Class RandomFlip3D

embodiedscan/datasets/transforms/augmentation.py:11–249

Flip the points & bbox. If the input dict contains the key "flip", then the flag will be used, otherwise it will be randomly decided by a ratio specified in the init method. Required Keys: - points (np.float32) - gt_bboxes_3d (np.float32) Modified Keys: - points

@TRANSFORMS.register_module()
class RandomFlip3D(RandomFlip):
    """Flip the points & bbox.

    If the input dict contains the key "flip", then the flag will be used,
    otherwise it will be randomly decided by a ratio specified in the init
    method.

    Required Keys:

    - points (np.float32)
    - gt_bboxes_3d (np.float32)

    Modified Keys:

    - points (np.float32)
    - gt_bboxes_3d (np.float32)

    Added Keys:

    - points (np.float32)
    - pcd_trans (np.float32)
    - pcd_rotation (np.float32)
    - pcd_rotation_angle (np.float32)
    - pcd_scale_factor (np.float32)

    Args:
        sync_2d (bool): Whether to apply flip according to the 2D
            images. If True, it will apply the same flip as that to 2D images.
            If False, it will decide whether to flip randomly and independently
            to that of 2D images. Defaults to True.
        flip_2d (bool): Whether to apply flip for the img data.
            If True, it will adopt the flip augmentation for the img.
            False occurs on bev augmentation for bev-based image 3d det.
            Defaults to True.
        flip_3d (bool): Whether to apply flip for the 3d point cloud data.
            If True, it will adopt the flip augmentation for the point cloud.
            Defaults to True.
        flip_ratio_bev_horizontal (float): The flipping probability
            in horizontal direction. Defaults to 0.0.
        flip_ratio_bev_vertical (float): The flipping probability
            in vertical direction. Defaults to 0.0.
        flip_box3d (bool): Whether to flip bounding box. In most of the case,
            the box should be fliped. In cam-based bev detection, this is set
            to False, since the flip of 2D images does not influence the 3D
            box. Defaults to True.
    """

    def __init__(self,
                 sync_2d: bool = True,
                 flip_2d: bool = True,
                 flip_3d: bool = True,
                 flip_ratio_bev_horizontal: float = 0.0,
                 flip_ratio_bev_vertical: float = 0.0,
                 flip_box3d: bool = True,
                 update_lidar2cam: bool = False,
                 **kwargs) -> None:
        # `flip_ratio_bev_horizontal` is equal to
        # for flip prob of 2d image when