x4d-devkit 0.1.0__py3-none-any.whl

x4d_devkit/validation/validator.py

@@ -0,0 +1,236 @@
+"""Clip directory validation."""
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+import numpy as np
+
+from x4d_devkit.validation.report import ValidationReport, ValidationIssue
+
+REQUIRED_JSON_FILES = [
+    "meta.json",
+    "calibrated_sensor.json",
+    "ego_pose.json",
+    "sample.json",
+    "sample_data.json",
+    "annotation.json",
+    "instance.json",
+]
+
+KNOWN_CATEGORIES = {
+    "car",
+    "truck",
+    "bus",
+    "trailer",
+    "construction_vehicle",
+    "pedestrian",
+    "motorcycle",
+    "bicycle",
+    "vehicle.car",
+    "vehicle.truck",
+    "vehicle.bus.bendy",
+    "vehicle.bus.rigid",
+    "vehicle.trailer",
+    "vehicle.construction",
+    "human.pedestrian.adult",
+    "human.pedestrian.child",
+    "human.pedestrian.construction_worker",
+    "human.pedestrian.police_officer",
+    "vehicle.motorcycle",
+    "vehicle.bicycle",
+    "traffic_cone",
+    "barrier",
+    "movable_object.barrier",
+    "movable_object.trafficcone",
+    "movable_object.pushable_pullable",
+    "movable_object.debris",
+    "static_object.bicycle_rack",
+}
+
+
+def validate_clip(clip_dir: str | Path) -> ValidationReport:
+    """Validate an X-4D clip directory for completeness and correctness."""
+    clip_dir = Path(clip_dir)
+
+    # Try to get clip_id from meta.json, fallback to directory name
+    clip_id = clip_dir.name
+    issues: list[ValidationIssue] = []
+    jsons: dict[str, any] = {}
+
+    # 1. Check JSON files exist and parse
+    for fname in REQUIRED_JSON_FILES:
+        path = clip_dir / fname
+        if not path.exists():
+            issues.append(
+                ValidationIssue("json_exists", "error", f"Missing {fname}")
+            )
+            continue
+        try:
+            with open(path) as f:
+                jsons[fname] = json.load(f)
+        except (json.JSONDecodeError, UnicodeDecodeError) as e:
+            issues.append(
+                ValidationIssue("json_parse", "error", f"Cannot parse {fname}", str(e))
+            )
+
+    if "meta.json" in jsons:
+        clip_id = jsons["meta.json"].get("clip_id", clip_id)
+
+    # If we can't parse essential files, return early
+    if "sample.json" not in jsons or "sample_data.json" not in jsons:
+        return ValidationReport(clip_id=clip_id, issues=issues)
+
+    # 2. Build indices
+    samples = jsons["sample.json"]
+    sample_data = jsons["sample_data.json"]
+    ego_poses = jsons.get("ego_pose.json", [])
+    annotations = jsons.get("annotation.json", [])
+    instances = jsons.get("instance.json", [])
+
+    sample_tokens = {s["sample_token"] for s in samples}
+    ego_pose_tokens = {ep["ego_pose_token"] for ep in ego_poses}
+    instance_tokens = {inst["instance_token"] for inst in instances}
+
+    # 3. LiDAR file completeness
+    # Find lidar keyframe sample_data records
+    lidar_sds = [
+        sd
+        for sd in sample_data
+        if sd.get("is_keyframe") and "LIDAR" in sd.get("channel", "").upper()
+    ]
+
+    for sd in lidar_sds:
+        file_path = clip_dir / sd["file_path"]
+        if not file_path.exists():
+            issues.append(
+                ValidationIssue(
+                    "lidar_exists",
+                    "error",
+                    f"Missing LiDAR file: {sd['file_path']}",
+                )
+            )
+            continue
+        # Check format
+        try:
+            raw = np.fromfile(str(file_path), dtype=np.float32)
+            if raw.size == 0:
+                issues.append(
+                    ValidationIssue(
+                        "lidar_format",
+                        "error",
+                        f"Empty point cloud: {sd['file_path']}",
+                    )
+                )
+            elif raw.size % 5 != 0:
+                # Try other common strides
+                valid = False
+                for stride in [3, 4, 6]:
+                    if raw.size % stride == 0:
+                        valid = True
+                        break
+                if not valid:
+                    issues.append(
+                        ValidationIssue(
+                            "lidar_format",
+                            "warning",
+                            f"Point cloud size {raw.size} not divisible by expected stride",
+                            sd["file_path"],
+                        )
+                    )
+        except Exception as e:
+            issues.append(
+                ValidationIssue(
+                    "lidar_format",
+                    "error",
+                    f"Cannot read point cloud: {sd['file_path']}",
+                    str(e),
+                )
+            )
+
+    if not lidar_sds:
+        issues.append(
+            ValidationIssue("lidar_exists", "error", "No LiDAR keyframe data found")
+        )
+
+    # 4. Ego pose coverage
+    for sd in lidar_sds:
+        if sd.get("ego_pose_token") and sd["ego_pose_token"] not in ego_pose_tokens:
+            issues.append(
+                ValidationIssue(
+                    "ego_pose_ref",
+                    "error",
+                    f"sample_data references missing ego_pose: {sd['ego_pose_token']}",
+                )
+            )
+
+    # 5. Annotation integrity
+    for ann in annotations:
+        # Category check
+        cat = ann.get("category", "")
+        if cat not in KNOWN_CATEGORIES:
+            issues.append(
+                ValidationIssue(
+                    "annotation_category",
+                    "warning",
+                    f"Unknown category: {cat}",
+                    ann.get("annotation_token", ""),
+                )
+            )
+
+        # Bbox dimensions
+        bbox = ann.get("bbox_3d", {})
+        size = bbox.get("size", {})
+        for dim in ["length", "width", "height"]:
+            val = size.get(dim, 0)
+            if not isinstance(val, (int, float)) or val <= 0 or not np.isfinite(val):
+                issues.append(
+                    ValidationIssue(
+                        "annotation_bbox",
+                        "error",
+                        f"Invalid bbox {dim}={val}",
+                        ann.get("annotation_token", ""),
+                    )
+                )
+                break
+
+        # Sample token reference
+        if ann.get("sample_token") not in sample_tokens:
+            issues.append(
+                ValidationIssue(
+                    "annotation_ref",
+                    "error",
+                    f"Annotation references missing sample: {ann.get('sample_token')}",
+                )
+            )
+
+        # Instance token reference
+        if ann.get("instance_token") and ann["instance_token"] not in instance_tokens:
+            issues.append(
+                ValidationIssue(
+                    "annotation_ref",
+                    "error",
+                    f"Annotation references missing instance: {ann.get('instance_token')}",
+                )
+            )
+
+    # 6. Prev/next chain integrity for samples
+    for s in samples:
+        if s.get("prev") and s["prev"] not in sample_tokens:
+            issues.append(
+                ValidationIssue(
+                    "chain_integrity",
+                    "warning",
+                    f"Sample prev token not found: {s['prev']}",
+                )
+            )
+        if s.get("next") and s["next"] not in sample_tokens:
+            issues.append(
+                ValidationIssue(
+                    "chain_integrity",
+                    "warning",
+                    f"Sample next token not found: {s['next']}",
+                )
+            )
+
+    return ValidationReport(clip_id=clip_id, issues=issues)

x4d_devkit-0.1.0.dist-info/METADATA

@@ -0,0 +1,117 @@
+Metadata-Version: 2.4
+Name: x4d-devkit
+Version: 0.1.0
+Summary: X-4D dataset format SDK — load, validate, evaluate, and convert autonomous driving datasets
+Author: windzu
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/windzu/x4d-devkit
+Project-URL: Repository, https://github.com/windzu/x4d-devkit
+Project-URL: Issues, https://github.com/windzu/x4d-devkit/issues
+Keywords: autonomous-driving,dataset,evaluation,annotation,lidar,camera
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=1.24
+Provides-Extra: converters
+Requires-Dist: nuscenes-devkit>=1.1.0; extra == "converters"
+Provides-Extra: client
+Requires-Dist: httpx>=0.27; extra == "client"
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: httpx>=0.27; extra == "dev"
+Dynamic: license-file
+
+# x4d-devkit
+
+X-4D dataset format SDK for autonomous driving — load, validate, evaluate, and convert datasets.
+
+## Installation
+
+```bash
+pip install x4d-devkit
+```
+
+With optional dependencies:
+
+```bash
+# NuScenes format converter
+pip install x4d-devkit[converters]
+
+# Platform API client
+pip install x4d-devkit[client]
+```
+
+## Quick Start
+
+### Load a clip
+
+```python
+from x4d_devkit import ClipLoader
+
+clip = ClipLoader("/path/to/clip")
+print(clip.meta)
+
+for sample in clip.samples:
+    # Access sensor data
+    for sd in clip.sample_data_by_sample(sample.token):
+        print(sd.channel, sd.filename)
+```
+
+### Validate a clip
+
+```bash
+x4d validate /path/to/clip
+```
+
+```python
+from x4d_devkit import validate_clip
+
+report = validate_clip("/path/to/clip")
+print(report)
+```
+
+### Detection evaluation
+
+```python
+from x4d_devkit import DetectionEval, DetectionConfig
+
+config = DetectionConfig(
+    class_names=["car", "pedestrian", "bicycle"],
+    dist_thresholds=[0.5, 1.0, 2.0, 4.0],
+)
+evaluator = DetectionEval(config, gt_clips=[...], pred_clips=[...])
+result = evaluator.evaluate()
+print(f"mAP: {result.mAP:.3f}, NDS: {result.NDS:.3f}")
+```
+
+### Convert from NuScenes
+
+```python
+from x4d_devkit.converters import NuScenesConverter
+
+converter = NuScenesConverter("/path/to/nuscenes")
+converter.convert_scene("scene-0001", output_dir="/path/to/output")
+```
+
+## Modules
+
+| Module | Description |
+|--------|-------------|
+| `core` | Data models, token generation, coordinate transforms, clip loader |
+| `eval` | Detection evaluation (mAP, TP metrics, NDS) |
+| `converters` | Format converters (NuScenes → X4D) |
+| `validation` | Clip structure and data validation |
+| `client` | X-4D platform API client |
+
+## License
+
+Apache License 2.0

x4d_devkit-0.1.0.dist-info/RECORD

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x4d_devkit-0.1.0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (82.0.1)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

x4d_devkit-0.1.0.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+x4d = x4d_devkit.cli:main

x4d_devkit-0.1.0.dist-info/licenses/LICENSE

@@ -0,0 +1,190 @@
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x4d_devkit-0.1.0.dist-info/top_level.txt

@@ -0,0 +1 @@
+x4d_devkit