns: backbone (Backbone): backbone module, must be a subclass of :class:`Backbone`.

Args: cfg: a detectron2 CfgNode Returns: backbone (Backbone): backbone module, must be a subclass of :class:`Backbone`.

Args: cfg: a detectron2 CfgNode Returns: backbone (Backbone): backbone module, must be a subclass of :class:`Backbone`.

Function for filtering KITTI data by difficulty and class. We filter with the following heuristics: If a ground truth matches the current

Adapted from AdelaiDet: https://github.com/aim-uofa/AdelaiDet/blob/master/adet/utils/comm.py Key differnece: offset is configurable.

Args: pred: Nx4 predicted bounding boxes target: Nx4 target bounding boxes weight: N loss weight for each

Parameters ---------- vecs: Iterable[np.ndarray] Iterable of 10D pose representation. intrinsics: np.nda