open3d.ml.torch.datasets.Lyft#

class open3d.ml.torch.datasets.Lyft(dataset_path, info_path=None, name='Lyft', cache_dir='./logs/cache', use_cache=False, **kwargs)#

This class is used to create a dataset based on the Lyft dataset, and used in object detection, visualizer, training, or testing.

The Lyft level 5 dataset is best suited for self-driving applications.

__init__(dataset_path, info_path=None, name='Lyft', cache_dir='./logs/cache', use_cache=False, **kwargs)#

Initialize the function by passing the dataset and other details.

Parameters:

  • dataset_path – The path to the dataset to use.

  • info_path – The path to the file that includes information about

  • is (the dataset. This is default to dataset path if nothing) –

  • provided. –

  • name – The name of the dataset (Lyft in this case).

  • cache_dir – The directory where the cache is stored.

  • use_cache – Indicates if the dataset should be cached.

Returns:

The corresponding class.

Return type:

class

static get_label_to_names()#

Returns a label to names dictionary object.

Returns:

A dict where keys are label numbers and values are the corresponding names.

get_split(split)#

Returns a dataset split.

Parameters:

  • split – A string identifying the dataset split that is usually one of

  • 'training' –

  • 'test' –

  • 'validation' –

  • 'all'. (or) –

Returns:

A dataset split object providing the requested subset of the data.

get_split_list(split)#

Returns the list of data splits available.

Parameters:

  • split – A string identifying the dataset split that is usually one of

  • 'training' –

  • 'test' –

  • 'validation' –

  • 'all'. (or) –

Returns:

A dataset split object providing the requested subset of the data.

Raises:

  • ValueError – Indicates that the split name passed is incorrect. The

  • split name should be one of 'training', 'test', 'validation', or –

  • 'all'. –

is_tested()#

Checks if a datum in the dataset has been tested.

Parameters:

  • dataset – The current dataset to which the datum belongs to.

  • attr – The attribute that needs to be checked.

Returns:

If the dataum attribute is tested, then return the path where the attribute is stored; else, returns false.

static read_label(info, calib)#

Reads labels of bound boxes.

Returns:

The data objects with bound boxes information.

static read_lidar(path)#

Reads lidar data from the path provided.

Returns:

A data object with lidar information.

save_test_result()#

Saves the output of a model.

Parameters:

  • results – The output of a model for the datum associated with the attribute passed.

  • attr – The attributes that correspond to the outputs passed in results.