Schema Tables
Attribute
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
Convert input to a list of AutolabelModel instances.
Parameters:
-
x
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
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 asfalse
. -
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 asfalse
.
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.
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
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
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.