point_seg_class_mapping.py

from mmdet.datasets.builder import PIPELINES


@PIPELINES.register_module()
class PointSegClassMapping(object):
    """Map original semantic class to valid category ids.

    Map valid classes as 0~len(valid_cat_ids)-1 and
    others as len(valid_cat_ids).

    Args:
        valid_cat_ids (tuple[int): A tuple of valid category.
    """

    def __init__(self, valid_cat_ids):
        self.valid_cat_ids = valid_cat_ids

    def __call__(self, results):
        assert 'pts_semantic_mask' in results
        pts_semantic_mask = results['pts_semantic_mask']
        neg_cls = len(self.valid_cat_ids)

        for i in range(pts_semantic_mask.shape[0]):
            if pts_semantic_mask[i] in self.valid_cat_ids:
                converted_id = self.valid_cat_ids.index(pts_semantic_mask[i])
                pts_semantic_mask[i] = converted_id
            else:
                pts_semantic_mask[i] = neg_cls

        results['pts_semantic_mask'] = pts_semantic_mask
        return results

    def __repr__(self):
        repr_str = self.__class__.__name__
        repr_str += '(valid_cat_ids={})'.format(self.valid_cat_ids)
        return repr_str