Method transform

datasets/transforms/transforms_3d.py:343–374

LaserMix transform function. Args: input_dict (dict): Result dict from loading pipeline. Returns: dict: output dict after transformation.

(self, input_dict: dict)

        return input_dict

    def transform(self, input_dict: dict) -> dict:
        """LaserMix transform function.

        Args:
            input_dict (dict): Result dict from loading pipeline.

        Returns:
            dict: output dict after transformation.
        """
        if np.random.rand() > self.prob:
            return input_dict

        assert 'dataset' in input_dict, \
            '`dataset` is needed to pass through LaserMix, while not found.'
        dataset = input_dict['dataset']

        # get index of other point cloud
        index = np.random.randint(0, len(dataset))

        mix_results = dataset.get_data_info(index)

        if self.pre_transform is not None:
            # pre_transform may also require dataset
            mix_results.update({'dataset': dataset})
            # before lasermix need to go through
            # the necessary pre_transform
            mix_results = self.pre_transform(mix_results)
            mix_results.pop('dataset')

        input_dict = self.laser_mix_transform(input_dict, mix_results)

        return input_dict

    def __repr__(self) -> str:
        """str: Return a string that describes the module."""