schema

Schema names

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SchemaName

An enum to represent schema filenames.

Attributes:

• ATTRIBUTE –

  Property of an instance that can change while the category remains the same.

• CALIBRATED_SENSOR –

  Definition of a particular sensor as calibrated on a vehicle.

• CATEGORY –

  Object categories.

• EGO_POSE –

  Ego vehicle pose at at particular timestamp.

• INSTANCE –

  An object instance.

• LOG –

  Information about the log from which the data aws extracted.

• MAP –

  Map data that is stored as binary semantic masks from a top-down view.

• SAMPLE –

  A sample is an annotated keyframe at specific Hz.

• SAMPLE_ANNOTATION –

  A bounding box defining the position of an object seen in a sample.

• SAMPLE_DATA –

  A sensor data e.g. image, pointcloud or radar return.

• SCENE –

  A scene is a specific long sequence of consecutive frames extracted from a log.

• SENSOR –

  A specific sensor type.

• VISIBILITY –

  The visibility of instance is the fraction of annotation visible in all images.

• OBJECT_ANN (optional) –

  The annotation of a foreground object in an image.

• SURFACE_ANN (optional) –

  The annotation of a background object in an image.

• KEYPOINT (optional) –

  The annotation of pose keypoints of an object in an image.

• VEHICLE_STATE (optional) –

  The annotation of ego vehicle states.

filename property

filename: str

Return the annotation json filename.

Returns:

• str –

  Annotation json filename.

is_optional

is_optional() -> bool

Indicates if this schema name is optional.

Returns:

• bool –

  Return True if this schema is optional.

Schema tables

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Attribute

Bases: SchemaBase

A dataclass to represent schema table of attribute.json.

Attributes:

• token (str) –

  Unique record identifier.

• name (str) –

  Attribute name.

• description (str) –

  Attribute description.

CalibratedSensor

Bases: SchemaBase

A dataclass to represent schema table of calibrated_sensor.json.

Attributes:

• token (str) –

  Unique record identifier.

• sensor_token (str) –

  Foreign key pointing to the sensor type.

• translation (TranslationType) –

  Coordinates system origin given as [x, y, z] in [m].

• rotation (RotationType) –

  Coordinates system orientation given as quaternion [w, x, y, z].

• camera_intrinsic (CamIntrinsicType) –

  3x3 camera intrinsic matrix. Empty for sensors that are not cameras.

• camera_distortion (CamDistortionType) –

  Camera distortion array. Empty for sensors that are not cameras.

Category

Bases: SchemaBase

A dataclass to represent schema table of category.json.

Attributes:

• token (str) –

  Unique record identifier.

• name (str) –

  Category name.

• description (str) –

  Category description.

EgoPose

Bases: SchemaBase

A dataclass to represent schema table of ego_pose.json.

Attributes:

• token (str) –

  Unique record identifier.

• translation (TranslationType) –

  Coordinate system origin given as [x, y, z] in [m].

• rotation (RotationType) –

  Coordinate system orientation given as quaternion [w, x, y, z].

• timestamp (int) –

  Unix time stamp.

• twist (TwistType | None) –

  Linear and angular velocities in the local coordinate system of the ego vehicle (in m/s for linear and rad/s for angular), in the order of (vx, vy, vz, yaw_rate, pitch_rate, roll_rate).

• acceleration (AccelerationType | None) –

  Acceleration in the local coordinate system of the ego vehicle (in m/s2), in the order of (ax, ay, az).

• geocoordinate (GeoCoordinateType | None) –

  Coordinates in the WGS 84 reference ellipsoid (latitude, longitude, altitude) in degrees and meters.

Instance

Bases: SchemaBase

A dataclass to represent schema table of instance.json.

Attributes:

• token (str) –

  Unique record identifier.

• category_token (str) –

  Foreign key pointing to the object category.

• instance_name (str) –

  Dataset name and instance ID defined in annotation tool.

• nbr_annotations (int) –

  Number of annotations of this instance.

• first_annotation_token (str) –

  Foreign key pointing to the first annotation of this instance.

• last_annotation_token (str) –

  Foreign key pointing to the last annotation of this instance.

Keypoint

Bases: SchemaBase

A dataclass to represent schema table of keypoint.json.

Attributes:

• token (str) –

  Unique record identifier.

• sample_data_token (str) –

  Foreign key pointing to the sample data, which must be a keyframe image.

• instance_token (str) –

  Foreign key pointing to the instance.

• category_tokens (list[str]) –

  Foreign key pointing to keypoints categories.

• keypoints (KeypointType) –

  Annotated keypoints. Given as a list of [x, y].

• num_keypoints (int) –

  The number of keypoints to be annotated.

Log

Bases: SchemaBase

A dataclass to represent schema table of log.json.

Attributes:

• token (str) –

  Unique record identifier.

• logfile (str) –

  Log file name.

• vehicle (str) –

  Vehicle name.

• data_captured (str) –

  Date of the data was captured (YYYY-MM-DD-HH-mm-ss).

• location (str) –

  Area where log was captured.

Shortcuts

map_token (str): Foreign key pointing to the map record. This should be set after instantiated.

Map

Bases: SchemaBase

A dataclass to represent schema table of map.json.

Attributes:

• token (str) –

  Unique record identifier.

• log_tokens (str) –

  Foreign keys pointing the log tokens.

• category (str) –

  Map category.

• filename (str) –

  Relative path to the file with the map mask.

ObjectAnn

Bases: SchemaBase

A dataclass to represent schema table of object_ann.json.

Attributes:

• token (str) –

  Unique record identifier.

• sample_data_token (str) –

  Foreign key pointing to the sample data, which must be a keyframe image.

• instance_token (str) –

  Foreign key pointing to the instance.

• category_token (str) –

  Foreign key pointing to the object category.

• attribute_tokens (list[str]) –

  Foreign keys. List of attributes for this annotation.

• bbox (RoiType) –

  Annotated bounding box. Given as [xmin, ymin, xmax, ymax].

• mask (RLEMask) –

  Instance mask using the COCO format compressed by RLE.

Shortcuts

category_name (str): Category name. This should be set after instantiated.

width property

width

Return the width of the bounding box.

Returns:

• int –

  Bounding box width in pixel.

height property

height

Return the height of the bounding box.

Returns:

• int –

  Bounding box height in pixel.

Sample

Bases: SchemaBase

A dataclass to represent schema table of sample.json.

Attributes:

• token (str) –

  Unique record identifier.

• timestamp (int) –

  Unix time stamp.

• scene_token (str) –

  Foreign key pointing to the scene.

• next (str) –

  Foreign key pointing the sample that follows this in time. Empty if end of scene.

• prev (str) –

  Foreign key pointing the sample that precedes this in time. Empty if start of scene.

Shortcuts

data (dict[str, str]): Sensor channel and its token. This should be set after instantiated. ann_3ds (list[str]): List of foreign keys pointing the sample annotations. This should be set after instantiated. ann_2ds (list[str]): List of foreign keys pointing the object annotations. This should be set after instantiated. surface_anns (list[str]): List of foreign keys pointing the surface annotations. This should be set after instantiated.

SampleAnnotation

Bases: SchemaBase

A dataclass to represent schema table of sample_annotation.json.

Attributes:

• token (str) –

  Unique record identifier.

• sample_token (str) –

  Foreign key pointing the sample.

• instance_token (str) –

  Foreign key pointing the object instance.

• attribute_tokens (list[str]) –

  Foreign keys. List of attributes for this annotation.

• visibility_token (str) –

  Foreign key pointing the object visibility.

• translation (TranslationType) –

  Bounding box location given as [x, y, z] in [m].

• size (SizeType) –

  Bounding box size given as [width, length, height] in [m].

• rotation (RotationType) –

  Bounding box orientation given as quaternion [w, x, y, z].

• num_lidar_pts (int) –

  Number of lidar points in this box.

• num_radar_pts (int) –

  Number of radar points in this box.

• next (str) –

  Foreign key pointing the annotation that follows this in time. Empty if this is the last annotation for this object.

• prev (str) –

  Foreign key pointing the annotation that precedes this in time. Empty if this the first annotation for this object.

• velocity (VelocityType | None) –

  Bounding box velocity given as [vx, vy, vz] in [m/s].

• acceleration (AccelerationType | None) –

  Bonding box acceleration given as [ax, ay, av] in [m/s^2].

Shortcuts

category_name (str): Category name. This should be set after instantiated.

SampleData

Bases: SchemaBase

A class to represent schema table of sample_data.json.

Attributes:

• token (str) –

  Unique record identifier.

• sample_token (str) –

  Foreign key pointing the sample.

• ego_pose_token (str) –

  Foreign key pointing the ego_pose.

• calibrated_sensor_token (str) –

  Foreign key pointing the calibrated_sensor.

• filename (str) –

  Relative path to data-blob on disk.

• fileformat (FileFormat) –

  Data file format.

• width (int) –

  If the sample data is an image, this is the image width in [px].

• height (int) –

  If the sample data is an image, this is the image height in [px].

• timestamp (int) –

  Unix time stamp.

• is_key_frame (bool) –

  True if sample_data is part of key frame else, False.

• next (str) –

  Foreign key pointing the sample_data that follows this in time. Empty if end of scene.

• prev (str) –

  Foreign key pointing the sample_data that precedes this in time. Empty if start of scene.

• is_valid (bool) –

  True if this data is valid, else False. Invalid data should be ignored.

Shortcuts

modality (SensorModality): Sensor modality. This should be set after instantiated. channel (str): Sensor channel. This should be set after instantiated.

Scene

Bases: SchemaBase

A dataclass to represent schema table of scene.json.

Attributes:

• token (str) –

  Unique record identifier.

• name (str) –

  Short string identifier.

• description (str) –

  Longer description for the scene.

• log_token (str) –

  Foreign key pointing to log from where the data was extracted.

• nbr_samples (int) –

  Number of samples in the scene.

• first_sample_token (str) –

  Foreign key pointing to the first sample in scene.

• last_sample_token (str) –

  Foreign key pointing to the last sample in scene.

Sensor

Bases: SchemaBase

A dataclass to represent schema table of sensor.json.

Attributes:

• token (str) –

  Unique record identifier.

• channel (str) –

  Sensor channel name.

• modality (SensorModality) –

  Sensor modality.

Shortcuts

first_sd_token (str): The first sample data token corresponding to its sensor channel.

SurfaceAnn

Bases: SchemaBase

A dataclass to represent schema table of surface_ann.json.

Attributes:

• token (str) –

  Unique record identifier.

• sample_data_token (str) –

  Foreign key pointing to the sample data, which must be a keyframe image.

• category_token (str) –

  Foreign key pointing to the surface category.

• mask (RLEMask) –

  Segmentation mask using the COCO format compressed by RLE.

bbox property

bbox

Return a bounding box corners calculated from polygon vertices.

Returns:

• RoiType –

  Given as [xmin, ymin, xmax, ymax].

ShiftState

Bases: str, Enum

An enum to represent gear shift state.

IndicatorState

Bases: str, Enum

An enum to represent indicator state.

Indicators

A dataclass to represent state of each indicator.

Attributes:

• left (IndicatorState) –

  State of the left indicator.

• right (IndicatorState) –

  State of the right indicator.

• hazard (IndicatorState) –

  State of the hazard lights.

AdditionalInfo

A dataclass to represent additional state information of the ego vehicle.

Attributes:

• speed (float | None) –

  Speed of the ego vehicle.

VehicleState

Bases: SchemaBase

A dataclass to represent schema table of vehicle_state.json.

Attributes:

• token (str) –

  Unique record identifier.

• timestamp (int) –

  Unix time stamp.

• accel_pedal (float | None) –

  Accel pedal position [%].

• brake_pedal (float | None) –

  Brake pedal position [%].

• steer_pedal (float | None) –

  Steering wheel position [%].

• steering_tire_angle (float | None) –

  Steering tire angle [rad].

• steering_wheel_angle (float | None) –

  Steering wheel angle [rad].

• shift_state (ShiftState | None) –

  Gear shift state.

• indicators (Indicators | None) –

  State of each indicator.

• additional_info (AdditionalInfo | None) –

  Additional state information.

Visibility

Bases: SchemaBase

A dataclass to represent schema table of visibility.json.

Attributes:

• token (str) –

  Unique record identifier.

• level (VisibilityLevel) –

  Visibility level.

• description (str) –

  Description of visibility level.

Other items constructing schema table

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FileFormat

Bases: str, Enum

An enum to represent file formats.

Attributes:

• JPG –

  JPG format for image data.

• PNG –

  PNG format for image data.

• PCD –

  PCD format for pointcloud data.

• BIN –

  BIN format.

• PCDBIN –

  PCD.BIN format for pointcloud data.

is_member staticmethod

is_member(item)

Indicate whether the input item is the one of members of FileFormat.

Parameters:

• item (str) –

  Any file format name.

Returns:

• bool –

  Return True if the item is included.

values staticmethod

values()

Return a list of values of members.

Returns:

• list[str] –

  List of values.

as_ext

as_ext()

Return the value as file extension.

Returns:

• str –

  File extension.

SensorModality

Bases: str, Enum

An enum to represent sensor modalities.

Attributes:

• LIDAR –

  Lidar sensor.

• CAMERA –

  Camera sensor.

• RADAR –

  Radar sensor.

VisibilityLevel

Bases: str, Enum

An enum to represent visibility levels.

Attributes:

• FULL –

  No occlusion for the object.

• MOST –

  Object is occluded, but by less than 50%.

• PARTIAL –

  Object is occluded, but by more than 50%.

• NONE –

  Object is 90-100% occluded and no points/pixels are visible in the label.

• UNAVAILABLE –

  Visibility level is not specified.

from_value classmethod

from_value(level)

Load member from its value.

RLEMask

A dataclass to represent segmentation mask compressed by RLE.

Attributes:

• size (list[int, int]) –

  Size of image ordering (width, height).

• counts (str) –

  RLE compressed mask data.

decode

decode()

Decode segmentation mask.

Returns:

• NDArrayU8 –

  Decoded mask in shape of (H, W).

Schema registry

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build_schema

build_schema(name: str | SchemaName, filepath: str) -> list[SchemaTable]

Build schema dataclass from json file path.

Parameters:

• name (str | SchemaName) –

  Name of schema table.

• filepath (str) –

  Path to json file.

Returns:

• list[SchemaTable] –

  List of schema dataclasses.

SCHEMAS module-attribute

SCHEMAS = SchemaRegistry()

SchemaRegistry

SchemaRegistry()

A manager class to register schema tables.

build_from_json

build_from_json(key: str | SchemaName, filepath: str) -> list[SchemaTable]

Build schema dataclass from json.

Parameters:

• key (str) –

  Name of schema field.

• filepath (str) –

  Path to schema json file.

Returns:

• list[SchemaTable] –

  Instantiated dataclass.

Schema serialization

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serialize_schemas

serialize_schemas(data: list[SchemaTable]) -> list[dict]

Serialize a list of schema dataclasses into list of dict.

Parameters:

• data (list[SchemaTable]) –

  List of schema dataclasses.

Returns:

• list[dict] –

  Serialized list of dict data.

serialize_schema

serialize_schema(data: SchemaTable) -> dict

Serialize a schema dataclass into dict.

Parameters:

• data (SchemaTable) –

  Schema dataclass.

Returns:

• dict –

  Serialized dict data.