add empty lines

mmdet3d/datasets/pipelines/indoor_augment.py

@@ -60,6 +60,7 @@ class IndoorFlipData(object):
     def __call__(self, results):
         points = results.get('points', None)
         gt_boxes = results.get('gt_boxes', None)
+
         if np.random.random() > 0.5:
             # Flipping along the YZ plane
             points[:, 0] = -1 * points[:, 0]
@@ -67,6 +68,7 @@ class IndoorFlipData(object):
             if self.name == 'sunrgbd':
                 gt_boxes[:, 6] = np.pi - gt_boxes[:, 6]
             results['gt_boxes'] = gt_boxes
+
         if self.name == 'scannet' and np.random.random() > 0.5:
             # Flipping along the XZ plane
             points[:, 1] = -1 * points[:, 1]
@@ -103,11 +105,13 @@ class IndoorRotateData(object):
                      3) - np.pi / 6  # -30 ~ +30 degree
         rot_mat = _rotz(rot_angle)
         points[:, 0:3] = np.dot(points[:, 0:3], np.transpose(rot_mat))
+
         if self.name == 'scannet':
             gt_boxes = _rotate_aligned_boxes(gt_boxes, rot_mat)
         else:
             gt_boxes[:, 0:3] = np.dot(gt_boxes[:, 0:3], np.transpose(rot_mat))
             gt_boxes[:, 6] -= rot_angle
+
         results['points'] = points
         results['gt_boxes'] = gt_boxes
         return results

mmdet3d/datasets/pipelines/indoor_loading.py

@@ -28,6 +28,7 @@ class IndoorLoadData(object):
     def __call__(self, results):
         data_path = results.get('data_path', None)
         info = results.get('info', None)
+
         if info['annos']['gt_num'] != 0:
             gt_boxes = info['annos']['gt_boxes_upright_depth']
             gt_classes = info['annos']['class'].reshape(-1, 1)
@@ -36,6 +37,7 @@ class IndoorLoadData(object):
             gt_boxes = np.zeros((1, 6), dtype=np.float32)
             gt_classes = np.zeros((1, 1))
             gt_boxes_mask = np.zeros((1, 1))
+
         if self.name == 'scannet':
             scan_name = info['points']['lidar_idx']
             points = self._get_lidar(scan_name, data_path)
@@ -45,6 +47,7 @@ class IndoorLoadData(object):
             points = np.load(
                 osp.join(data_path, 'lidar',
                          '%06d.npz' % info['points']['lidar_idx']))['pc']
+
         if not self.use_color:
             points = points[:, 0:3]  # do not use color for now
             pcl_color = points[:, 3:6]
@@ -52,11 +55,13 @@ class IndoorLoadData(object):
             points = points[:, 0:6]
             pcl_color = points[:, 3:6]
             points[:, 3:] = (points[:, 3:] - np.array(self.mean_color)) / 256.0
+
         if self.use_height:
             floor_height = np.percentile(points[:, 2], 0.99)
             height = points[:, 2] - floor_height
             points = np.concatenate([points, np.expand_dims(height, 1)], 1)
         results['points'] = points
+
         if self.name == 'scannet':
             results['pcl_color'] = pcl_color
             results['instance_labels'] = instance_labels

tests/test_indoor_augment.py

@@ -24,6 +24,7 @@ def test_indoor_flip_data():
     sunrgbd_gt_boxes = sunrgbd_results.get('gt_boxes', None)
     assert sunrgbd_points.shape == (2, 4)
     assert sunrgbd_gt_boxes.shape == (2, 7)
+
     scannet_flip_data = IndoorFlipData('scannet')
     scannet_results = dict()
     scannet_results['points'] = np.array(
@@ -43,7 +44,7 @@ def test_indoor_flip_data():
 
 def test_indoor_rotate_data():
     sunrgbd_indoor_rotate_data = IndoorRotateData('sunrgbd')
-    scannet_indoor_rotate_data = IndoorRotateData('scannet')
+
     sunrgbd_results = dict()
     sunrgbd_results['points'] = np.array(
         [[1.02828765e+00, 3.65790772e+00, 1.97294697e-01, 1.61959505e+00],
@@ -61,6 +62,8 @@ def test_indoor_rotate_data():
     sunrgbd_gt_boxes = sunrgbd_results.get('gt_boxes', None)
     assert sunrgbd_points.shape == (2, 4)
     assert sunrgbd_gt_boxes.shape == (2, 7)
+
+    scannet_indoor_rotate_data = IndoorRotateData('scannet')
     scannet_results = dict()
     scannet_results['points'] = np.array(
         [[1.6110241e+00, -1.6903955e-01, 5.8115810e-01, 5.9897250e-01],