Schema Tables

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.

AutolabelModel

A dataclass to represent a model used in autolabeling.

Attributes:

• name (str) –

  Name of the model used for annotation. Can include version information.

• score (float) –

  Label score for the annotation from this model (range: 0.0–1.0).

• uncertainty (float | None) –

  Model-reported uncertainty for the annotation (range: 0.0–1.0). Lower values imply higher confidence.

to_autolabel_model staticmethod

to_autolabel_model(x)

Convert input to a list of AutolabelModel instances.

Parameters:

• x

  (list[dict | AutolabelModel] | None) –

  Input to convert. Can be None, a list of dicts, or a list of AutolabelModel instances.

Returns:

• list[AutolabelModel] | None –

  list[AutolabelModel] | None: Converted list of AutolabelModel instances or None.

AutolabelMixin

Mixin class for schema tables that use autolabel metadata with automatic annotation.

__attrs_post_init__

__attrs_post_init__()

Post-initialization validation for autolabel consistency.

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 (Vector3) –

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

• rotation (Quaternion) –

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

• camera_intrinsic (CameraIntrinsic) –

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

• camera_distortion (CameraDistortion) –

  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.

• index (int | None) –

  Category index for lidar segmentation.

• has_orientation (bool | None) –

  Indicates whether annotations for this category may include an orientation field (e.g., traffic light arrows). If omitted, it is treated as false.

• has_number (bool | None) –

  Indicates whether annotations for this category may include a number field (e.g., numeric traffic lights). If omitted, it is treated as false.

EgoPose

Bases: SchemaBase

A dataclass to represent schema table of ego_pose.json.

Attributes:

• token (str) –

  Unique record identifier.

• translation (Vector3) –

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

• rotation (Quaternion) –

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

• timestamp (int) –

  Unix time stamp.

• twist (Vector6 | 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 (Vector3 | None) –

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

• geocoordinate (Vector3 | 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 (KeypointLike) –

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

• num_keypoints (int) –

  The number of keypoints to be annotated.

LidarSeg

Bases: SchemaBase

A dataclass to represent lidar point cloud segmentation data.

Attributes:

• token (str) –

  Unique record identifier.

• filename (str) –

  The filename of the lidar point cloud segmentation data.

• sample_data_token (str) –

  The token of the sample data.

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, AutolabelMixin

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 (Roi) –

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

• mask (RLEMask) –

  Instance mask using the COCO format compressed by RLE.

• orientation (float | None) –

  Orientation of the arrow shape within the bounding box, in radians. Present only for categories where has_orientation is true (e.g., traffic light arrows).

• number (int | None) –

  The digit displayed within the bounding box. Present only for categories where has_number is true (e.g., numeric traffic lights).

Inherited from AutolabelMixin

automatic_annotation (bool, optional): Indicates if the annotation is fully generated by an ML model. If any part is manually modified or annotated by human this value is False. autolabel_metadata (list[AutolabelModel] | None, optional): List of models used for autolabeling. Required if automatic_annotation is true.

Shortcuts:

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

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, AutolabelMixin

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 (Vector3) –

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

• size (Vector3) –

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

• rotation (Quaternion) –

  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 (Vector3 | None) –

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

• acceleration (Vector3 | None) –

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

Inherited from AutolabelMixin

automatic_annotation (bool, optional): Indicates if the annotation is fully generated by an ML model. If any part is manually modified or annotated by human this value is False. autolabel_metadata (list[AutolabelModel] | None, optional): List of models used for autolabeling. Required if automatic_annotation is true.

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.

• info_filename (str) –

  Relative path to metainfo data-blob on disk.

• autolabel_metadata (list[AutolabelModel] | None) –

  List of models used for autolabeling applied to this entire sample_data item (e.g., image or scan).

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, AutolabelMixin

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.

Inherited from AutolabelMixin

automatic_annotation (bool, optional): Indicates if the annotation is fully generated by an ML model. If any part is manually modified or annotated by human this value is False. autolabel_metadata (list[AutolabelModel] | None, optional): List of models used for autolabeling. Required if automatic_annotation is true.

Shortcuts:

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

bbox property

bbox

Return a bounding box corners calculated from polygon vertices.

Returns:

• Roi | None –

  Roi instance given as [xmin, ymin, xmax, ymax].

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.