x4d-devkit 0.1.0__tar.gz

x4d_devkit-0.1.0/LICENSE

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x4d_devkit-0.1.0/PKG-INFO

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+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/README.md

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+# 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/pyproject.toml

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+[build-system]
+requires = ["setuptools>=68.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "x4d-devkit"
+version = "0.1.0"
+description = "X-4D dataset format SDK — load, validate, evaluate, and convert autonomous driving datasets"
+readme = "README.md"
+license = "Apache-2.0"
+requires-python = ">=3.10"
+authors = [
+    {name = "windzu"},
+]
+keywords = ["autonomous-driving", "dataset", "evaluation", "annotation", "lidar", "camera"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "Intended Audience :: Science/Research",
+
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+]
+dependencies = ["numpy>=1.24"]
+
+[project.optional-dependencies]
+converters = ["nuscenes-devkit>=1.1.0"]
+client = ["httpx>=0.27"]
+dev = ["pytest>=7.0", "pytest-cov", "httpx>=0.27"]
+
+[project.urls]
+Homepage = "https://github.com/windzu/x4d-devkit"
+Repository = "https://github.com/windzu/x4d-devkit"
+Issues = "https://github.com/windzu/x4d-devkit/issues"
+
+[project.scripts]
+x4d = "x4d_devkit.cli:main"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]

x4d_devkit-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

x4d_devkit-0.1.0/tests/test_detection_eval.py

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+"""Integration tests for DetectionEval — requires nuScenes mini converted clips."""
+
+import copy
+import json
+import os
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+from x4d_devkit.core.loader import ClipLoader
+from x4d_devkit.eval.detection import (
+    DetectionConfig,
+    DetectionResult,
+    DetectionEval,
+    nusc_detection_config,
+)
+
+NUSCENES_DATAROOT = "/data/PublicDatasets/nuscenes"
+NUSCENES_AVAILABLE = os.path.isdir(os.path.join(NUSCENES_DATAROOT, "v1.0-mini"))
+
+
+def _create_pred_clip_from_gt(gt_clip_dir: Path, pred_clip_dir: Path,
+                               noise_std: float = 0.0, drop_rate: float = 0.0):
+    """Create a prediction clip by copying GT annotations with optional noise."""
+    import shutil
+    pred_clip_dir.mkdir(parents=True, exist_ok=True)
+
+    for name in ["meta.json", "sample.json", "ego_pose.json",
+                 "calibrated_sensor.json", "sample_data.json"]:
+        shutil.copy2(gt_clip_dir / name, pred_clip_dir / name)
+
+    with open(gt_clip_dir / "annotation.json") as f:
+        gt_anns = json.load(f)
+
+    rng = np.random.default_rng(42)
+    pred_anns = []
+    for ann in gt_anns:
+        if drop_rate > 0 and rng.random() < drop_rate:
+            continue
+        pred = copy.deepcopy(ann)
+        pred["score"] = 1.0
+        if noise_std > 0:
+            pred["bbox_3d"]["translation"]["x"] += rng.normal(0, noise_std)
+            pred["bbox_3d"]["translation"]["y"] += rng.normal(0, noise_std)
+        pred_anns.append(pred)
+
+    with open(pred_clip_dir / "annotation.json", "w") as f:
+        json.dump(pred_anns, f, indent=2)
+
+    with open(pred_clip_dir / "instance.json", "w") as f:
+        json.dump([], f)
+
+
+@pytest.fixture(scope="module")
+def gt_clip_dir(tmp_path_factory):
+    if not NUSCENES_AVAILABLE:
+        pytest.skip("nuScenes data not found")
+    from x4d_devkit.converters.nuscenes import NuScenesConverter
+
+    out = tmp_path_factory.mktemp("eval_test")
+    conv = NuScenesConverter(
+        dataroot=NUSCENES_DATAROOT, version="v1.0-mini", output_dir=str(out / "gt"),
+    )
+    scene = conv.nusc.scene[0]
+    clip_id = conv.convert_scene(scene["token"])
+    return out / "gt" / "clips" / clip_id
+
+
+class TestDetectionConfig:
+    def test_nusc_config(self):
+        cfg = nusc_detection_config()
+        assert len(cfg.class_names) == 10
+        assert cfg.dist_thresholds == [0.5, 1.0, 2.0, 4.0]
+        assert cfg.dist_th_tp == 2.0
+        assert cfg.min_recall == 0.1
+        assert cfg.min_precision == 0.1
+        assert "car" in cfg.class_range
+
+
+@pytest.mark.skipif(not NUSCENES_AVAILABLE, reason="nuScenes data not found")
+class TestDetectionEvalPerfect:
+    def test_perfect_predictions(self, gt_clip_dir, tmp_path):
+        pred_dir = tmp_path / "pred_perfect" / gt_clip_dir.name
+        _create_pred_clip_from_gt(gt_clip_dir, pred_dir)
+
+        gt_loader = ClipLoader(gt_clip_dir)
+        pred_loader = ClipLoader(pred_dir)
+
+        evaluator = DetectionEval(gt_clips=[gt_loader], pred_clips=[pred_loader])
+        result = evaluator.evaluate()
+
+        assert isinstance(result, DetectionResult)
+        # Some classes (bus, trailer) have no boxes within range in the mini
+        # dataset, so perfect mAP won't be 1.0 across all 10 classes.
+        # Classes that DO have boxes should get AP=1.0.
+        classes_with_data = [
+            cn for cn, ap in result.mean_dist_aps.items() if ap > 0
+        ]
+        assert len(classes_with_data) >= 8
+        for cn in classes_with_data:
+            assert result.mean_dist_aps[cn] == pytest.approx(1.0, abs=0.01)
+
+        # TP errors for classes with data should be near zero
+        for cn in classes_with_data:
+            assert result.label_tp_errors[cn]["trans_err"] < 0.01
+            assert result.label_tp_errors[cn]["scale_err"] < 0.01
+
+        assert result.nd_score > 0.7
+
+
+@pytest.mark.skipif(not NUSCENES_AVAILABLE, reason="nuScenes data not found")
+class TestDetectionEvalNoisy:
+    def test_noisy_predictions(self, gt_clip_dir, tmp_path):
+        noise_std = 0.5
+        pred_dir = tmp_path / "pred_noisy" / gt_clip_dir.name
+        _create_pred_clip_from_gt(gt_clip_dir, pred_dir, noise_std=noise_std)
+
+        gt_loader = ClipLoader(gt_clip_dir)
+        pred_loader = ClipLoader(pred_dir)
+
+        evaluator = DetectionEval(gt_clips=[gt_loader], pred_clips=[pred_loader])
+        result = evaluator.evaluate()
+
+        # Translation noise should increase trans_err for classes with data
+        classes_with_data = [
+            cn for cn, ap in result.mean_dist_aps.items() if ap > 0
+        ]
+        trans_errs = [
+            result.label_tp_errors[cn]["trans_err"]
+            for cn in classes_with_data
+        ]
+        assert max(trans_errs) > 0.1
+        assert max(trans_errs) < 2.0
+
+        # Scale was not perturbed, so classes with data should have low scale error.
+        # Some cross-matching due to translation noise can cause minor scale errors.
+        for cn in classes_with_data:
+            assert result.label_tp_errors[cn]["scale_err"] < 0.1
+
+
+@pytest.mark.skipif(not NUSCENES_AVAILABLE, reason="nuScenes data not found")
+class TestDetectionEvalEmpty:
+    def test_empty_predictions(self, gt_clip_dir, tmp_path):
+        pred_dir = tmp_path / "pred_empty" / gt_clip_dir.name
+        _create_pred_clip_from_gt(gt_clip_dir, pred_dir, drop_rate=1.0)
+
+        gt_loader = ClipLoader(gt_clip_dir)
+        pred_loader = ClipLoader(pred_dir)
+
+        evaluator = DetectionEval(gt_clips=[gt_loader], pred_clips=[pred_loader])
+        result = evaluator.evaluate()
+
+        assert result.mean_ap == pytest.approx(0.0)
+        assert result.nd_score == pytest.approx(0.0, abs=0.01)