Skip to content

common

to_quaternion 

to_quaternion(x: RotationLike) -> Quaternion

Convert input rotation like array to Quaternion.

Parameters:

Returns:

  • Quaternion ( Quaternion ) –

    Converted instance.

view_points 

view_points(
    points: NDArrayF64,
    intrinsic: CameraIntrinsicLike,
    distortion: CameraDistortionLike | None = None,
    *,
    normalize: bool = True,
) -> NDArrayF64

Project 3d points on a 2d plane. It can be used to implement both perspective and orthographic projections.

It first applies the dot product between the points and the view.

Parameters:

  • points

    (NDArrayF64) –

    Matrix of points, which is the shape of (3, n) and (x, y, z) is along each column.

  • intrinsic

    (CameraIntrinsicLike) –

    nxn camera intrinsic matrix (n <= 4).

  • distortion

    (CameraDistortionLike | None, default: None ) –

    Camera distortion coefficients, which is the shape of (n,) where n can be 4, 5, 8, 12, or 14.

  • normalize

    (bool, default: True ) –

    Whether to normalize the remaining coordinate (along the 3rd axis).

Returns:

  • NDArrayF64 –

    Projected points in the shape of (3, n). If normalize=False, the 3rd coordinate is the height.

is_box_in_image 

is_box_in_image(
    box: Box3D,
    intrinsic: CameraIntrinsicLike,
    img_size: tuple[int, int],
    visibility: VisibilityLevel = VisibilityLevel.NONE,
) -> bool

Check if a box is visible inside of an image without considering its occlusions.

Parameters:

  • box

    (Box3D) –

    The box to be checked.

  • intrinsic

    (CameraIntrinsicLike) –

    3x3 camera intrinsic matrix.

  • img_size

    (tuple[int, int]) –

    Image size in the order of (width, height).

  • visibility

    (VisibilityLevel, default: NONE ) –

    Enum member of VisibilityLevel.

Returns:

  • bool –

    Return True if visibility condition is satisfied.

load_json 

load_json(filename: str) -> Any

Load json data from specified filepath.

Parameters:

  • filename

    (str) –

    File path to .json file.

Returns:

  • Any –

    Loaded data.

save_json 

save_json(data: Any, filename: str) -> None

Save data into json file.

Parameters:

  • data

    (Any) –

    Data to be saved.

  • filename

    (str) –

    File path to save as json.

DBException

A dataclass to store error message of the corresponding dataset.

Attributes:

  • dataset_id (str) –

    Dataset ID.

  • version (str | None) –

    Dataset version.

  • status (DBStatus) –

    Status of the dataset.

  • message (str) –

    Error or warning message.

is_ok 

is_ok() -> bool

Return True if the status is OK.

sanity_check 

sanity_check(
    db_root: str | Path,
    *,
    revision: str | None = None,
    include_warning: bool = False,
) -> DBException

Perform sanity check and report exception or warning encountered while loading the dataset.

Parameters:

  • db_root

    (str | Path) –

    Path to root directory of the dataset.

  • revision

    (str | None, default: None ) –

    Specific version of the dataset. If None, search the latest one.

  • include_warning

    (bool, default: False ) –

    Indicates whether to report warnings.

Returns:

  • DBException –

    Exception or warning if exits, otherwise returns None.

serialize_dataclasses 

serialize_dataclasses(data: list[Any]) -> list[dict]

Serialize list of attrs' dataclasses into list of dict.

Parameters:

  • data

    (list[Any]) –

    List of attrs' dataclasses.

Returns:

  • list[dict] –

    Serialized list of dict data.

serialize_dataclass 

serialize_dataclass(data: Any) -> dict[str, Any]

Serialize attrs' dataclasses into dict.

Note that all fields specified with init=False will be skipped to be serialized.

Parameters:

  • data

    (Any) –

    Dataclass object.

Returns:

us2sec 

us2sec(timestamp: ScalarLike) -> float

Convert timestamp from micro seconds [us] to seconds [s].

Parameters:

Returns:

  • float –

    Timestamp in [s].

sec2us 

sec2us(timestamp: ScalarLike) -> float

Convert timestamp from seconds [s] to micro seconds [us].

Parameters:

Returns:

  • float –

    Timestamp in [us].