Source code for mmdet3d.structures.points.cam_points
# Copyright (c) OpenMMLab. All rights reserved.
from .base_points import BasePoints
[docs]class CameraPoints(BasePoints):
"""Points of instances in CAM coordinates.
Args:
tensor (torch.Tensor | np.ndarray | list): a N x points_dim matrix.
points_dim (int, optional): Number of the dimension of a point.
Each row is (x, y, z). Defaults to 3.
attribute_dims (dict, optional): Dictionary to indicate the
meaning of extra dimension. Defaults to None.
Attributes:
tensor (torch.Tensor): Float matrix of N x points_dim.
points_dim (int): Integer indicating the dimension of a point.
Each row is (x, y, z, ...).
attribute_dims (bool): Dictionary to indicate the meaning of extra
dimension. Defaults to None.
rotation_axis (int): Default rotation axis for points rotation.
"""
def __init__(self, tensor, points_dim=3, attribute_dims=None):
super(CameraPoints, self).__init__(
tensor, points_dim=points_dim, attribute_dims=attribute_dims)
self.rotation_axis = 1
[docs] def flip(self, bev_direction='horizontal'):
"""Flip the points along given BEV direction.
Args:
bev_direction (str): Flip direction (horizontal or vertical).
"""
if bev_direction == 'horizontal':
self.tensor[:, 0] = -self.tensor[:, 0]
elif bev_direction == 'vertical':
self.tensor[:, 2] = -self.tensor[:, 2]
@property
def bev(self):
"""torch.Tensor: BEV of the points in shape (N, 2)."""
return self.tensor[:, [0, 2]]
[docs] def convert_to(self, dst, rt_mat=None):
"""Convert self to ``dst`` mode.
Args:
dst (:obj:`CoordMode`): The target Point mode.
rt_mat (np.ndarray | torch.Tensor, optional): The rotation and
translation matrix between different coordinates.
Defaults to None.
The conversion from `src` coordinates to `dst` coordinates
usually comes along the change of sensors, e.g., from camera
to LiDAR. This requires a transformation matrix.
Returns:
:obj:`BasePoints`: The converted point of the same type
in the `dst` mode.
"""
from mmdet3d.structures import Coord3DMode
return Coord3DMode.convert_point(
point=self, src=Coord3DMode.CAM, dst=dst, rt_mat=rt_mat)