Method cat

embodiedscan/structures/points/base_points.py:404–423

Concatenate a list of Points into a single Points. Args: points_list (Sequence[:obj:`BasePoints`]): List of points. Returns: :obj:`BasePoints`: The concatenated points.

(cls, points_list: Sequence['BasePoints'])

    @classmethod
    def cat(cls, points_list: Sequence['BasePoints']) -> 'BasePoints':
        """Concatenate a list of Points into a single Points.

        Args:
            points_list (Sequence[:obj:`BasePoints`]): List of points.

        Returns:
            :obj:`BasePoints`: The concatenated points.
        """
        assert isinstance(points_list, (list, tuple))
        if len(points_list) == 0:
            return cls(torch.empty(0))
        assert all(isinstance(points, cls) for points in points_list)

        # use torch.cat (v.s. layers.cat)
        # so the returned points never share storage with input
        cat_points = cls(torch.cat([p.tensor for p in points_list], dim=0),
                         points_dim=points_list[0].points_dim,
                         attribute_dims=points_list[0].attribute_dims)
        return cat_points

    def numpy(self) -> np.ndarray:
        """Reload ``numpy`` from self.tensor."""