det_map/data/pipelines/point_shuffle.py

import numpy as np
from typing import Tuple

import torch


class PointShuffle(object):
    def __init__(self, is_train):
        self.is_train = is_train

    def __call__(self, features, targets):
        if self.is_train:
            points = features['lidar']
            cnt = points.shape[0]
            idx = torch.randperm(cnt, device=points.device)
            features['lidar'] = points[idx]
        return features, targets