cosense3d.dataset.pipeline package

Submodules

cosense3d.dataset.pipeline.loading module

class cosense3d.dataset.pipeline.loading.LoadAnnotations(load2d=False, load_cam_param=False, load3d_local=False, load3d_global=False, load_global_time=False, load3d_pred=False, min_num_pts=0, with_velocity=False, class_agnostic_3d=True, time_offset=0, loc_err=None)

Bases: object

get_lidar2img_transform(lidar2cam, intrinsic)

class cosense3d.dataset.pipeline.loading.LoadCarlaRoadlineMaps(ego_only=True, range=75)

Bases: object

load_single(path, ai, data_dict)

class cosense3d.dataset.pipeline.loading.LoadLidarPoints(coop_mode=True, load_attributes=['xyz', 'intensity'], time_offset=0)

Bases: object

read_pcd(pts_filename)

class cosense3d.dataset.pipeline.loading.LoadMultiViewImg(bgr2rgb=False, to_float32=False, max_num_img=None, img_filter_keys=None)

Bases: object

class cosense3d.dataset.pipeline.loading.LoadOPV2VBevMaps(keys=None, use_global_map=True, ego_only=True, range=75)

Bases: object

crop_map_for_pose(data_dict, ai)

load_single(path, ai, data_dict)

class cosense3d.dataset.pipeline.loading.LoadSparseBevTargetPoints(num_points=3000, ego_only=False)

Bases: object

generate_sparse_bev_pts(pcd)

cosense3d.dataset.pipeline.transform module

class cosense3d.dataset.pipeline.transform.ResizeCropFlipRotImage(data_aug_conf=None, with_2d=True, filter_invisible=True, training=True)

Bases: object

Augment images with random resize, crop, flip and rotation. Modified from StreamPETR.

class cosense3d.dataset.pipeline.transform.ResizeImage(img_size)

Bases: object

Resize images.

Module contents

class cosense3d.dataset.pipeline.Pipeline(cfgs)

Bases: object

Composes several processing modules together. Take care that these functions modify the input data directly.

build_process(k, v)