def nuImages(path: str) -> FusionDataset: """`nuImages <https://www.nuscenes.org/nuimages>`_ dataset. The file structure should be like:: <path> nuimages-v1.0-all-metadata/ v1.0-mini/ attribute.json calibrated_sensor.json category.json ego_pose.json instance.json log.json object_ann.json sample_data.json sample.json sensor.json surface_ann.json v1.0-test/ ... v1.0-train/ ... v1.0-val/ ... samples/ CAM_BACK/ CAM_BACK_LEFT/ CAM_BACK_RIGHT/ CAM_FRONT/ CAM_FRONT_LEFT/ CAM_FRONT_RIGHT/ sweeps/ CAM_BACK/ CAM_BACK_LEFT/ CAM_BACK_RIGHT/ CAM_FRONT/ CAM_FRONT_LEFT/ CAM_FRONT_RIGHT/ nuimages-v1.0-mini/ samples/ ... sweeps/ ... v1.0-mini/ ... Arguments: path: The root directory of the dataset. Returns: Loaded :class:`~tensorbay.dataset.dataset.Dataset` instance. """ root_path = os.path.abspath(os.path.expanduser(path)) dataset = FusionDataset(DATASET_NAME) dataset.load_catalog( os.path.join(os.path.dirname(__file__), "catalog.json")) metadata_path = os.path.join(root_path, "nuimages-v1.0-all-metadata") for subset in os.listdir(metadata_path): dataset.add_segment(_get_segment(root_path, subset, metadata_path)) return dataset
def nuScenes(path: str) -> FusionDataset: """`nuScenes <https://www.nuscenes.org/>`_ dataset. The file structure should be like:: <path> v1.0-mini/ maps/ 36092f0b03a857c6a3403e25b4b7aab3.png ... samples/ CAM_BACK/ CAM_BACK_LEFT/ CAM_BACK_RIGHT/ CAM_FRONT/ CAM_FRONT_LEFT/ CAM_FRONT_RIGHT/ LIDAR_TOP/ RADAR_BACK_LEFT/ RADAR_BACK_RIGHT/ RADAR_FRONT/ RADAR_FRONT_LEFT/ RADAR_FRONT_RIGHT/ sweeps/ CAM_BACK/ CAM_BACK_LEFT/ CAM_BACK_RIGHT/ CAM_FRONT/ CAM_FRONT_LEFT/ CAM_FRONT_RIGHT/ LIDAR_TOP/ RADAR_BACK_LEFT/ RADAR_BACK_RIGHT/ RADAR_FRONT/ RADAR_FRONT_LEFT/ RADAR_FRONT_RIGHT/ v1.0-mini/ attribute.json calibrated_sensor.json category.json ego_pose.json instance.json log.json map.json sample_annotation.json sample_data.json sample.json scene.json sensor.json visibility.json v1.0-test/ maps/ samples/ sweeps/ v1.0-test/ v1.0-trainval/ maps/ samples/ sweeps/ v1.0-trainval/ Arguments: path: The root directory of the dataset. Returns: Loaded :class:`~tensorbay.dataset.dataset.FusionDataset` instance. """ root_path = os.path.abspath(os.path.expanduser(path)) dataset = FusionDataset(DATASET_NAME) dataset.notes.is_continuous = True dataset.notes.bin_point_cloud_fields = ["X", "Y", "Z", "Intensity", "Ring"] dataset.load_catalog(os.path.join(os.path.dirname(__file__), "catalog.json")) for subset in os.listdir(root_path): for segment in _generate_segments(root_path, subset): dataset.add_segment(segment) return dataset