open3d.ml.torch.datasets.SemanticKITTI

class open3d.ml.torch.datasets.SemanticKITTI(dataset_path, name='SemanticKITTI', cache_dir='./logs/cache', use_cache=False, class_weights=[55437630, 320797, 541736, 2578735, 3274484, 552662, 184064, 78858, 240942562, 17294618, 170599734, 6369672, 230413074, 101130274, 476491114, 9833174, 129609852, 4506626, 1168181], ignored_label_inds=[0], test_result_folder='./test', test_split=['11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21'], training_split=['00', '01', '02', '03', '04', '05', '06', '07', '09', '10'], validation_split=['08'], all_split=['00', '01', '02', '03', '04', '05', '06', '07', '09', '08', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21'], **kwargs)

SemanticKITTI dataset, used in visualizer, training, or test

__init__(dataset_path, name='SemanticKITTI', cache_dir='./logs/cache', use_cache=False, class_weights=[55437630, 320797, 541736, 2578735, 3274484, 552662, 184064, 78858, 240942562, 17294618, 170599734, 6369672, 230413074, 101130274, 476491114, 9833174, 129609852, 4506626, 1168181], ignored_label_inds=[0], test_result_folder='./test', test_split=['11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21'], training_split=['00', '01', '02', '03', '04', '05', '06', '07', '09', '10'], validation_split=['08'], all_split=['00', '01', '02', '03', '04', '05', '06', '07', '09', '08', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21'], **kwargs)

Initialize :param dataset_path: path to the dataset :type dataset_path: str :param kwargs:

Returns

The corresponding class.

Return type

class

static get_label_to_names()

Returns a label to names dict.

Returns

A dict where keys are label numbers and vals are the corresponding names.

get_split(split)

Returns a dataset split.

Parameters

• split – A string identifying the dataset split. Usually one of

• 'test', 'validation', 'all'. ('training',) –

Returns

A dataset split object providing the requested subset of the data.

get_split_list(split)

is_tested(attr)

Checks whether a datum has been tested.

Parameters

attr – The attributes associated with the datum

Returns

True if the test result has been stored for the datum with the specified attribute or else returns False.

save_test_result(results, attr)

Saves the output of a model.

Parameters

• results – The output of a model for the datum associated with ‘attr’.

• attr – The attributes that correspond to the outputs ‘results’.

save_test_result_kpconv(results, inputs)