Source code for tbp.monty.frameworks.utils.transform_utils

# Copyright 2025 Thousand Brains Project
# Copyright 2022-2024 Numenta Inc.
#
# Copyright may exist in Contributors' modifications
# and/or contributions to the work.
#
# Use of this source code is governed by the MIT
# license that can be found in the LICENSE file or at
# https://opensource.org/licenses/MIT.

import numpy as np
import quaternion  # noqa: F401 required by numpy-quaternion package


[docs]def find_transform_instance(composed_transform, transform_type): """Find the first instance of transform_type. Loop over a composition of transforms and return the first instance of transform_type. Args: composed_transform: Output of T.Compose([args]), T being torchvision or torch_geometric transforms transform_type: The class you are looking for an instance of Returns: The first instance of transform_type or None if not found """ # if compsoed transform is not a composition but already transform type, just return if isinstance(composed_transform, transform_type): return composed_transform instance = None for transform in composed_transform.transforms: if isinstance(transform, transform_type): instance = transform if not instance: print(f"Warning, no {transform_type} instance found") return instance
[docs]def numpy_to_scipy_quat(quat): """Convert from wxyz to xyzw format of quaternions. i.e. identity rotation in scipy is (0,0,0,1). Args: quat: A quaternion in wxyz format Returns: A quaternion in xyzw format """ new_quat = np.array((quat[1], quat[2], quat[3], quat[0])) return new_quat
[docs]def scipy_to_numpy_quat(quat: np.ndarray) -> np.quaternion: numpy_quat = np.quaternion(quat[3], quat[0], quat[1], quat[2]) return numpy_quat