def __init__(self, cfg=None, **kwargs):
self.remove_environment = cfg.remove_environment
self.shuffle_points = cfg.shuffle_points
self.remove_unknown = cfg.remove_unknown_examples
self.min_points_in_gt = cfg.get("min_points_in_gt", -1)
self.add_rgb_to_points = cfg.get("add_rgb_to_points", False)
self.reference_detections = cfg.get("reference_detections", None)
self.remove_outside_points = cfg.get("remove_outside_points", False)
self.random_crop = cfg.get("random_crop", False)
self.normalize_intensity = cfg.get("normalize_intensity", False)
self.mode = cfg.mode
if self.mode == "train":
self.gt_rotation_noise = cfg.gt_rot_noise
self.gt_loc_noise_std = cfg.gt_loc_noise
self.global_rotation_noise = cfg.global_rot_noise
self.global_scaling_noise = cfg.global_scale_noise
self.global_random_rot_range = cfg.global_rot_per_obj_range
self.global_translate_noise_std = cfg.global_trans_noise
self.gt_points_drop = (cfg.gt_drop_percentage, )
self.remove_points_after_sample = cfg.remove_points_after_sample
self.class_names = cfg.class_names
if cfg.db_sampler != None:
self.db_sampler = build_dbsampler(cfg.db_sampler)
else:
self.db_sampler = None
self.flip_single = cfg.get("flip_single", False)
self.npoints = cfg.get("npoints", -1)
self.random_select = cfg.get("random_select", False)
self.symmetry_intensity = cfg.get("symmetry_intensity", False)
self.kitti_double = cfg.get("kitti_double", False)
def __init__(self, cfg=None, **kwargs):
self.shuffle_points = cfg.shuffle_points # True
self.remove_environment = cfg.remove_environment # False
self.remove_unknown = cfg.remove_unknown_examples # False
self.min_points_in_gt = cfg.get("min_points_in_gt", -1)
self.add_rgb_to_points = cfg.get("add_rgb_to_points", False)
self.reference_detections = cfg.get("reference_detections", None)
self.remove_outside_points = cfg.get("remove_outside_points", False)
self.random_crop = cfg.get("random_crop", False)
self.mode = cfg.mode
if self.mode == "train":
self.gt_loc_noise_std = cfg.gt_loc_noise # [1.0, 1.0, 0.5],
self.gt_rotation_noise = cfg.gt_rot_noise # [-0.785, 0.785],
self.global_rotation_noise = cfg.global_rot_noise # [-0.785, 0.785]
self.global_scaling_noise = cfg.global_scale_noise # [0.95, 1.05]
self.global_random_rot_range = cfg.global_rot_per_obj_range # [0, 0]
self.global_translate_noise_std = cfg.global_trans_noise # [0.0, 0.0, 0.0]
self.gt_points_drop = (cfg.gt_drop_percentage, ) # 0.0
self.remove_points_after_sample = cfg.remove_points_after_sample # True
self.class_names = cfg.class_names # 'Car'
self.db_sampler = build_dbsampler(cfg.db_sampler)
self.npoints = cfg.get("npoints", -1)
self.random_select = cfg.get("random_select", False)
self.symmetry_intensity = cfg.get("symmetry_intensity", False)
def __init__(self, cfg=None, **kwargs):
self.remove_environment = cfg.remove_environment
self.shuffle_points = cfg.shuffle_points
self.remove_unknown = cfg.remove_unknown_examples
self.min_points_in_gt = cfg.get("min_points_in_gt", -1)
self.add_rgb_to_points = cfg.get("add_rgb_to_points", False)
self.reference_detections = cfg.get("reference_detections", None)
self.remove_outside_points = cfg.get("remove_outside_points", False)
self.random_crop = cfg.get("random_crop", False)
self.time_stamp_as_last_feature = cfg.get("time_stamp_as_last_feature",
True)
self.num_point_features_sampler = cfg.get("num_point_features_sampler",
5)
self.num_point_features = cfg.get("num_point_features", 5)
self.mode = cfg.mode
if self.mode == "train":
self.gt_rotation_noise = cfg.gt_rot_noise
self.gt_loc_noise_std = cfg.gt_loc_noise
self.global_rotation_noise = cfg.global_rot_noise
self.global_scaling_noise = cfg.global_scale_noise
self.global_random_rot_range = cfg.global_rot_per_obj_range
self.global_translate_noise_std = cfg.global_trans_noise
self.gt_points_drop = (cfg.gt_drop_percentage, )
self.remove_points_after_sample = cfg.remove_points_after_sample
self.class_names = cfg.class_names
self.db_sampler = build_dbsampler(cfg.db_sampler)
self.npoints = cfg.get("npoints", -1)
self.random_select = cfg.get("random_select", False)
self.symmetry_intensity = cfg.get("symmetry_intensity", False)
def __init__(self, cfg=None, **kwargs):
self.shuffle_points = cfg.shuffle_points
self.min_points_in_gt = cfg.get("min_points_in_gt", -1)
self.mode = cfg.mode
if self.mode == "train":
self.global_rotation_noise = cfg.global_rot_noise
self.global_scaling_noise = cfg.global_scale_noise
self.class_names = cfg.class_names
if cfg.db_sampler != None:
self.db_sampler = build_dbsampler(cfg.db_sampler)
else:
self.db_sampler = None
self.npoints = cfg.get("npoints", -1)
self.no_augmentation = cfg.get('no_augmentation', False)