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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.

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.

  • automatic_annotation (bool) –

    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.

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].

  • automatic_annotation (bool) –

    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.

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.

  • automatic_annotation (bool) –

    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.

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:

  • RoiType –

    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.