open3d.ml.torch.datasets.utils.DataProcessing

class open3d.ml.torch.datasets.utils.DataProcessing
static Acc_from_confusions(confusions)
static IoU_from_confusions(confusions)

Computes IoU from confusion matrices.

Parameters

confusions – ([…, n_c, n_c] np.int32). Can be any dimension, the confusion matrices should be described by

the last axes. n_c = number of classes

Returns

([…, n_c] np.float32) IoU score

static cam2img(points, cam_img)
static cam2world(points, world_cam)
static data_aug(xyz, color, labels, idx, num_out)
static get_class_weights(num_per_class)
static grid_subsampling(points, features=None, labels=None, grid_size=0.1, verbose=0)

CPP wrapper for a grid subsampling (method = barycenter for points and features).

Parameters

  • points – (N, 3) matrix of input points

  • features – optional (N, d) matrix of features (floating number)

  • labels – optional (N,) matrix of integer labels

  • grid_size – parameter defining the size of grid voxels

  • verbose – 1 to display

Returns

Subsampled points, with features and/or labels depending of the input

static invT(T)

KNN search.

Parameters

  • support_pts – points you have, N1*3

  • query_pts – points you want to know the neighbour index, N2*3

  • k – Number of neighbours in knn search

Returns

neighboring points indexes, N2*k

Return type

neighbor_idx

static load_label_kitti(label_path, remap_lut)
static load_label_semantic3d(filename)
static load_pc_kitti(pc_path)
static load_pc_semantic3d(filename)
static remove_outside_points(points, world_cam, cam_img, image_shape)

Remove points which are outside of image.

Parameters

  • points (np.ndarray, shape=[N, 3+dims]) – Total points.

  • world_cam (np.ndarray, shape=[4, 4]) – Matrix to project points in lidar coordinates to camera coordinates.

  • cam_img (p.array, shape=[4, 4]) – Matrix to project points in camera coordinates to image coordinates.

  • image_shape (list[int]) – Shape of image.

Returns

Filtered points.

Return type

np.ndarray, shape=[N, 3+dims]

static shuffle_idx(x)
static shuffle_list(data_list)
static world2cam(points, world_cam)