Scene API¶

class py123d.api.SceneAPI[source]¶

Base class for all scene APIs. The scene API provides access to all data modalities at in a scene.

Public Data Attributes:

`log_metadata`	The `LogMetadata` of the scene.
`scene_metadata`	The `SceneMetadata` of the scene.
`map_metadata`	The `MapMetadata` of the scene, if available.
`map_api`	The `MapAPI` of the scene, if available.
`dataset`	The dataset name from the log metadata.
`split`	The data split name from the log metadata.
`location`	The location from the log metadata.
`log_name`	The log name from the log metadata.
`version`	The version of the py123d library used to create this log metadata.
`scene_uuid`	The UUID of the scene.
`number_of_iterations`	The number of iterations in the scene.
`number_of_history_iterations`	The number of history iterations in the scene.
`vehicle_parameters`	The `VehicleParameters` of the ego vehicle, if available.
`available_pinhole_camera_types`	List of available `PinholeCameraType` in the log metadata.
`available_fisheye_mei_camera_types`	List of available `FisheyeMEICameraType` in the log metadata.
`available_lidar_types`	List of available `LiDARType` in the log metadata.

Public Methods:

`get_log_metadata`()	Returns the `LogMetadata` of the scene.
`get_scene_metadata`()	Returns the `SceneMetadata` of the scene.
`get_map_api`()	Returns the `MapAPI` of the scene, if available.
`get_timepoint_at_iteration`(iteration)	Returns the `TimePoint` at a given iteration.
`get_ego_state_at_iteration`(iteration)	Returns the `EgoStateSE3` at a given iteration, if available.
`get_box_detections_at_iteration`(iteration)	Returns the `BoxDetectionWrapper` at a given iteration, if available.
`get_traffic_light_detections_at_iteration`(...)	Returns the `TrafficLightDetectionWrapper` at a given iteration,
`get_route_lane_group_ids`(iteration)	Returns the list of route lane group IDs at a given iteration, if available.
`get_pinhole_camera_at_iteration`(iteration, ...)	Returns the `PinholeCamera` of a given `PinholeCameraType` at a given iteration, if available.
`get_fisheye_mei_camera_at_iteration`(...)	Returns the `FisheyeMEICamera` of a given `FisheyeMEICameraType` at a given iteration, if available.
`get_lidar_at_iteration`(iteration, lidar_type)	Returns the `LiDAR` of a given `LiDARType` at a given iteration, if available.

abstractmethod get_log_metadata()[source]¶

Returns the LogMetadata of the scene.

Return type:: LogMetadata
Returns:: The log metadata.

abstractmethod get_scene_metadata()[source]¶

Returns the SceneMetadata of the scene.

Return type:: SceneMetadata
Returns:: The scene metadata.

abstractmethod get_map_api()[source]¶

Returns the MapAPI of the scene, if available.

Return type:: Optional[MapAPI]
Returns:: The map API, or None if not available.

abstractmethod get_timepoint_at_iteration(iteration)[source]¶

Returns the TimePoint at a given iteration.

Parameters:: iteration (int) – The iteration to get the timepoint for.
Return type:: TimePoint
Returns:: The timepoint at the given iteration.

abstractmethod get_ego_state_at_iteration(iteration)[source]¶

Returns the EgoStateSE3 at a given iteration, if available.

Parameters:: iteration (int) – The iteration to get the ego state for.
Return type:: Optional[EgoStateSE3]
Returns:: The ego state at the given iteration, or None if not available.

abstractmethod get_box_detections_at_iteration(iteration)[source]¶

Returns the BoxDetectionWrapper at a given iteration, if available.

Parameters:: iteration (int) – The iteration to get the box detections for.
Return type:: Optional[BoxDetectionWrapper]
Returns:: The box detections at the given iteration, or None if not available.

abstractmethod get_traffic_light_detections_at_iteration(iteration)[source]¶

Returns the TrafficLightDetectionWrapper at a given iteration,: if available.

Parameters:: iteration (int) – The iteration to get the traffic light detections for.
Return type:: Optional[TrafficLightDetectionWrapper]
Returns:: The traffic light detections at the given iteration, or None if not available.

abstractmethod get_route_lane_group_ids(iteration)[source]¶

Returns the list of route lane group IDs at a given iteration, if available.

Parameters:: iteration (int) – The iteration to get the route lane group IDs for.
Return type:: Optional[List[int]]
Returns:: The list of route lane group IDs at the given iteration, or None if not available.

abstractmethod get_pinhole_camera_at_iteration(iteration, camera_type)[source]¶

Returns the PinholeCamera of a given PinholeCameraType at a given iteration, if available.

Parameters:

iteration (int) – The iteration to get the pinhole camera for.
camera_type (PinholeCameraType) – The PinholeCameraType of the pinhole camera.

Return type:

Optional[PinholeCamera]

Returns:

The pinhole camera, or None if not available.

abstractmethod get_fisheye_mei_camera_at_iteration(iteration, camera_type)[source]¶

Returns the FisheyeMEICamera of a given FisheyeMEICameraType at a given iteration, if available.

Parameters:

iteration (int) – The iteration to get the fisheye MEI camera for.
camera_type (FisheyeMEICameraType) – The FisheyeMEICameraType of the fisheye MEI camera.

Return type:

Optional[FisheyeMEICamera]

Returns:

The fisheye MEI camera, or None if not available.

abstractmethod get_lidar_at_iteration(iteration, lidar_type)[source]¶

Returns the LiDAR of a given LiDARType at a given iteration, if available.

Parameters:

iteration (int) – The iteration to get the LiDAR for.
lidar_type (LiDARType) – The LiDARType of the LiDAR.

Return type:

Optional[LiDAR]

Returns:

The LiDAR, or None if not available.

property log_metadata: LogMetadata¶: The LogMetadata of the scene.

property scene_metadata: SceneMetadata¶: The SceneMetadata of the scene.

property map_metadata: MapMetadata | None¶: The MapMetadata of the scene, if available.

property map_api: MapAPI | None¶: The MapAPI of the scene, if available.

property dataset: str¶: The dataset name from the log metadata.

property split: str¶: The data split name from the log metadata.

property location: str¶: The location from the log metadata.

property log_name: str¶: The log name from the log metadata.

property version: str¶: The version of the py123d library used to create this log metadata.

property scene_uuid: str¶: The UUID of the scene.

property number_of_iterations: int¶: The number of iterations in the scene.

property number_of_history_iterations: int¶: The number of history iterations in the scene.

property vehicle_parameters: VehicleParameters | None¶: The VehicleParameters of the ego vehicle, if available.

property available_pinhole_camera_types: List[PinholeCameraType]¶: List of available PinholeCameraType in the log metadata.

property available_fisheye_mei_camera_types: List[FisheyeMEICameraType]¶: List of available FisheyeMEICameraType in the log metadata.

property available_lidar_types: List[LiDARType]¶: List of available LiDARType in the log metadata.