Object3D

Wandb class for 3D point clouds.

Object3D(
    data_or_path: Union['np.ndarray', str, 'TextIO', dict],
    **kwargs
) -> None

Args
data_or_path	(numpy array, string, io) Object3D can be initialized from a file or a numpy array. You can pass a path to a file or an io object and a file_type which must be one of SUPPORTED_TYPES

The shape of the numpy array must be one of either:

[[x y z],       ...] nx3
[[x y z c],     ...] nx4 where c is a category with supported range [1, 14]
[[x y z r g b], ...] nx6 where is rgb is color

Methods

from_file

View source

@classmethod
from_file(
    data_or_path: Union['TextIO', str],
    file_type: Optional['FileFormat3D'] = None
) -> "Object3D"

Initializes Object3D from a file or stream.

Args
data_or_path (Union["TextIO", str]): A path to a file or a TextIO stream. file_type (str): Specifies the data format passed to data_or_path. Required when data_or_path is a TextIO stream. This parameter is ignored if a file path is provided. The type is taken from the file extension.

from_numpy

View source

@classmethod
from_numpy(
    data: "np.ndarray"
) -> "Object3D"

Initializes Object3D from a numpy array.

Args
data (numpy array): Each entry in the array will represent one point in the point cloud.

The shape of the numpy array must be one of either:

[[x y z],       ...]  # nx3.
[[x y z c],     ...]  # nx4 where c is a category with supported range [1, 14].
[[x y z r g b], ...]  # nx6 where is rgb is color.

from_point_cloud

View source

@classmethod
from_point_cloud(
    points: Sequence['Point'],
    boxes: Sequence['Box3D'],
    vectors: Optional[Sequence['Vector3D']] = None,
    point_cloud_type: "PointCloudType" = "lidar/beta"
) -> "Object3D"

Initializes Object3D from a python object.

Args

points (Sequence["Point"]): The points in the point cloud. boxes (Sequence["Box3D"]): 3D bounding boxes for labeling the point cloud. Boxes are displayed in point cloud visualizations. vectors (Optional[Sequence["Vector3D"]]): Each vector is displayed in the point cloud visualization. Can be used to indicate directionality of bounding boxes. Defaults to None. point_cloud_type ("lidar/beta"): At this time, only the "lidar/beta" type is supported. Defaults to "lidar/beta".

Class Variables
SUPPORTED_POINT_CLOUD_TYPES
SUPPORTED_TYPES