Update

utils/transforms.py

@@ -188,124 +188,5 @@ def __call__(self, pcloud, labels):
         )
 
         return pc[ind, :], None if labels is None else labels[ind]
-
-
-class InstanceCutMix(Transformation):
-    def __init__(self, phase="train"):
-        """Instance cutmix coded only for SemanticKITTI"""
-        super().__init__(inplace=True)
-
-        raise ValueError("Include latest verion")
-
-        self.phase = phase
-        self.rootdir = "/root/local_storage/semantic_kitti_instance_" + self.phase
-        self.bank = {1: [], 2: [], 5: [], 6: [], 7: []}
-        for key in self.bank.keys():
-            self.bank[key] = glob(os.path.join(self.rootdir, f"{key}", "*.bin"))
-        self.loaded = self.test_loaded()
-        # v2
-        self.rot = Compose(
-            (
-                FlipXY(inplace=True),
-                Rotation(inplace=True),
-                Scale(dims=(0, 1, 2), range=0.1, inplace=True),
-            )
-        )
-        self.nb_to_add = 40
-        self.vox = Voxelize(dims=(0, 1, 2), voxel_size=1.0, random=True)
-        """ v1
-        self.rot = Rotation(inplace=False)
-        self.max_size = 100 # Unused
-        self.nb_to_add = 20
-        self.vox = Voxelize(dims=(0, 1, 2), voxel_size=.1, random=True)
-        """
-
-    def test_loaded(self):
-        if self.phase == "train":
-            if len(self.bank[1]) != 5083:
-                print(len(self.bank[1]), 5083)
-                return False
-            if len(self.bank[2]) != 3092:
-                print(len(self.bank[2]), 3092)
-                return False
-            if len(self.bank[5]) != 8084:
-                print(len(self.bank[5]), 8084)
-                return False
-            if len(self.bank[6]) != 1551:
-                print(len(self.bank[6]), 1551)
-                return False
-            if len(self.bank[7]) != 560:
-                print(len(self.bank[7]), 560)
-                return False
-        elif self.phase == "trainval":
-            if len(self.bank[1]) != 8213:
-                print(len(self.bank[1]), 8213)
-                return False
-            if len(self.bank[2]) != 4169:
-                print(len(self.bank[2]), 4169)
-                return False
-            if len(self.bank[5]) != 12190:
-                print(len(self.bank[5]), 12190)
-                return False
-            if len(self.bank[6]) != 2943:
-                print(len(self.bank[6]), 2943)
-                return False
-            if len(self.bank[7]) != 701:
-                print(len(self.bank[7]), 701)
-                return False
-        return True
-
-    def add_in_bank(self, pc, class_label, instance_label):
-        for id_class in self.bank.keys():
-            where_class = class_label == id_class
-            all_instances = np.unique(instance_label[where_class])
-            for id_instance in all_instances:
-                # Segment instance
-                where_ins = instance_label == id_instance
-                if where_ins.sum() <= 5:
-                    continue
-                pc_to_add = pc[where_ins, :]
-                # Center instance
-                pc_to_add[:, :2] -= pc_to_add[:, :2].mean(0, keepdims=True)
-                pc_to_add[:, 2] -= pc_to_add[:, 2].min(0, keepdims=True)
-                #
-                pathfile = os.path.join(
-                    self.rootdir, f"{id_class}", f"{len(self.bank[id_class]):07d}.bin"
-                )
-                os.makedirs(os.path.join(self.rootdir, f"{id_class}"), exist_ok=True)
-                pc_to_add.tofile(pathfile)
-                self.bank[id_class].append(pathfile)
-
-    def add_in_pc(self, pc, class_label):
-        new_pc = [pc]
-        new_label = [class_label]
-        # Find location where to add new object (on a surface)
-        pc_vox, class_label_vox = self.vox(pc, class_label)
-
-        # v2
-        where_surface = np.where((class_label_vox >= 8) & (class_label_vox <= 10))[0]
-
-        """ v1
-        where_surface = np.where( ( (class_label_vox>=8) & (class_label_vox<=11) ) | (class_label_vox==16) )[0]
-        """
-
-        where_surface = where_surface[torch.randperm(len(where_surface))]
-        id_tot = 0
-        for id_class in self.bank.keys():
-            which_one = torch.randint(len(self.bank[id_class]), (self.nb_to_add,))
-            for ii in range(self.nb_to_add):
-                p = pc_vox[where_surface[id_tot]]
-                object = self.bank[id_class][which_one[ii]]
-                object = np.fromfile(object, dtype=np.float32).reshape((-1, 4))
-                object, _ = self.rot(object, 1)
-                object[:, :3] += p[:3][None]
-                new_pc.append(object)
-                new_label.append(np.ones((object.shape[0],), dtype=np.int) * id_class)
-                id_tot += 1
-        return np.concatenate(new_pc, 0), np.concatenate(new_label, 0)
-
-    def __call__(self, pc, class_label, instance_label):
-        if not self.loaded:
-            self.add_in_bank(pc, class_label, instance_label)
-            return np.zeros((2, 4)), None
-        return self.add_in_pc(pc, class_label)
+
+