Return length, i.e. Euclidean norm, of ndarray along axis. >>> v = numpy.random.random(3) >>> n = vector_norm(v) >>> numpy.allclose(n, nu

Return ndarray normalized by length, i.e. Euclidean norm, along axis. >>> v0 = numpy.random.random(3) >>> v1 = unit_vector(v0) >>> numpy.

Return homogeneous rotation matrix from quaternion. >>> M = quaternion_matrix([0.99810947, 0.06146124, 0, 0]) >>> numpy.allclose(M, rotation_

Input: scale: [3] or scalar shift: [3] or scalar Return bbox_3d: [3, N]

Input: coordinates: [3, N] RT: [4, 4] Return new_coordinates: [3, N]

Return sphere point perpendicular to axis.

Return quaternion from rotation matrix. If isprecise is True, the input matrix is assumed to be a precise rotation matrix and a faster algori

Return unit sphere coordinates from window coordinates.

return np.array

function to make grids on a 3D unit box @param lower: lower bound @param upper: upper bound @param num: number of points on an axis.

function to make a grid from a cyliner centered at (0, 0, 0). The cyliner's radius is 1, height is 0.5 Method: 1) the surrounding surface

function to sample a grid from a sphere

Try import all public attributes from module into global namespace. Existing attributes with name clashes are renamed with prefix. Attributes

Return affine transform matrix to register two point sets. v0 and v1 are shape (ndims, \*) arrays of at least ndims non-homogeneous coordinat

Return axis, which arc is nearest to point.

Input: coordinates: [3, N] intrinsics: [3, 3] Return projected_coordinates: [N, 2]

Computes IoU overlaps between two 3d bboxes. bbox_3d_1, bbox_3d_1: [3, 8]

Finds matches between prediction and ground truth instances. Returns: gt_matches: 2-D array. For each GT box it has the index of the match

:param RT_1: [4, 4]. homogeneous affine transformation :param RT_2: [4, 4]. homogeneous affine transformation :return: theta: angle diffe

Finds overlaps between prediction and ground truth instances. Returns: overlaps: [pred_boxes, gt_boxes] IoU overlaps.

Load data and draw visualization results.

Return Euler angles from rotation matrix for specified axis sequence. axes : One of 24 axis sequences as string or encoded tuple Note that m

Return homogeneous rotation matrix from Euler angles and axis sequence. ai, aj, ak : Euler's roll, pitch and yaw angles axes : One of 24 axis

Return multiplication of two quaternions. >>> q = quaternion_multiply([4, 1, -2, 3], [8, -5, 6, 7]) >>> numpy.allclose(q, [28, -44, -14, 48])

Return spherical linear interpolation between two quaternions. >>> q0 = random_quaternion() >>> q1 = random_quaternion() >>> q = quaterni

Return uniform random unit quaternion. rand: array like or None Three independent random variables that are uniformly distributed

It's common to have tensors larger than the available data and pad with zeros. This function removes rows that are all zeros. x: [rows, column

Initialize virtual trackball control. initial : quaternion or rotation matrix