Init point cloud and video augmentation module #2374
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@shijianjian shouldnt we define a Pointcloud data structure too ? Do you have something in mind whether to represent dense or sparse pointcloud and how to deal with the memory footprint for the dense case ?
kornia/augmentation/pc/base.py
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| def transform_tensor(self, input: Tensor) -> Tuple[Tensor, Optional[Tensor], Optional[Tensor], Optional[Tensor]]: | ||
| """Split a given tensor to [xyz, normal, rgb, others]. | ||
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| Of which xyz is required, while the rest are optional. | ||
| """ | ||
| C = input.size(-1) | ||
| if C < 3: | ||
| raise RuntimeError( | ||
| f"Insufficient input channels. We expect at least (B, N, C) and C >= 3. Got {input.shape}." | ||
| ) | ||
| if C == 3: | ||
| return input, None, None, None | ||
| if C < 6: | ||
| return input[..., :3], None, None, input[..., 3:] | ||
| if C == 6: | ||
| return input[..., :3], input[..., 3:], None, None | ||
| if C < 9: | ||
| return input[..., :3], input[..., 3:6], None, input[..., 6:] | ||
| if C == 9: | ||
| return input[..., :3], input[..., 3:6], input[..., 6:], None | ||
| return input[..., :3], input[..., 3:6], input[..., 6:9], input[9:] |
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@edgarriba The fields for a point cloud object can be represented like above.
Also, I think we should support .from_open3d and .to_opend3d.
http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html
This sounds good. I've been trying out some RGBD stuff and was wondering the same. Perhaps we can open a different discussion thread(issue) for this. |
@edgarriba @cjpurackal Can you point me some links as references? I am not sure what to do on this. Probably worth having RGBD data structure. |
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@cjpurackal can you start that thread ? Very often RGBD are just 4xHxW but depending how we want to target pointclouds it can be defined as a just as sparse vectors |
will do |
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as part of #2719 plan, we have deleted the |
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