combustion.points

Operations for point clouds.

Transforms

class combustion.points.Rotate(x=0.0, y=0.0, z=0.0, degrees=False)

Rotates a collection of points using rotation values in radians or degrees.

Parameters

• x (float) – Rotation about x-axis

• y (float) – Rotation about y-axis

• z (float) – Rotation about z-axis

• degrees (bool) – By default rotations are in radians. When degrees=True, rotations are treated as degrees.

Shape

• coords - \((B, N, 3)\) or \((N, 3)\)

• Output - same as coords

Initializes internal Module state, shared by both nn.Module and ScriptModule.

combustion.points.rotate()

Rotates a collection of points using rotation values in radians or degrees. See combustion.points.Rotate for more details.

class combustion.points.CenterCrop(crop_x=inf, crop_y=inf, crop_z=inf)

Crops a point cloud to a given crop about the origin.

For a given dimension, included points \(p_i\) will be calculated based on crop \(s_d\) in dimension \(d\) as

\[P' = \bigg\{(x, y, z) \in P \Big\vert \left\vert(x, y, z)\right\vert \leq \frac{(s_x, s_y, s_z)}{2}\bigg\} \]

Parameters

• crop (tuple of optional floats) – Cropped crop along the x, y, and z axis respectively. A crop can also be None in which case no cropping will be performed along that dimension.

• crop_x (float) –

• crop_y (float) –

• crop_z (float) –

Shape

• coords - \((B, N, 3)\) or \((N, 3)\)

• Output - \((B, N)\) or \((N)\) depending on shape of coords

Initializes internal Module state, shared by both nn.Module and ScriptModule.

combustion.points.center_crop()

Crops a point cloud to a given size about the origin. See combustion.points.CenterCrop for more details.

combustion.points.projection_mapping(*args, **kwargs)

combustion.points.projection_mask(*args, **kwargs)

Randomized Transforms

class combustion.points.RandomRotate(x=0.0, 0.0, y=0.0, 0.0, z=0.0, 0.0, degrees=False)

Rotates a collection of points randomly between a minimum and maximum possible rotation.

Parameters

• x (tuple of floats) – Minimum and maximum rotation about x-axis.

• y (tuple of floats) – Minimum and maximum rotation about y-axis.

• z (tuple of floats) – Minimum and maximum rotation about z-axis.

• degrees (bool) – By default rotations are in radians. When degrees=True, rotations are treated as degrees.

Shape

• coords - \((B, N, 3)\) or \((N, 3)\)

• Output - same as coords

Initializes internal Module state, shared by both nn.Module and ScriptModule.

combustion.points.random_rotate()

Rotates a collection of points randomly between a minimum and maximum possible rotation. See combustion.points.RandomRotate for more details.