open3d.ml.torch.datasets.Waymo¶
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class
open3d.ml.torch.datasets.Waymo(dataset_path, name='Waymo', cache_dir='./logs/cache', use_cache=False, **kwargs)¶ This class is used to create a dataset based on the Waymo 3D dataset, and used in object detection, visualizer, training, or testing.
The Waymo 3D dataset is best suited for autonomous driving applications.
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__init__(dataset_path, name='Waymo', cache_dir='./logs/cache', use_cache=False, **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 (Waymo in this case).
cache_dir – The directory where the cache is stored.
use_cache – Indicates if the dataset should be cached.
- Returns
The corresponding class.
- Return type
class
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static
get_label_to_names()¶ Returns a label to names dictionary 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
attr – The attribute that needs to be checked.
- Returns
- If the datum attribute is tested, then return 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 bounding boxes.
- Parameters
path – The path to the label file.
calib – Calibration as returned by read_calib().
- Returns
The data objects with bounding boxes information.
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static
read_lidar(path)¶ Reads lidar data from the path provided.
- Returns
- pointcloud data with shape [N, 6], where
the format is xyzRGB.
- Return type
pc
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save_test_result(attr)¶ Saves the output of a model.
- Parameters
results – The output of a model for the datum associated with the attribute passed.
attr – The attributes that correspond to the outputs passed in results.
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