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reverse xyz_middle and aug prob

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Thang Vu 2022-06-03 04:42:03 +00:00
parent d8665970f9
commit 4dcb1c5eb3
1 changed files with 3 additions and 3 deletions
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6
softgroup/data/custom.py
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@ -85,7 +85,7 @@ class CustomDataset(Dataset):
pt_offset_label = pt_mean - xyz pt_offset_label = pt_mean - xyz
return instance_num, instance_pointnum, instance_cls, pt_offset_label return instance_num, instance_pointnum, instance_cls, pt_offset_label
def dataAugment(self, xyz, jitter=False, flip=False, rot=False, prob=0.9): def dataAugment(self, xyz, jitter=False, flip=False, rot=False, prob=1.0):
m = np.eye(3) m = np.eye(3)
if jitter and np.random.rand() < prob: if jitter and np.random.rand() < prob:
m += np.random.randn(3, 3) * 0.1 m += np.random.randn(3, 3) * 0.1
@ -128,14 +128,14 @@ class CustomDataset(Dataset):
j += 1 j += 1
return instance_label return instance_label
def transform_train(self, xyz, rgb, semantic_label, instance_label, aug_prob=0.9): def transform_train(self, xyz, rgb, semantic_label, instance_label, aug_prob=1.0):
xyz_middle = self.dataAugment(xyz, True, True, True, aug_prob) xyz_middle = self.dataAugment(xyz, True, True, True, aug_prob)
xyz = xyz_middle * self.voxel_cfg.scale xyz = xyz_middle * self.voxel_cfg.scale
if np.random.rand() < aug_prob: if np.random.rand() < aug_prob:
xyz = self.elastic(xyz, 6 * self.voxel_cfg.scale // 50, 40 * self.voxel_cfg.scale / 50) xyz = self.elastic(xyz, 6 * self.voxel_cfg.scale // 50, 40 * self.voxel_cfg.scale / 50)
xyz = self.elastic(xyz, 20 * self.voxel_cfg.scale // 50, xyz = self.elastic(xyz, 20 * self.voxel_cfg.scale // 50,
160 * self.voxel_cfg.scale / 50) 160 * self.voxel_cfg.scale / 50)
xyz_middle = xyz / self.voxel_cfg.scale # xyz_middle = xyz / self.voxel_cfg.scale
xyz = xyz - xyz.min(0) xyz = xyz - xyz.min(0)
max_tries = 5 max_tries = 5
while (max_tries > 0): while (max_tries > 0):