Module pandaset.sequence

Classes

class Sequence (directory: str)

Provides all sensor and annotations for a single sequence.

Sequence provides generic preparation and loading methods for a single PandaSet sequence folder structure.

Args

directory

Absolute or relative path where annotation files are stored

Expand source code

class Sequence:
    """Provides all sensor and annotations for a single sequence.

    ``Sequence`` provides generic preparation and loading methods for a single PandaSet sequence folder structure.

    Args:
         directory: Absolute or relative path where annotation files are stored
    """

    @property
    def lidar(self) -> Lidar:
        """ Stores ``Lidar`` object for sequence

        Returns:
            Instance of ``Lidar`` class.
        """
        return self._lidar

    @property
    def camera(self) -> Dict[str, Camera]:
        """ Stores all ``Camera`` objects for sequence.

        Access data by entering the key of a specific camera (see example).

        Returns:
            Dictionary of all cameras available for sequence.

        Examples:
            >>> print(s.camera.keys())
                dict_keys(['front_camera', 'left_camera', 'back_camera', 'right_camera', 'front_left_camera', 'front_right_camera'])
            >>> cam_front = s.camera['front_camera']
        """
        return self._camera

    @property
    def gps(self) -> GPS:
        """ Stores ``GPS`` object for sequence

        Returns:
            Instance of ``GPS`` class.
        """
        return self._gps

    @property
    def timestamps(self) -> Timestamps:
        """ Stores ``Timestamps`` object for sequence

        Returns:
            Instance of ``Timestamps`` class.
        """
        return self._timestamps

    @property
    def cuboids(self) -> Cuboids:
        """ Stores ``Cuboids`` object for sequence

        Returns:
            Instance of ``Cuboids`` class.
        """
        return self._cuboids

    @property
    def semseg(self) -> SemanticSegmentation:
        """ Stores ``SemanticSegmentation`` object for sequence

        Returns:
            Instance of ``SemanticSegmentation`` class.
        """
        return self._semseg

    def __init__(self, directory: str) -> None:
        self._directory: str = directory
        self._lidar: Lidar = None
        self._camera: Dict[str, Camera] = None
        self._gps: GPS = None
        self._timestamps: Timestamps = None
        self._cuboids: Cuboids = None
        self._semseg: SemanticSegmentation = None
        self._load_data_structure()

    def _load_data_structure(self) -> None:
        data_directories = subdirectories(self._directory)

        for dd in data_directories:
            if dd.endswith('lidar'):
                self._lidar = Lidar(dd)
            elif dd.endswith('camera'):
                self._camera = {}
                camera_directories = subdirectories(dd)
                for cd in camera_directories:
                    camera_name = cd.split('/')[-1].split('\\')[-1]
                    self._camera[camera_name] = Camera(cd)
            elif dd.endswith('meta'):
                self._gps = GPS(dd)
                self._timestamps = Timestamps(dd)
            elif dd.endswith('annotations'):
                annotation_directories = subdirectories(dd)
                for ad in annotation_directories:
                    if ad.endswith('cuboids'):
                        self._cuboids = Cuboids(ad)
                    elif ad.endswith('semseg'):
                        self._semseg = SemanticSegmentation(ad)

    def load(self) -> 'Sequence':
        """Loads all sequence files from disk into memory.

        All sequence files are loaded into memory, including sensor, meta and annotation data.

        Returns:
            Current instance of ``Sequence``
        """
        self.load_lidar()
        self.load_camera()
        self.load_gps()
        self.load_timestamps()
        self.load_cuboids()
        self.load_semseg()
        return self

    def load_lidar(self) -> 'Sequence':
        """Loads all LiDAR files from disk into memory.

        All LiDAR point cloud files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        self._lidar.load()
        return self

    def load_camera(self) -> 'Sequence':
        """Loads all camera files from disk into memory.

        All camera image files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        for cam in self._camera.values():
            cam.load()
        return self

    def load_gps(self) -> 'Sequence':
        """Loads all gps files from disk into memory.

        All gps data files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        self._gps.load()
        return self

    def load_timestamps(self) -> 'Sequence':
        """Loads all timestamp files from disk into memory.

        All timestamp files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        self._timestamps.load()
        return self

    def load_cuboids(self) -> 'Sequence':
        """Loads all cuboid annotation files from disk into memory.

        All cuboid annotation files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        self._cuboids.load()
        return self

    def load_semseg(self) -> 'Sequence':
        """Loads all semantic segmentation files from disk into memory.

        All semantic segmentation files are loaded into memory.

        Returns:
            Current instance of ``Sequence``
        """
        if self.semseg:
            self.semseg.load()
        return self

Instance variables

var camera : Dict[str, Camera]

Stores all Camera objects for sequence.

Access data by entering the key of a specific camera (see example).

Returns

Dictionary of all cameras available for sequence.

Examples

>>> print(s.camera.keys())
    dict_keys(['front_camera', 'left_camera', 'back_camera', 'right_camera', 'front_left_camera', 'front_right_camera'])
>>> cam_front = s.camera['front_camera']

Expand source code

@property
def camera(self) -> Dict[str, Camera]:
    """ Stores all ``Camera`` objects for sequence.

    Access data by entering the key of a specific camera (see example).

    Returns:
        Dictionary of all cameras available for sequence.

    Examples:
        >>> print(s.camera.keys())
            dict_keys(['front_camera', 'left_camera', 'back_camera', 'right_camera', 'front_left_camera', 'front_right_camera'])
        >>> cam_front = s.camera['front_camera']
    """
    return self._camera

var cuboids : Cuboids

Stores Cuboids object for sequence

Returns

Instance of Cuboids class.

Expand source code

@property
def cuboids(self) -> Cuboids:
    """ Stores ``Cuboids`` object for sequence

    Returns:
        Instance of ``Cuboids`` class.
    """
    return self._cuboids

var gps : GPS

Stores GPS object for sequence

Returns

Instance of GPS class.

Expand source code

@property
def gps(self) -> GPS:
    """ Stores ``GPS`` object for sequence

    Returns:
        Instance of ``GPS`` class.
    """
    return self._gps

var lidar : Lidar

Stores Lidar object for sequence

Returns

Instance of Lidar class.

Expand source code

@property
def lidar(self) -> Lidar:
    """ Stores ``Lidar`` object for sequence

    Returns:
        Instance of ``Lidar`` class.
    """
    return self._lidar

var semseg : SemanticSegmentation

Stores SemanticSegmentation object for sequence

Returns

Instance of SemanticSegmentation class.

Expand source code

@property
def semseg(self) -> SemanticSegmentation:
    """ Stores ``SemanticSegmentation`` object for sequence

    Returns:
        Instance of ``SemanticSegmentation`` class.
    """
    return self._semseg

var timestamps : Timestamps

Stores Timestamps object for sequence

Returns

Instance of Timestamps class.

Expand source code

@property
def timestamps(self) -> Timestamps:
    """ Stores ``Timestamps`` object for sequence

    Returns:
        Instance of ``Timestamps`` class.
    """
    return self._timestamps

Methods

def load(self) -> Sequence

Loads all sequence files from disk into memory.

All sequence files are loaded into memory, including sensor, meta and annotation data.

Returns

Current instance of Sequence

Expand source code

def load(self) -> 'Sequence':
    """Loads all sequence files from disk into memory.

    All sequence files are loaded into memory, including sensor, meta and annotation data.

    Returns:
        Current instance of ``Sequence``
    """
    self.load_lidar()
    self.load_camera()
    self.load_gps()
    self.load_timestamps()
    self.load_cuboids()
    self.load_semseg()
    return self

def load_camera(self) -> Sequence

Loads all camera files from disk into memory.

All camera image files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_camera(self) -> 'Sequence':
    """Loads all camera files from disk into memory.

    All camera image files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    for cam in self._camera.values():
        cam.load()
    return self

def load_cuboids(self) -> Sequence

Loads all cuboid annotation files from disk into memory.

All cuboid annotation files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_cuboids(self) -> 'Sequence':
    """Loads all cuboid annotation files from disk into memory.

    All cuboid annotation files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    self._cuboids.load()
    return self

def load_gps(self) -> Sequence

Loads all gps files from disk into memory.

All gps data files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_gps(self) -> 'Sequence':
    """Loads all gps files from disk into memory.

    All gps data files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    self._gps.load()
    return self

def load_lidar(self) -> Sequence

Loads all LiDAR files from disk into memory.

All LiDAR point cloud files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_lidar(self) -> 'Sequence':
    """Loads all LiDAR files from disk into memory.

    All LiDAR point cloud files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    self._lidar.load()
    return self

def load_semseg(self) -> Sequence

Loads all semantic segmentation files from disk into memory.

All semantic segmentation files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_semseg(self) -> 'Sequence':
    """Loads all semantic segmentation files from disk into memory.

    All semantic segmentation files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    if self.semseg:
        self.semseg.load()
    return self

def load_timestamps(self) -> Sequence

Loads all timestamp files from disk into memory.

All timestamp files are loaded into memory.

Returns

Current instance of Sequence

Expand source code

def load_timestamps(self) -> 'Sequence':
    """Loads all timestamp files from disk into memory.

    All timestamp files are loaded into memory.

    Returns:
        Current instance of ``Sequence``
    """
    self._timestamps.load()
    return self