open3d.ml.torch.datasets.KITTI¶
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class
open3d.ml.torch.datasets.KITTI(dataset_path, name='KITTI', cache_dir='./logs/cache', use_cache=False, val_split=3712, test_result_folder='./test', **kwargs)¶ This class is used to create a dataset based on the KITTI dataset, and used in object detection, visualizer, training, or testing.
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__init__(dataset_path, name='KITTI', cache_dir='./logs/cache', use_cache=False, val_split=3712, test_result_folder='./test', **kwargs)¶ Initialize the function by passing the dataset and other details.
- Parameters
dataset_path – The path to the dataset to use.
name – The name of the dataset (KITTI in this case).
cache_dir – The directory where the cache is stored.
use_cache – Indicates if the dataset should be cached.
val_split – The split value to get a set of images for training,
validation –
testing. (for) –
test_result_folder – Path to store test output.
- Returns
The corresponding class.
- Return type
class
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static
get_label_to_names()¶ Returns a label to names dictonary object.
- Returns
A dict where keys are label numbers and values are the corresponding names.
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get_split(split)¶ Returns a dataset split.
- Parameters
split – A string identifying the dataset split that is usually one of
'training' –
'test' –
'validation' –
'all'. (or) –
- Returns
A dataset split object providing the requested subset of the data.
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get_split_list(split)¶ Returns the list of data splits available.
- Parameters
split – A string identifying the dataset split that is usually one of
'training' –
'test' –
'validation' –
'all'. (or) –
- Returns
A dataset split object providing the requested subset of the data.
- Raises
ValueError – Indicates that the split name passed is incorrect. The
split name should be one of 'training', 'test', 'validation', or –
'all'. –
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is_tested()¶ Checks if a datum in the dataset has been tested.
- Parameters
dataset – The current dataset to which the datum belongs to.
attr – The attribute that needs to be checked.
- Returns
If the dataum attribute is tested, then resturn the path where the attribute is stored; else, returns false.
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static
read_calib(path)¶ Reads calibiration for the dataset. You can use them to compare modeled results to observed results.
- Returns
The camera and the camera image used in calibration.
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static
read_label(path, calib)¶ Reads labels of bound boxes.
- Returns
The data objects with bound boxes information.
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static
read_lidar(path)¶ Reads lidar data from the path provided.
- Returns
A data object with lidar information.
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save_test_result(results, attrs)¶ Saves the output of a model.
- Parameters
results – The output of a model for the datum associated with the
passed. (attribute) –
attrs – The attributes that correspond to the outputs passed in
results. –
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