common

to_quaternion

to_quaternion(value: ArrayLike | NDArray) -> Quaternion

Convert input rotation like array to Quaternion.

Parameters:

• value

  (ArrayLike | NDArray) –

  Rotation matrix or quaternion.

Returns:

• Quaternion ( Quaternion ) –

  Converted instance.

view_points

view_points(
    points: NDArrayF64,
    intrinsic: NDArrayF64,
    distortion: NDArrayF64 | None = None,
    *,
    normalize: bool = True,
) -> NDArrayF64

Project 3d points on a 2d plane. It can be used to implement both perspective and orthographic projections.

It first applies the dot product between the points and the view.

Parameters:

• points

  (NDArrayF64) –

  Matrix of points, which is the shape of (3, n) and (x, y, z) is along each column.

• intrinsic

  (NDArrayF64) –

  nxn camera intrinsic matrix (n <= 4).

• distortion

  (NDArrayF64 | None, default: None ) –

  Camera distortion coefficients, which is the shape of (n,) (n >= 5).

• normalize

  (bool, default: True ) –

  Whether to normalize the remaining coordinate (along the 3rd axis).

Returns:

• NDArrayF64 –

  Projected points in the shape of (3, n). If normalize=False, the 3rd coordinate is the height.

is_box_in_image

is_box_in_image(
    box: Box3D,
    intrinsic: NDArrayF64,
    img_size: tuple[int, int],
    visibility: VisibilityLevel = VisibilityLevel.NONE,
) -> bool

Check if a box is visible inside of an image without considering its occlusions.

Parameters:

• box

  (Box3D) –

  The box to be checked.

• intrinsic

  (NDArrayF64) –

  3x3 camera intrinsic matrix.

• img_size

  (tuple[int, int]) –

  Image size in the order of (width, height).

• visibility

  (VisibilityLevel, default: NONE ) –

  Enum member of VisibilityLevel.

Returns:

• bool –

  Return True if visibility condition is satisfied.

load_json

load_json(filename: str) -> Any

Load json data from specified filepath.

Parameters:

• filename

  (str) –

  File path to .json file.

Returns:

• Any –

  Loaded data.

save_json

save_json(data: Any, filename: str) -> None

Save data into json file.

Parameters:

• data

  (Any) –

  Data to be saved.

• filename

  (str) –

  File path to save as json.

serialize_dataclass

serialize_dataclass(data: Any) -> dict[str, Any]

Serialize attrs' dataclasses into dict.

Note that all fields specified with init=False will be skipped to be serialized.

Parameters:

• data

  (Any) –

  Dataclass object.

Returns:

• dict[str, Any] –

  dict[str, Any]: Serialized dict.

us2sec

us2sec(timestamp: Number) -> float

Convert timestamp from micro seconds [us] to seconds [s].

Parameters:

• timestamp

  (Number) –

  Timestamp in [us].

Returns:

• float –

  Timestamp in [s].

sec2us

sec2us(timestamp: Number) -> float

Convert timestamp from seconds [s] to micro seconds [us].

Parameters:

• timestamp

  (Number) –

  Timestamp in [s].

Returns:

• float –

  Timestamp in [us].