BatchedLidarPointCloud¶

class standard_e2e.data_structures.BatchedLidarPointCloud(point_clouds, device=None)[source]¶

Bases: object

Batched lidar point clouds in concat-with-batch-index format.

Single concatenated tensor of shape (sum_N, K) with a parallel batch_idx tensor of shape (sum_N,) mapping each point back to its sample.

All inputs must share the same components list (validated).

Parameters:
property batch_idx: Tensor¶
property batch_size: int¶
property components: List[LidarComponent]¶
cuda(device=None)[source]¶
Return type:

BatchedLidarPointCloud

Parameters:

device (int | None)

property device: device¶
get(components)[source]¶

Return the requested component columns as a (sum_N, K_req) tensor.

Return type:

Tensor

Parameters:

components (LidarComponent | Sequence[LidarComponent])

property points: Tensor¶
to(device)[source]¶

Move points and batch index to device (in-place).

Return type:

BatchedLidarPointCloud

Parameters:

device (device)