def __call__(self, scan):
prob = random.random()
if prob > self.augm_prob:
return scan
else:
diff = random.uniform(-self.max_height_diff, self.max_height_diff)
points = scan.points + np.array([diff, 0, 0])
theta = np.arcsin(scan.points[:, 2] /
np.linalg.norm(scan.points, axis=1))
fov_up = np.min([
np.max(theta) * 180 / np.pi,
scan.proj_fov_up + self.max_angle_diff
])
fov_down = np.max([
np.min(theta) * 180 / np.pi,
scan.proj_fov_down - self.max_angle_diff
])
new_laserscan = SemLaserScan(self.color_map,
project=scan.project,
H=scan.proj_H,
W=scan.proj_W,
fov_up=fov_up,
fov_down=fov_down)
new_laserscan.set_points(points, scan.remissions)
return new_laserscan
def __call__(self, scan):
v_prob = random.random()
h_prob = random.random()
if v_prob > self.augm_prob and h_prob > self.augm_prob:
return scan
else:
v_flip = True
h_flip = True
if v_prob > self.augm_prob:
v_flip = False
if h_flip > self.augm_prob:
h_flip = False
new_laserscan = SemLaserScan(self.color_map,
project=scan.project,
H=scan.proj_H,
W=scan.proj_W,
fov_up=scan.proj_fov_up,
fov_down=scan.proj_fov_down,
h_flip=h_flip,
v_flip=v_flip)
new_laserscan.set_points(scan.points, scan.remissions)
return new_laserscan