@article{choi2020part,
  title={Part-Aware Data Augmentation for 3D Object Detection in Point Cloud},
  author={Choi, Jaeseok and Song, Yeji and Kwak, Nojun},
  journal={arXiv preprint arXiv:2007.13373},
  year={2020}
}

Args:
    ** only supports KITTI format **
    points: lidar points (N, 4), 
    gt_boxes: ground truth boxes (B, 7),
    gt_names: ground truth classes (B, 1), 
    class_names: list of classes to augment (3),
    pa_aug_param: parameters for PA_AUG (string).

Returns:
    points: augmented lidar points (N', 4),
    gt_boxes_mask: mask for gt_boxes (B)


class_names = ['Car', 'Pedestrian', 'Cyclist']
pa_aug_param = "dropout_p02_swap_p02_mix_p02_sparse40_p01_noise10_p01"

pa_aug = PartAwareAugmentation(points, gt_boxes, gt_names, class_names=class_names)
points, gt_boxes_mask = pa_aug.augment(pa_aug_param=pa_aug_param)
gt_boxes = gt_boxes[gt_boxes_mask]