Class _LoadAnnotations3D

datasets/transforms/loading.py:19–361

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`):

@TRANSFORMS.register_module()
class _LoadAnnotations3D(LoadAnnotations):
    """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`):
          3D ground truth bboxes. Only when `with_bbox_3d` is True
        - gt_labels_3d (np.int64): Labels of ground truths.
          Only when `with_label_3d` is True.
        - gt_bboxes (np.float32): 2D ground truth bboxes.
          Only when `with_bbox` is True.
        - gt_labels (np.ndarray): Labels of ground truths.
          Only when `with_label` is True.
        - depths (np.ndarray): Only when
          `with_bbox_depth` is True.
        - centers_2d (np.ndarray): Only when
          `with_bbox_depth` is True.
        - attr_labels (np.ndarray): Attribute labels of instances.
          Only when `with_attr_label` is True.

    - pts_instance_mask_path (str): Path of instance mask file.
      Only when `with_mask_3d` is True.
    - pts_semantic_mask_path (str): Path of semantic mask file.
      Only when `with_seg_3d` is True.
    - pts_panoptic_mask_path (str): Path of panoptic mask file.
      Only when both `with_panoptic_3d` is True.

    Added Keys:

    - gt_bboxes_3d (:obj:`LiDARInstance3DBoxes` |
      :obj:`DepthInstance3DBoxes` | :obj:`CameraInstance3DBoxes`):
      3D ground truth bboxes. Only when `with_bbox_3d` is True
    - gt_labels_3d (np.int64): Labels of ground truths.
      Only when `with_label_3d` is True.
    - gt_bboxes (np.float32): 2D ground truth bboxes.
      Only when `with_bbox` is True.
    - gt_labels (np.int64): Labels of ground truths.
      Only when `with_label` is True.
    - depths (np.float32): Only when
      `with_bbox_depth` is True.
    - centers_2d (np.ndarray): Only when
      `with_bbox_depth` is True.
    - attr_labels (np.int64): Attribute labels of instances.
      Only when `with_attr_label` is True.
    - pts_instance_mask (np.int64): Instance mask of each point.
      Only when `with_mask_3d` is True.
    - pts_semantic_mask (np.int64): Semantic mask of each point.
      Only when `with_seg_3d` is True.

    Args:
        with_bbox_3d (bool): Whether to load 3D boxes. Defaults to True.
        with_label_3d (bool): Whether to load 3D labels. Defaults to True.