utils.Format_convert

Classes

FormatConverter

Functions

check_numpy_to_torch staticmethod 
check_numpy_to_torch(x)

numpy到torch的转换

Parameters:
  • x –

    未知格式
Returns:
  • –

    若是numpy.ndarray，则转换为torch.tensor，否则直接返回；无论何种情况均返回判断结果
pc_numpy_2_pcd staticmethod 
pc_numpy_2_pcd(xyz: numpy.ndarray) -> o3d.geometry.PointCloud
pc_numpy_2_pcr staticmethod 
pc_numpy_2_pcr(mixed_pc_three_dims) -> numpy.ndarray

完成混合点云

Parameters:
  • mixed_pc_three_dims –

    三维混合点云
Returns:
  • ndarray –

    四维混合点云
pcd_2_pc_numpy staticmethod 
pcd_2_pc_numpy(pcd_obj: o3d.geometry.PointCloud) -> numpy.ndarray
pcr_numpy_2_pcr_channel staticmethod 
pcr_numpy_2_pcr_channel(mixed_pc_four_dims) -> numpy.ndarray

扩充一个维度点云——最后一个维度为channel(属于64束激光灯哪一束)

Parameters:
  • mixed_pc_four_dims –

    四维混合点云
Returns:
  • ndarray –

    五维混合点云