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fzi-aura 1.0.1__tar.gz

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fzi_aura-1.0.1/LICENSE +202 -0
fzi_aura-1.0.1/MANIFEST.in +4 -0
fzi_aura-1.0.1/PKG-INFO +462 -0
fzi_aura-1.0.1/README.md +220 -0
fzi_aura-1.0.1/notebooks/00_quickstart.ipynb +409 -0
fzi_aura-1.0.1/notebooks/01_sensor_data_and_pcd_fields.ipynb +382 -0
fzi_aura-1.0.1/notebooks/02_annotations_calibration_projection.ipynb +926 -0
fzi_aura-1.0.1/notebooks/03_context_vehicle_state_and_trajectories.ipynb +1121 -0
fzi_aura-1.0.1/pyproject.toml +68 -0
fzi_aura-1.0.1/setup.cfg +4 -0
fzi_aura-1.0.1/src/fzi_aura/__init__.py +49 -0
fzi_aura-1.0.1/src/fzi_aura/availability.py +79 -0
fzi_aura-1.0.1/src/fzi_aura/boxes.py +157 -0
fzi_aura-1.0.1/src/fzi_aura/calibration.py +198 -0
fzi_aura-1.0.1/src/fzi_aura/cli/__init__.py +0 -0
fzi_aura-1.0.1/src/fzi_aura/cli/pcd_schema_stats.py +34 -0
fzi_aura-1.0.1/src/fzi_aura/cli/stats.py +23 -0
fzi_aura-1.0.1/src/fzi_aura/cli/validate.py +726 -0
fzi_aura-1.0.1/src/fzi_aura/contract.py +25 -0
fzi_aura-1.0.1/src/fzi_aura/dataset.py +234 -0
fzi_aura-1.0.1/src/fzi_aura/download.py +992 -0
fzi_aura-1.0.1/src/fzi_aura/errors.py +47 -0
fzi_aura-1.0.1/src/fzi_aura/frame.py +603 -0
fzi_aura-1.0.1/src/fzi_aura/frame_dataset.py +286 -0
fzi_aura-1.0.1/src/fzi_aura/geometry.py +116 -0
fzi_aura-1.0.1/src/fzi_aura/index.py +33 -0
fzi_aura-1.0.1/src/fzi_aura/io.py +68 -0
fzi_aura-1.0.1/src/fzi_aura/pointcloud.py +228 -0
fzi_aura-1.0.1/src/fzi_aura/scene.py +956 -0
fzi_aura-1.0.1/src/fzi_aura/semantics.py +98 -0
fzi_aura-1.0.1/src/fzi_aura/splits.py +67 -0
fzi_aura-1.0.1/src/fzi_aura.egg-info/SOURCES.txt +31 -0
fzi_aura-1.0.1/tests/test_core.py +1325 -0
fzi_aura-1.0.1/tests/test_download.py +483 -0

fzi_aura-1.0.1/LICENSE ADDED Viewed

@@ -0,0 +1,202 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+   1. Definitions.
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+      form, that is based on (or derived from) the Work and for which the
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+      copyright license to reproduce, prepare Derivative Works of,
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+   3. Grant of Patent License. Subject to the terms and conditions of
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fzi_aura-1.0.1/MANIFEST.in ADDED Viewed

@@ -0,0 +1,4 @@
+# Executed notebooks are versioned documentation. Include them in the source
+# distribution; package discovery keeps them out of the installable wheel.
+recursive-include notebooks *.ipynb
+prune src/fzi_aura.egg-info

fzi_aura-1.0.1/PKG-INFO ADDED Viewed

@@ -0,0 +1,462 @@
+Metadata-Version: 2.4
+Name: fzi-aura
+Version: 1.0.1
+Summary: Python SDK for the FZI-AURA dataset.
+Author-email: Rupert Polley <polley@fzi.de>
+Maintainer-email: Rupert Polley <polley@fzi.de>
+License:
+                                         Apache License
+                                   Version 2.0, January 2004
+                                http://www.apache.org/licenses/
+           TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+           1. Definitions.
+              "License" shall mean the terms and conditions for use, reproduction,
+              and distribution as defined by Sections 1 through 9 of this document.
+              "Licensor" shall mean the copyright owner or entity authorized by
+              the copyright owner that is granting the License.
+              "Legal Entity" shall mean the union of the acting entity and all
+              other entities that control, are controlled by, or are under common
+              control with that entity. For the purposes of this definition,
+              "control" means (i) the power, direct or indirect, to cause the
+              direction or management of such entity, whether by contract or
+              otherwise, or (ii) ownership of fifty percent (50%) or more of the
+              outstanding shares, or (iii) beneficial ownership of such entity.
+              "You" (or "Your") shall mean an individual or Legal Entity
+              exercising permissions granted by this License.
+              "Source" form shall mean the preferred form for making modifications,
+              including but not limited to software source code, documentation
+              source, and configuration files.
+              "Object" form shall mean any form resulting from mechanical
+              transformation or translation of a Source form, including but
+              not limited to compiled object code, generated documentation,
+              and conversions to other media types.
+              "Work" shall mean the work of authorship, whether in Source or
+              Object form, made available under the License, as indicated by a
+              copyright notice that is included in or attached to the work
+              (an example is provided in the Appendix below).
+              "Derivative Works" shall mean any work, whether in Source or Object
+              form, that is based on (or derived from) the Work and for which the
+              editorial revisions, annotations, elaborations, or other modifications
+              represent, as a whole, an original work of authorship. For the purposes
+              of this License, Derivative Works shall not include works that remain
+              separable from, or merely link (or bind by name) to the interfaces of,
+              the Work and Derivative Works thereof.
+              "Contribution" shall mean any work of authorship, including
+              the original version of the Work and any modifications or additions
+              to that Work or Derivative Works thereof, that is intentionally
+              submitted to Licensor for inclusion in the Work by the copyright owner
+              or by an individual or Legal Entity authorized to submit on behalf of
+              the copyright owner. For the purposes of this definition, "submitted"
+              means any form of electronic, verbal, or written communication sent
+              to the Licensor or its representatives, including but not limited to
+              communication on electronic mailing lists, source code control systems,
+              and issue tracking systems that are managed by, or on behalf of, the
+              Licensor for the purpose of discussing and improving the Work, but
+              excluding communication that is conspicuously marked or otherwise
+              designated in writing by the copyright owner as "Not a Contribution."
+              "Contributor" shall mean Licensor and any individual or Legal Entity
+              on behalf of whom a Contribution has been received by Licensor and
+              subsequently incorporated within the Work.
+           2. Grant of Copyright License. Subject to the terms and conditions of
+              this License, each Contributor hereby grants to You a perpetual,
+              worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+              copyright license to reproduce, prepare Derivative Works of,
+              publicly display, publicly perform, sublicense, and distribute the
+              Work and such Derivative Works in Source or Object form.
+           3. Grant of Patent License. Subject to the terms and conditions of
+              this License, each Contributor hereby grants to You a perpetual,
+              worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+              (except as stated in this section) patent license to make, have made,
+              use, offer to sell, sell, import, and otherwise transfer the Work,
+              where such license applies only to those patent claims licensable
+              by such Contributor that are necessarily infringed by their
+              Contribution(s) alone or by combination of their Contribution(s)
+              with the Work to which such Contribution(s) was submitted. If You
+              institute patent litigation against any entity (including a
+              cross-claim or counterclaim in a lawsuit) alleging that the Work
+              or a Contribution incorporated within the Work constitutes direct
+              or contributory patent infringement, then any patent licenses
+              granted to You under this License for that Work shall terminate
+              as of the date such litigation is filed.
+           4. Redistribution. You may reproduce and distribute copies of the
+              Work or Derivative Works thereof in any medium, with or without
+              modifications, and in Source or Object form, provided that You
+              meet the following conditions:
+              (a) You must give any other recipients of the Work or
+                  Derivative Works a copy of this License; and
+              (b) You must cause any modified files to carry prominent notices
+                  stating that You changed the files; and
+              (c) You must retain, in the Source form of any Derivative Works
+                  that You distribute, all copyright, patent, trademark, and
+                  attribution notices from the Source form of the Work,
+                  excluding those notices that do not pertain to any part of
+                  the Derivative Works; and
+              (d) If the Work includes a "NOTICE" text file as part of its
+                  distribution, then any Derivative Works that You distribute must
+                  include a readable copy of the attribution notices contained
+                  within such NOTICE file, excluding those notices that do not
+                  pertain to any part of the Derivative Works, in at least one
+                  of the following places: within a NOTICE text file distributed
+                  as part of the Derivative Works; within the Source form or
+                  documentation, if provided along with the Derivative Works; or,
+                  within a display generated by the Derivative Works, if and
+                  wherever such third-party notices normally appear. The contents
+                  of the NOTICE file are for informational purposes only and
+                  do not modify the License. You may add Your own attribution
+                  notices within Derivative Works that You distribute, alongside
+                  or as an addendum to the NOTICE text from the Work, provided
+                  that such additional attribution notices cannot be construed
+                  as modifying the License.
+              You may add Your own copyright statement to Your modifications and
+              may provide additional or different license terms and conditions
+              for use, reproduction, or distribution of Your modifications, or
+              for any such Derivative Works as a whole, provided Your use,
+              reproduction, and distribution of the Work otherwise complies with
+              the conditions stated in this License.
+           5. Submission of Contributions. Unless You explicitly state otherwise,
+              any Contribution intentionally submitted for inclusion in the Work
+              by You to the Licensor shall be under the terms and conditions of
+              this License, without any additional terms or conditions.
+              Notwithstanding the above, nothing herein shall supersede or modify
+              the terms of any separate license agreement you may have executed
+              with Licensor regarding such Contributions.
+           6. Trademarks. This License does not grant permission to use the trade
+              names, trademarks, service marks, or product names of the Licensor,
+              except as required for reasonable and customary use in describing the
+              origin of the Work and reproducing the content of the NOTICE file.
+           7. Disclaimer of Warranty. Unless required by applicable law or
+              agreed to in writing, Licensor provides the Work (and each
+              Contributor provides its Contributions) on an "AS IS" BASIS,
+              WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+              implied, including, without limitation, any warranties or conditions
+              of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+              PARTICULAR PURPOSE. You are solely responsible for determining the
+              appropriateness of using or redistributing the Work and assume any
+              risks associated with Your exercise of permissions under this License.
+           8. Limitation of Liability. In no event and under no legal theory,
+              whether in tort (including negligence), contract, or otherwise,
+              unless required by applicable law (such as deliberate and grossly
+              negligent acts) or agreed to in writing, shall any Contributor be
+              liable to You for damages, including any direct, indirect, special,
+              incidental, or consequential damages of any character arising as a
+              result of this License or out of the use or inability to use the
+              Work (including but not limited to damages for loss of goodwill,
+              work stoppage, computer failure or malfunction, or any and all
+              other commercial damages or losses), even if such Contributor
+              has been advised of the possibility of such damages.
+           9. Accepting Warranty or Additional Liability. While redistributing
+              the Work or Derivative Works thereof, You may choose to offer,
+              and charge a fee for, acceptance of support, warranty, indemnity,
+              or other liability obligations and/or rights consistent with this
+              License. However, in accepting such obligations, You may act only
+              on Your own behalf and on Your sole responsibility, not on behalf
+              of any other Contributor, and only if You agree to indemnify,
+              defend, and hold each Contributor harmless for any liability
+              incurred by, or claims asserted against, such Contributor by reason
+              of your accepting any such warranty or additional liability.
+           END OF TERMS AND CONDITIONS
+           APPENDIX: How to apply the Apache License to your work.
+              To apply the Apache License to your work, attach the following
+              boilerplate notice, with the fields enclosed by brackets "[]"
+              replaced with your own identifying information. (Don't include
+              the brackets!)  The text should be enclosed in the appropriate
+              comment syntax for the file format. We also recommend that a
+              file or class name and description of purpose be included on the
+              same "printed page" as the copyright notice for easier
+              identification within third-party archives.
+           Copyright [yyyy] [name of copyright owner]
+           Licensed under the Apache License, Version 2.0 (the "License");
+           you may not use this file except in compliance with the License.
+           You may obtain a copy of the License at
+               http://www.apache.org/licenses/LICENSE-2.0
+           Unless required by applicable law or agreed to in writing, software
+           distributed under the License is distributed on an "AS IS" BASIS,
+           WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+           See the License for the specific language governing permissions and
+           limitations under the License.
+Project-URL: Repository, https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk
+Project-URL: Issues, https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/issues
+Keywords: autonomous-driving,dataset,lidar,radar,camera,fzi-aura
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=1.22
+Requires-Dist: pandas
+Requires-Dist: pyarrow
+Requires-Dist: Pillow
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Provides-Extra: vis
+Requires-Dist: matplotlib; extra == "vis"
+Provides-Extra: download
+Requires-Dist: huggingface_hub>=0.24; extra == "download"
+Provides-Extra: mount
+Requires-Dist: huggingface_hub>=0.24; extra == "mount"
+Requires-Dist: ratarmount; extra == "mount"
+Dynamic: license-file
+<h1 align="center">
+  <img src="https://raw.githubusercontent.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/main/assets/FZI_Logo.svg" style="height: 1em; vertical-align: middle;">
+  FZI-AURA SDK
+</h1>
+<div align="center">
+  Python tools for downloading, validating, and working with the
+  FZI-AURA dataset.
+</div>
+<div align="center">
+  <a href="https://huggingface.co/datasets/fzi-forschungszentrum-informatik/FZI-AURA">Dataset</a>
+  · <a href="https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/notebooks/00_quickstart.ipynb">Quickstart notebook</a>
+  · <a href="https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/issues">Issues</a>
+</div>
+## Compatibility
+FZI-AURA SDK 1.0.x supports:
+- FZI-AURA dataset release v1.X
+- FZI-AURA data format v1.2.1
+- Python 3.8+
+## Installation
+Install the SDK from PyPI with:
+```bash
+python -m pip install fzi-aura
+```
+The downloader is an optional dependency:
+```bash
+python -m pip install "fzi-aura[download]"
+```
+Visualization packages used by the notebooks can be installed with:
+```bash
+python -m pip install "fzi-aura[vis]"
+```
+For development from a repository checkout, install the development,
+downloader, and notebook visualization dependencies together:
+```bash
+python -m pip install -e ".[dev,download,vis]"
+```
+## Download FZI-AURA
+Accept the dataset terms on
+[Hugging Face](https://huggingface.co/datasets/fzi-forschungszentrum-informatik/FZI-AURA)
+and sign in:
+```bash
+hf auth login
+```
+Download and extract the published keyframe data:
+```bash
+fzi-aura-download /data/fzi-aura
+```
+The downloader can select splits, scenes, and data layers. Use `--dry-run` to
+inspect a selection before downloading it:
+```bash
+fzi-aura-download /data/fzi-aura \
+  --splits train \
+  --layers camera_keyframes,lidar_raw_keyframes \
+  --dry-run
+```
+Data is published in complete scene blocks, so a scene selection may include
+neighboring scenes from the same block. Re-running the downloader picks up newly
+published blocks and keeps data that is already present.
+Set the dataset root for the examples and notebooks:
+```bash
+export FZI_AURA_ROOT=/data/fzi-aura
+```
+See [Downloading FZI-AURA](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/docs/downloading.md) for layer selection, archive
+retention, verification, parallel extraction, and archive mounting.
+## Quickstart
+```python
+import os
+from fzi_aura import FZIAURADataset
+dataset = FZIAURADataset(os.environ["FZI_AURA_ROOT"], split="train")
+scene = dataset[0]
+frame = scene[0]
+print(scene.scene_id, len(scene))
+print(frame.timestamp_ns)
+print(frame.available_cameras())
+print(frame.available_lidars())
+```
+`FZIAURADataset` provides scene-level access. A scene contains lazy frame
+objects, and sensor data is read when a `load_*` method is called.
+```text
+FZIAURADataset
+└── FZIAURAScene
+    └── FZIAURAFrame
+```
+Use `dataset.as_frames()` when you need a flat frame index across a split:
+```python
+frames = dataset.as_frames(sample_filter="any_label")
+print(len(frames))
+```
+## Working with the dataset
+Frame filters make it easy to select samples with the data required by a task.
+For example, select a frame with a front camera and motion-compensated LiDAR:
+```python
+frames = scene.frames(
+    sample_filter="sensor_available",
+    require_cameras=["front_medium"],
+    require_lidars=["top_left"],
+)
+frame = frames[0]
+image = frame.load_camera("front_medium")
+cloud = frame.load_lidar("top_left", stage="motion_compensated")
+```
+Load 3D boxes from an annotated frame:
+```python
+box_frame = scene.frames(sample_filter="boxes_3d")[0]
+boxes = box_frame.load_boxes(frame="base_link")
+```
+Load point-aligned semantic and instance labels:
+```python
+semantic_frame = scene.frames(
+    sample_filter="semantic_lidar",
+    require_lidars=["top_left"],
+    require_semantics_for=["top_left"],
+)[0]
+cloud, labels = semantic_frame.load_lidar_semantic_pair(
+    "top_left", stage="motion_compensated"
+)
+```
+## Data conventions
+- Sensor data and 3D boxes can be transformed through the ROS `base_link`
+  frame: X points forward, Y left, and Z up.
+- Raw and motion-compensated LiDAR may contain different point fields. Inspect
+  `cloud.field_names` before selecting fields.
+- Semantic labels follow LiDAR point order. Use
+  `load_lidar_semantic_pair(...)` to load and check the pair together.
+- The sample stream runs at 10 Hz and annotations are provided on 2 Hz
+  keyframes. An annotated frame may contain zero boxes.
+- Object IDs identify tracks within one scene.
+The notebooks cover calibration, coordinate transforms, camera projection, ego
+poses, and temporal trajectories with complete examples.
+See [FZI-AURA data format](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/docs/data-format.md) for the public dataset layout,
+sample index, sensor files, annotations, calibration, and ego data.
+Transform directions, temporal alignment, and projection conventions are
+covered in [Coordinate systems and transforms](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/docs/coordinate-systems.md).
+## Validation
+Validate an extracted or selectively downloaded dataset with:
+```bash
+fzi-aura-validate "$FZI_AURA_ROOT"
+```
+The validator checks the dataset structure, metadata, installed sensor files,
+annotations, calibration, and point-label alignment.
+## Examples and notebooks
+- [`examples/quickstart.py`](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/examples/quickstart.py): compact SDK example
+- [`notebooks/00_quickstart.ipynb`](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/notebooks/00_quickstart.ipynb): dataset,
+  scene, and frame access
+- [`notebooks/01_sensor_data_and_pcd_fields.ipynb`](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/notebooks/01_sensor_data_and_pcd_fields.ipynb): camera, LiDAR, radar, and PCD fields
+- [`notebooks/02_annotations_calibration_projection.ipynb`](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/notebooks/02_annotations_calibration_projection.ipynb):
+  boxes, semantic labels, calibration, projection, and point-cloud fusion
+- [`notebooks/03_context_vehicle_state_and_trajectories.ipynb`](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/notebooks/03_context_vehicle_state_and_trajectories.ipynb):
+  context, vehicle state, ego motion, and object trajectories
+## Contributing and support
+Use [GitHub Issues](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/issues)
+for bugs and usage questions. Pull requests are welcome.
+The release process is documented in
+[docs/releasing.md](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/docs/releasing.md).
+## License
+The SDK is licensed under [Apache License 2.0](https://github.com/fzi-forschungszentrum-informatik/fzi-aura-sdk/blob/main/LICENSE). The FZI-AURA dataset is distributed separately and is subject to its own
+license. See the [FZI-AURA dataset page](https://huggingface.co/datasets/fzi-forschungszentrum-informatik/FZI-AURA#license-and-third-party-data)
+for dataset licensing information.
+## Citation
+Please use the citation provided in the [FZI-AURA dataset card](https://huggingface.co/datasets/fzi-forschungszentrum-informatik/FZI-AURA/blob/main/README.md#citation).