Load Annotations3D. Load instance mask and semantic mask of points and encapsulate the items into related fields. Required Keys: - ann_info (dict) - gt_bboxes_3d (:obj:`LiDARInstance3DBoxes` | :obj:`DepthInstance3DBoxes` | :obj:`CameraInstance3DBoxes`):
| 96 | # TODO : refine |
| 97 | @TRANSFORMS.register_module() |
| 98 | class LoadAnnotations3D(LoadAnnotations): |
| 99 | """Load Annotations3D. |
| 100 | |
| 101 | Load instance mask and semantic mask of points and |
| 102 | encapsulate the items into related fields. |
| 103 | |
| 104 | Required Keys: |
| 105 | |
| 106 | - ann_info (dict) |
| 107 | |
| 108 | - gt_bboxes_3d (:obj:`LiDARInstance3DBoxes` | |
| 109 | :obj:`DepthInstance3DBoxes` | :obj:`CameraInstance3DBoxes`): |
| 110 | 3D ground truth bboxes. Only when `with_bbox_3d` is True |
| 111 | - gt_labels_3d (np.int64): Labels of ground truths. |
| 112 | Only when `with_label_3d` is True. |
| 113 | - gt_bboxes (np.float32): 2D ground truth bboxes. |
| 114 | Only when `with_bbox` is True. |
| 115 | - gt_labels (np.ndarray): Labels of ground truths. |
| 116 | Only when `with_label` is True. |
| 117 | - depths (np.ndarray): Only when |
| 118 | `with_bbox_depth` is True. |
| 119 | - centers_2d (np.ndarray): Only when |
| 120 | `with_bbox_depth` is True. |
| 121 | - attr_labels (np.ndarray): Attribute labels of instances. |
| 122 | Only when `with_attr_label` is True. |
| 123 | |
| 124 | - pts_instance_mask_path (str): Path of instance mask file. |
| 125 | Only when `with_mask_3d` is True. |
| 126 | - pts_semantic_mask_path (str): Path of semantic mask file. |
| 127 | Only when `with_seg_3d` is True. |
| 128 | - pts_panoptic_mask_path (str): Path of panoptic mask file. |
| 129 | Only when both `with_panoptic_3d` is True. |
| 130 | |
| 131 | Added Keys: |
| 132 | |
| 133 | - gt_bboxes_3d (:obj:`LiDARInstance3DBoxes` | |
| 134 | :obj:`DepthInstance3DBoxes` | :obj:`CameraInstance3DBoxes`): |
| 135 | 3D ground truth bboxes. Only when `with_bbox_3d` is True |
| 136 | - gt_labels_3d (np.int64): Labels of ground truths. |
| 137 | Only when `with_label_3d` is True. |
| 138 | - gt_bboxes (np.float32): 2D ground truth bboxes. |
| 139 | Only when `with_bbox` is True. |
| 140 | - gt_labels (np.int64): Labels of ground truths. |
| 141 | Only when `with_label` is True. |
| 142 | - depths (np.float32): Only when |
| 143 | `with_bbox_depth` is True. |
| 144 | - centers_2d (np.ndarray): Only when |
| 145 | `with_bbox_depth` is True. |
| 146 | - attr_labels (np.int64): Attribute labels of instances. |
| 147 | Only when `with_attr_label` is True. |
| 148 | - pts_instance_mask (np.int64): Instance mask of each point. |
| 149 | Only when `with_mask_3d` is True. |
| 150 | - pts_semantic_mask (np.int64): Semantic mask of each point. |
| 151 | Only when `with_seg_3d` is True. |
| 152 | |
| 153 | Args: |
| 154 | with_bbox_3d (bool): Whether to load 3D boxes. Defaults to True. |
| 155 | with_label_3d (bool): Whether to load 3D labels. Defaults to True. |
nothing calls this directly
no outgoing calls
no test coverage detected