cosense3d.dataset package

Subpackages

• cosense3d.dataset.pipeline package
  • Submodules
  • cosense3d.dataset.pipeline.loading module
    • LoadAnnotations
      • LoadAnnotations.get_lidar2img_transform()
    • LoadCarlaRoadlineMaps
      • LoadCarlaRoadlineMaps.load_single()
    • LoadLidarPoints
      • LoadLidarPoints.read_pcd()
    • LoadMultiViewImg
    • LoadOPV2VBevMaps
      • LoadOPV2VBevMaps.crop_map_for_pose()
      • LoadOPV2VBevMaps.load_single()
    • LoadSparseBevTargetPoints
      • LoadSparseBevTargetPoints.generate_sparse_bev_pts()
  • cosense3d.dataset.pipeline.transform module
    • ResizeCropFlipRotImage
    • ResizeImage
  • Module contents
    • Pipeline
      • Pipeline.build_process()
• cosense3d.dataset.toolkit package
  • Submodules
  • cosense3d.dataset.toolkit.cosense module
    • CoSenseDataConverter
      • CoSenseDataConverter.OBJ_ID2NAME
      • CoSenseDataConverter.OBJ_LIST
      • CoSenseDataConverter.OBJ_NAME2ID
      • CoSenseDataConverter.add_cam_to_fdict()
      • CoSenseDataConverter.cal_vbbx_mean_dim()
      • CoSenseDataConverter.draw_sample_distributions()
      • CoSenseDataConverter.fdict_template()
      • CoSenseDataConverter.global_boxes_to_local()
      • CoSenseDataConverter.load_meta()
      • CoSenseDataConverter.obj_from_sustech()
      • CoSenseDataConverter.obj_to_opv2v()
      • CoSenseDataConverter.obj_to_sustech()
      • CoSenseDataConverter.parse_global_bbox_velo()
      • CoSenseDataConverter.remove_lidar_info()
      • CoSenseDataConverter.supervison_full_to_sparse()
      • CoSenseDataConverter.to_kitti()
      • CoSenseDataConverter.to_opv2v()
      • CoSenseDataConverter.to_sustech()
      • CoSenseDataConverter.update_agent()
      • CoSenseDataConverter.update_agent_gt_boxes()
      • CoSenseDataConverter.update_agent_lidar()
      • CoSenseDataConverter.update_frame_bbx()
      • CoSenseDataConverter.update_from_sustech()
  • cosense3d.dataset.toolkit.dairv2x module
    • calib_to_tf_matrix()
    • convert_v2x_c()
    • convert_v2x_seq()
    • load_info_to_dict()
    • load_label()
    • optimize_poses()
    • optimize_trajectory()
    • parse_global_bboxes()
    • parse_static_pcd()
    • parse_timestamped_boxes()
    • register_pcds_to_blocks()
    • register_sequence()
    • register_step_one()
    • register_step_two()
    • remove_ego_boxes()
    • select_sub_scenes()
  • cosense3d.dataset.toolkit.opv2v module
    • boxes_3d_to_2d()
    • convert_bev_semantic_map_to_road_height_map()
    • corner_to_center()
    • create_bbx()
    • generate_bevmaps()
    • generate_roadline()
    • opv2v_pose_to_cosense()
    • opv2v_to_cosense()
    • pose_to_transformation()
    • project_points()
    • project_world_objects()
    • update_2d_bboxes()
    • update_cam_params()
    • update_global_bboxes_num_pts()
    • update_local_boxes3d()
    • x1_to_x2()
    • x_to_world()
  • cosense3d.dataset.toolkit.opv2v_t module
    • gen_time_offsets()
    • generate_roadline_reference_points()
    • get_box_velo()
    • get_local_boxes3d()
    • get_velos()
    • load_frame_data()
    • load_vehicles_gframe()
    • opv2vt_to_cosense()
    • pad_box_result()
    • parse_speed_from_yamls()
    • parse_sub_frame()
    • read_frame_plys_boxes()
    • read_ply()
    • read_ply_to_dict()
    • read_sub_frame()
    • transform_boxes_global_to_ref()
    • update_bev_map()
    • update_global_boxes()
    • update_velo()
    • vis_cosense_scenario()
    • vis_frame_data()
  • Module contents
    • callback_registrations()
    • click_register()
    • register_pcds()

Submodules

cosense3d.dataset.const module

cosense3d.dataset.cosense_dataset module

class cosense3d.dataset.cosense_dataset.CosenseDataset(cfgs, mode)

Bases: Dataset

LABEL_COLORS = {}

VALID_CLS = []

static collate_batch(batch_list)

get_valid_agents(sample_info: dict, prev_agents: List | None = None) → List

Return prev_agents if given else select the given number of agents in the communication range

which includes the ego agent.

Parameters

sample_info: meta info the one sample. prev_agents: list of the agent ids loader last time.

Returns

agents_ids: list of valid agent for the current sample

init_dataset()

Load all necessary meta information

load_frame_data(item: int, prev_agents: List | None = None, prev_item: int | None = None, omit_gt: bool | None = False, loc_err: list | None = None) → dict

Load all data and annotations from one frame to standard CoSense format.

Parameters:

• item – sample index.

• prev_agents – only load data the previous agents if given, this is used for temporal data loading.

• prev_item – the index of the previous loaded sample.

• omit_gt – whether to omit loading the ground truth annotations.

• loc_err – localization error.

Returns:

data_dict

load_meta()

Load meta data from CoSense json files

load_sample_info(item: int, prev_agents: List | None = None, prev_item: int | None = None) → dict

Load meta info of the `item`’th sample.

Parameters:

• item – sample index.

• prev_agents – only load data the previous agents if given, this is used for temporal data loading.

• prev_item – the index of the previous loaded sample.

Returns:

batch_dict: dict(scenario: str, frame: str, sample_info: dict)

parse_samples()

List all frame-wise instances

cosense3d.dataset.temporal_cosense_dataset module

class cosense3d.dataset.temporal_cosense_dataset.TemporalCosenseDataset(cfgs, mode)

Bases: CosenseDataset

Sequential Cosense data loader.

Module contents

cosense3d.dataset.get_dataloader(cfgs, mode='train', distributed=False)