in easycv/datasets/detection3d/pipelines/format.py [0:0]
def __call__(self, results):
"""Call function to transform and format common fields in results.
Args:
results (dict): Result dict contains the data to convert.
Returns:
dict: The result dict contains the data that is formatted with
default bundle.
"""
# Format 3D data
if 'points' in results:
assert isinstance(results['points'], BasePoints)
results['points'] = DC(results['points'].tensor)
for key in ['voxels', 'coors', 'voxel_centers', 'num_points']:
if key not in results:
continue
results[key] = DC(to_tensor(results[key]), stack=False)
if self.with_gt:
# Clean GT bboxes in the final
if 'gt_bboxes_3d_mask' in results:
gt_bboxes_3d_mask = results['gt_bboxes_3d_mask']
results['gt_bboxes_3d'] = results['gt_bboxes_3d'][
gt_bboxes_3d_mask]
if 'gt_names_3d' in results:
results['gt_names_3d'] = results['gt_names_3d'][
gt_bboxes_3d_mask]
if 'centers2d' in results:
results['centers2d'] = results['centers2d'][
gt_bboxes_3d_mask]
if 'depths' in results:
results['depths'] = results['depths'][gt_bboxes_3d_mask]
if 'gt_bboxes_mask' in results:
gt_bboxes_mask = results['gt_bboxes_mask']
if 'gt_bboxes' in results:
results['gt_bboxes'] = results['gt_bboxes'][gt_bboxes_mask]
results['gt_names'] = results['gt_names'][gt_bboxes_mask]
if self.with_label:
if 'gt_names' in results and len(results['gt_names']) == 0:
results['gt_labels'] = np.array([], dtype=np.int64)
results['attr_labels'] = np.array([], dtype=np.int64)
elif 'gt_names' in results and isinstance(
results['gt_names'][0], list):
# gt_labels might be a list of list in multi-view setting
results['gt_labels'] = [
np.array([self.class_names.index(n) for n in res],
dtype=np.int64) for res in results['gt_names']
]
elif 'gt_names' in results:
results['gt_labels'] = np.array([
self.class_names.index(n) for n in results['gt_names']
],
dtype=np.int64)
# we still assume one pipeline for one frame LiDAR
# thus, the 3D name is list[string]
if 'gt_names_3d' in results:
results['gt_labels_3d'] = np.array([
self.class_names.index(n)
for n in results['gt_names_3d']
],
dtype=np.int64)
results = super(DefaultFormatBundle3D, self).__call__(results)
return results