open3d.ml.torch.classes.RaggedTensor

class open3d.ml.torch.classes.RaggedTensor(r_tensor, internal=False)

RaggedTensor.

A RaggedTensor is a tensor with ragged dimension, whose slice may have different lengths. We define a container for ragged tensor to support operations involving batches whose elements may have different shape.

__init__(r_tensor, internal=False)

Creates a RaggedTensor with specified torch script object.

This constructor is private – please use one of the following ops to build RaggedTensor’s:

• ml3d.classes.RaggedTensor.from_row_splits

Raises

ValueError – If internal = False. This method is intended for internal use.

clone()

Returns a clone of object.

classmethod from_row_splits(values, row_splits, validate=True, copy=True)

Creates a RaggedTensor with rows partitioned by row_splits.

The returned RaggedTensor corresponds with the python list defined by:

result = [values[row_splits[i]:row_splits[i + 1]]
        for i in range(len(row_splits) - 1)]

Parameters

• values – A Tensor with shape [N, None].

• row_splits – A 1-D integer tensor with shape [N+1]. Must not be empty, and must be stored in ascending order. row_splits[0] must be zero and row_splits[-1] must be N.

• validate – Verify that row_splits are compatible with values. Set it to False to avoid expensive checks.

• copy – Whether to do a deep copy for values and row_splits. Set it to False to save memory for short term usage.

Returns

A RaggedTensor container.

Example:

>>> print(ml3d.classes.RaggedTensor.from_row_splits(
...     values=[3, 1, 4, 1, 5, 9, 2, 6],
...     row_splits=[0, 4, 4, 7, 8, 8]))
<RaggedTensor [[3, 1, 4, 1], [], [5, 9, 2], [6], []]>

to_list()

Returns a list of tensors

property device

The device of values in this ragged tensor.

property dtype

The DType of values in this ragged tensor.

property requires_grad

Read/writeble requires_grad for values.

property row_splits

The row-split indices for this ragged tensor’s values.

property shape

The statically known shape of this ragged tensor.

property values

The concatenated rows for this ragged tensor.