raillabel.format package¶

Submodules¶

raillabel.format.bbox module¶

class raillabel.format.bbox.Bbox(pos: Point2d, size: Size2d, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

A 2D bounding box in an image.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONBbox, object_id: UUID) → Bbox¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

pos: Point2d¶: The center point of the bbox in pixels.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

size: Size2d¶: The dimensions of the bbox in pixels from the top left corner to the bottom right corner.

to_json(uid: UUID, object_type: str) → JSONBbox¶: Export this object into the RailLabel JSON format.

raillabel.format.camera module¶

class raillabel.format.camera.Camera(intrinsics: IntrinsicsPinhole, extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None, TYPE: str = 'camera')¶

Bases: object

A camera sensor.

TYPE: str = 'camera'¶

description: str | None = None¶: Additional information about the sensor.

extrinsics: Transform | None = None¶: External calibration of the sensor defined by the 3D transform to the coordinate system origin.

classmethod from_json(json_stream: JSONStreamCamera, json_coordinate_system: JSONCoordinateSystem) → Camera¶: Construct an instant of this class from RailLabel JSON data.

intrinsics: IntrinsicsPinhole¶: The intrinsic calibration of the sensor.

to_json() → tuple[JSONStreamCamera, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: Name of the subdirectory containing the sensor files.

raillabel.format.cuboid module¶

class raillabel.format.cuboid.Cuboid(pos: Point3d, quat: Quaternion, size: Size3d, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

3D bounding box.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONCuboid, object_id: UUID) → Cuboid¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

pos: Point3d¶: The center position of the cuboid in meters, where the x coordinate points ahead of the vehicle, y points to the left and z points upwards.

quat: Quaternion¶: The rotation of the cuboid in quaternions.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

size: Size3d¶: The size of the cuboid in meters.

to_json(uid: UUID, object_type: str) → JSONCuboid¶: Export this object into the RailLabel JSON format.

raillabel.format.frame module¶

Bases: object

A container of dynamic, timewise, information.

annotations: dict[UUID, Bbox | Cuboid | Poly2d | Poly3d | Seg3d]¶: All annotations of this frame.

frame_data: dict[str, Num]¶: Dictionary containing data directly connected to the frame and not to any object, like gps/imu data. Dictionary keys are the ID-strings of the variable the data belongs to.

classmethod from_json(json: JSONFrame) → Frame¶: Construct an instant of this class from RailLabel JSON data.

sensors: dict[str, SensorReference]¶: References to the sensors with frame specific information like timestamp and uri.

timestamp: Decimal | None = None¶: Timestamp containing the Unix epoch time of the frame with up to nanosecond precision.

to_json(objects: dict[UUID, Object]) → JSONFrame¶: Export this object into the RailLabel JSON format.

raillabel.format.frame_interval module¶

class raillabel.format.frame_interval.FrameInterval(start: int, end: int)¶

Bases: object

Closed interval of frames.

end: int¶: Ending frame number of the interval (inclusive).

classmethod from_frame_ids(frame_ids: list[int]) → list[FrameInterval]¶: Convert a list of frame uids into FrameIntervals.

Example:¶

```python FrameInterval.from_frame_ids([0, 1, 2, 3, 9, 12, 13, 14]) == [

FrameInterval(0, 3), FrameInterval(9, 9), FrameInterval(12, 14),

]¶

classmethod from_json(json: JSONFrameInterval) → FrameInterval¶: Construct an instant of this class from RailLabel JSON data.

start: int¶: Initial frame number of the interval (inclusive).

to_json() → JSONFrameInterval¶: Export this object into the RailLabel JSON format.

raillabel.format.gps_imu module¶

class raillabel.format.gps_imu.GpsImu(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A gps sensor with inertial measurement unit.

TYPE: str = 'gps_imu'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → GpsImu¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

raillabel.format.intrinsics_pinhole module¶

class raillabel.format.intrinsics_pinhole.IntrinsicsPinhole(camera_matrix: tuple[float, float, float, float, float, float, float, float, float, float, float, float], distortion: tuple[float, float, float, float, float], width_px: int, height_px: int)¶

Bases: object

Intrinsic calibration for a camera sensor.

camera_matrix: tuple[float, float, float, float, float, float, float, float, float, float, float, float]¶: This is a 3x4 camera matrix which projects 3D homogeneous points (4x1) from a camera coordinate system into the image plane (3x1). This is the usual K matrix for camera projection as in OpenCV. It is extended from 3x3 to 3x4 to enable its direct utilisation to project 4x1 homogeneous 3D points. The matrix is defined to follow the camera model: x-to-right, y-down, z-forward. The following equation applies: x_img = camera_matrix * X_ccs.

distortion: tuple[float, float, float, float, float]¶: This is the array 1x5 radial and tangential distortion coefficients.

classmethod from_json(json: JSONIntrinsicsPinhole) → IntrinsicsPinhole¶: Construct an instant of this class from RailLabel JSON data.

height_px: int¶: Height of the image frame in pixel.

to_json() → JSONIntrinsicsPinhole¶: Export this object into the RailLabel JSON format.

width_px: int¶: Width of the image frame in pixel.

raillabel.format.intrinsics_radar module¶

class raillabel.format.intrinsics_radar.IntrinsicsRadar(resolution_px_per_m: float, width_px: int, height_px: int)¶

Bases: object

Intrinsic calibration for a radar sensor.

classmethod from_json(json: JSONIntrinsicsRadar) → IntrinsicsRadar¶: Construct an instant of this class from RailLabel JSON data.

height_px: int¶: Height of the cartesian image frame in pixel.

resolution_px_per_m: float¶: Factor for calculating the 3D coordinates of a pixel in the cartesian radar images. Number of pixels in the images per meter from the sensor.

to_json() → JSONIntrinsicsRadar¶: Export this object into the RailLabel JSON format.

width_px: int¶: Width of the cartesian image frame in pixel.

raillabel.format.lidar module¶

class raillabel.format.lidar.Lidar(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A lidar sensor.

TYPE: str = 'lidar'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → Lidar¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

raillabel.format.metadata module¶

Bases: object

Container for metadata information about the scene itself.

annotator: str | None = None¶: Name or description of the annotator that created the annotations.

comment: str | None = None¶: Additional information or description about the annotation content.

exporter_version: str | None = None¶: Version of the raillabel-devkit, that last exported the scene.

file_version: str | None = None¶: Version number of the raillabel annotation content.

classmethod from_json(json: JSONMetadata) → Metadata¶: Construct an instant of this class from RailLabel JSON data.

name: str | None = None¶: Name of the raillabel annotation content.

schema_version: str¶: Version number of the OpenLABEL schema this annotation object follows.

subschema_version: str | None = None¶: Version number of the RailLabel schema this annotation object follows.

tagged_file: str | None = None¶: Directory with the exported data_dict (e.g. images, point clouds).

to_json() → JSONMetadata¶: Export this object into the RailLabel JSON format.

raillabel.format.num module¶

class raillabel.format.num.Num(name: str, val: float, id: UUID | None = None, sensor_id: str | None = None)¶

Bases: object

A number.

classmethod from_json(json: JSONNum) → Num¶: Construct an instant of this class from RailLabel JSON data.

id: UUID | None = None¶: The unique identifyer of the Num.

name: str¶: Human readable name describing the annotation.

sensor_id: str | None = None¶: A reference to the sensor, this value is represented in.

to_json() → JSONNum¶: Export this object into the RailLabel JSON format.

val: float¶: This is the value of the number object.

raillabel.format.object module¶

class raillabel.format.object.Object(name: str, type: str)¶

Bases: object

Physical, unique object in the data, that can be tracked via its UID.

classmethod from_json(json: JSONObject) → Object¶: Construct an instant of this class from RailLabel JSON data.

name: str¶: Name of the object. It is a friendly name and not used for indexing. Commonly the class name is used followed by an underscore and an integer (i.e. person_0032).

to_json(object_id: UUID, frames: dict[int, Frame]) → JSONObject¶: Export this object into the RailLabel JSON format.

type: str¶: The type of an object defines the class the object corresponds to (like ‘person’).

raillabel.format.other_sensor module¶

class raillabel.format.other_sensor.OtherSensor(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A sensor that is not represented by the available options.

TYPE: str = 'other'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → OtherSensor¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

raillabel.format.point2d module¶

class raillabel.format.point2d.Point2d(x: float, y: float)¶

Bases: object

A 2d point in an image.

classmethod from_json(json: tuple[float, float]) → Point2d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The x-coordinate of the point in the image in pixels from the left.

y: float¶: The y-coordinate of the point in the image in pixels from the top.

raillabel.format.point3d module¶

class raillabel.format.point3d.Point3d(x: float, y: float, z: float)¶

Bases: object

A point in the 3D space.

classmethod from_json(json: tuple[float, float, float]) → Point3d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The x-coordinate of the point.

y: float¶: The y-coordinate of the point.

z: float¶: The z-coordinate of the point.

raillabel.format.poly2d module¶

class raillabel.format.poly2d.Poly2d(points: list[Point2d], closed: bool, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

Sequence of 2D points. Can either be a polygon or polyline.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

closed: bool¶: If True, this object represents a polygon and if False, it represents a polyline.

classmethod from_json(json: JSONPoly2d, object_id: UUID) → Poly2d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

points: list[Point2d]¶: List of the 2d points that make up the polyline.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONPoly2d¶: Export this object into the RailLabel JSON format.

raillabel.format.poly3d module¶

class raillabel.format.poly3d.Poly3d(points: list[Point3d], closed: bool, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

Sequence of 3D points. Can either be a polygon or polyline.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

closed: bool¶: If True, this object represents a polygon and if False, it represents a polyline.

classmethod from_json(json: JSONPoly3d, object_id: UUID) → Poly3d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

points: list[Point3d]¶: List of the 3d points that make up the polyline.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONPoly3d¶: Export this object into the RailLabel JSON format.

raillabel.format.quaternion module¶

class raillabel.format.quaternion.Quaternion(x: float, y: float, z: float, w: float)¶

Bases: object

A rotation represented by a quaternion.

classmethod from_json(json: tuple[float, float, float, float]) → Quaternion¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float, float]¶: Export this object into the RailLabel JSON format.

w: float¶: The omega component of the quaternion.

x: float¶: The x component of the quaternion.

y: float¶: The y component of the quaternion.

z: float¶: The z component of the quaternion.

raillabel.format.radar module¶

class raillabel.format.radar.Radar(intrinsics: IntrinsicsRadar, extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None, TYPE: str = 'radar')¶

Bases: object

A radar sensor.

TYPE: str = 'radar'¶

description: str | None = None¶: Additional information about the sensor.

extrinsics: Transform | None = None¶: External calibration of the sensor defined by the 3D transform to the coordinate system origin.

classmethod from_json(json_stream: JSONStreamRadar, json_coordinate_system: JSONCoordinateSystem) → Radar¶: Construct an instant of this class from RailLabel JSON data.

intrinsics: IntrinsicsRadar¶: The intrinsic calibration of the sensor.

to_json() → tuple[JSONStreamRadar, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: Name of the subdirectory containing the sensor files.

raillabel.format.scene module¶

class raillabel.format.scene.Scene(metadata: Metadata, sensors: dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor] = <factory>, objects: dict[UUID, Object] = <factory>, frames: dict[int, Frame] = <factory>)¶

Bases: object

The root RailLabel class, which contains all data.

filter(filters: list[_FilterAbc]) → Scene¶: Return a scene with annotations, sensors, objects and frames excluded.

frames: dict[int, Frame]¶: A container of dynamic, timewise, information. Keys are the frame integer number.

classmethod from_json(json: JSONScene) → Scene¶: Construct a scene from a json object.

metadata: Metadata¶: Container of information about the annotation file itself.

objects: dict[UUID, Object]¶: Unique objects (like a specific person) in this scene. Keys are object uuids

sensors: dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor]¶: The sensors used in this scene. Keys are sensor names.

to_json() → JSONScene¶: Export this scene into the RailLabel JSON format.

raillabel.format.seg3d module¶

class raillabel.format.seg3d.Seg3d(point_ids: list[int], object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

The 3D segmentation of a lidar pointcloud.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONVec, object_id: UUID) → Seg3d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

point_ids: list[int]¶: The list of point indices.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONVec¶: Export this object into the RailLabel JSON format.

raillabel.format.sensor_reference module¶

class raillabel.format.sensor_reference.SensorReference(timestamp: Decimal, uri: str | None = None)¶

Bases: object

A reference to a sensor in a specific frame.

classmethod from_json(json: JSONStreamSync) → SensorReference¶: Construct an instant of this class from RailLabel JSON data.

timestamp: Decimal¶: Timestamp containing the Unix epoch time of the sensor in a specific frame with up to nanosecond precision.

to_json() → JSONStreamSync¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: URI to the file corresponding to the frame recording in the particular frame.

raillabel.format.size2d module¶

class raillabel.format.size2d.Size2d(x: float, y: float)¶

Bases: object

The size of a rectangle in a 2d image.

classmethod from_json(json: tuple[float, float]) → Size2d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The size along the x-axis.

y: float¶: The size along the y-axis.

raillabel.format.size3d module¶

class raillabel.format.size3d.Size3d(x: float, y: float, z: float)¶

Bases: object

The 3D size of a cube.

classmethod from_json(json: tuple[float, float, float]) → Size3d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The size along the x-axis.

y: float¶: The size along the y-axis.

z: float¶: The size along the z-axis.

raillabel.format.transform module¶

class raillabel.format.transform.Transform(pos: Point3d, quat: Quaternion)¶

Bases: object

A transformation between two coordinate systems.

classmethod from_json(json: JSONTransformData) → Transform¶: Construct an instant of this class from RailLabel JSON data.

pos: Point3d¶: Translation with regards to the parent coordinate system.

quat: Quaternion¶: Rotation quaternion with regards to the parent coordinate system.

to_json() → JSONTransformData¶: Export this object into the RailLabel JSON format.

Module contents¶

Module containing all relevant format classes.

class raillabel.format.Bbox(pos: Point2d, size: Size2d, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

A 2D bounding box in an image.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONBbox, object_id: UUID) → Bbox¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

pos: Point2d¶: The center point of the bbox in pixels.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

size: Size2d¶: The dimensions of the bbox in pixels from the top left corner to the bottom right corner.

to_json(uid: UUID, object_type: str) → JSONBbox¶: Export this object into the RailLabel JSON format.

class raillabel.format.Camera(intrinsics: IntrinsicsPinhole, extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None, TYPE: str = 'camera')¶

Bases: object

A camera sensor.

TYPE: str = 'camera'¶

description: str | None = None¶: Additional information about the sensor.

extrinsics: Transform | None = None¶: External calibration of the sensor defined by the 3D transform to the coordinate system origin.

classmethod from_json(json_stream: JSONStreamCamera, json_coordinate_system: JSONCoordinateSystem) → Camera¶: Construct an instant of this class from RailLabel JSON data.

intrinsics: IntrinsicsPinhole¶: The intrinsic calibration of the sensor.

to_json() → tuple[JSONStreamCamera, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: Name of the subdirectory containing the sensor files.

class raillabel.format.Cuboid(pos: Point3d, quat: Quaternion, size: Size3d, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

3D bounding box.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONCuboid, object_id: UUID) → Cuboid¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

pos: Point3d¶: The center position of the cuboid in meters, where the x coordinate points ahead of the vehicle, y points to the left and z points upwards.

quat: Quaternion¶: The rotation of the cuboid in quaternions.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

size: Size3d¶: The size of the cuboid in meters.

to_json(uid: UUID, object_type: str) → JSONCuboid¶: Export this object into the RailLabel JSON format.

Bases: object

A container of dynamic, timewise, information.

annotations: dict[UUID, Bbox | Cuboid | Poly2d | Poly3d | Seg3d]¶: All annotations of this frame.

frame_data: dict[str, Num]¶: Dictionary containing data directly connected to the frame and not to any object, like gps/imu data. Dictionary keys are the ID-strings of the variable the data belongs to.

classmethod from_json(json: JSONFrame) → Frame¶: Construct an instant of this class from RailLabel JSON data.

sensors: dict[str, SensorReference]¶: References to the sensors with frame specific information like timestamp and uri.

timestamp: Decimal | None = None¶: Timestamp containing the Unix epoch time of the frame with up to nanosecond precision.

to_json(objects: dict[UUID, Object]) → JSONFrame¶: Export this object into the RailLabel JSON format.

class raillabel.format.FrameInterval(start: int, end: int)¶

Bases: object

Closed interval of frames.

end: int¶: Ending frame number of the interval (inclusive).

classmethod from_frame_ids(frame_ids: list[int]) → list[FrameInterval]¶: Convert a list of frame uids into FrameIntervals.

Example:¶

```python FrameInterval.from_frame_ids([0, 1, 2, 3, 9, 12, 13, 14]) == [

FrameInterval(0, 3), FrameInterval(9, 9), FrameInterval(12, 14),

]¶

classmethod from_json(json: JSONFrameInterval) → FrameInterval¶: Construct an instant of this class from RailLabel JSON data.

start: int¶: Initial frame number of the interval (inclusive).

to_json() → JSONFrameInterval¶: Export this object into the RailLabel JSON format.

class raillabel.format.GpsImu(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A gps sensor with inertial measurement unit.

TYPE: str = 'gps_imu'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → GpsImu¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

class raillabel.format.IntrinsicsPinhole(camera_matrix: tuple[float, float, float, float, float, float, float, float, float, float, float, float], distortion: tuple[float, float, float, float, float], width_px: int, height_px: int)¶

Bases: object

Intrinsic calibration for a camera sensor.

camera_matrix: tuple[float, float, float, float, float, float, float, float, float, float, float, float]¶: This is a 3x4 camera matrix which projects 3D homogeneous points (4x1) from a camera coordinate system into the image plane (3x1). This is the usual K matrix for camera projection as in OpenCV. It is extended from 3x3 to 3x4 to enable its direct utilisation to project 4x1 homogeneous 3D points. The matrix is defined to follow the camera model: x-to-right, y-down, z-forward. The following equation applies: x_img = camera_matrix * X_ccs.

distortion: tuple[float, float, float, float, float]¶: This is the array 1x5 radial and tangential distortion coefficients.

classmethod from_json(json: JSONIntrinsicsPinhole) → IntrinsicsPinhole¶: Construct an instant of this class from RailLabel JSON data.

height_px: int¶: Height of the image frame in pixel.

to_json() → JSONIntrinsicsPinhole¶: Export this object into the RailLabel JSON format.

width_px: int¶: Width of the image frame in pixel.

class raillabel.format.IntrinsicsRadar(resolution_px_per_m: float, width_px: int, height_px: int)¶

Bases: object

Intrinsic calibration for a radar sensor.

classmethod from_json(json: JSONIntrinsicsRadar) → IntrinsicsRadar¶: Construct an instant of this class from RailLabel JSON data.

height_px: int¶: Height of the cartesian image frame in pixel.

resolution_px_per_m: float¶: Factor for calculating the 3D coordinates of a pixel in the cartesian radar images. Number of pixels in the images per meter from the sensor.

to_json() → JSONIntrinsicsRadar¶: Export this object into the RailLabel JSON format.

width_px: int¶: Width of the cartesian image frame in pixel.

class raillabel.format.Lidar(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A lidar sensor.

TYPE: str = 'lidar'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → Lidar¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

Bases: object

Container for metadata information about the scene itself.

annotator: str | None = None¶: Name or description of the annotator that created the annotations.

comment: str | None = None¶: Additional information or description about the annotation content.

exporter_version: str | None = None¶: Version of the raillabel-devkit, that last exported the scene.

file_version: str | None = None¶: Version number of the raillabel annotation content.

classmethod from_json(json: JSONMetadata) → Metadata¶: Construct an instant of this class from RailLabel JSON data.

name: str | None = None¶: Name of the raillabel annotation content.

schema_version: str¶: Version number of the OpenLABEL schema this annotation object follows.

subschema_version: str | None = None¶: Version number of the RailLabel schema this annotation object follows.

tagged_file: str | None = None¶: Directory with the exported data_dict (e.g. images, point clouds).

to_json() → JSONMetadata¶: Export this object into the RailLabel JSON format.

class raillabel.format.Num(name: str, val: float, id: UUID | None = None, sensor_id: str | None = None)¶

Bases: object

A number.

classmethod from_json(json: JSONNum) → Num¶: Construct an instant of this class from RailLabel JSON data.

id: UUID | None = None¶: The unique identifyer of the Num.

name: str¶: Human readable name describing the annotation.

sensor_id: str | None = None¶: A reference to the sensor, this value is represented in.

to_json() → JSONNum¶: Export this object into the RailLabel JSON format.

val: float¶: This is the value of the number object.

class raillabel.format.Object(name: str, type: str)¶

Bases: object

Physical, unique object in the data, that can be tracked via its UID.

classmethod from_json(json: JSONObject) → Object¶: Construct an instant of this class from RailLabel JSON data.

name: str¶: Name of the object. It is a friendly name and not used for indexing. Commonly the class name is used followed by an underscore and an integer (i.e. person_0032).

to_json(object_id: UUID, frames: dict[int, Frame]) → JSONObject¶: Export this object into the RailLabel JSON format.

type: str¶: The type of an object defines the class the object corresponds to (like ‘person’).

class raillabel.format.OtherSensor(extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None)¶

Bases: _SensorWithoutIntrinsics

A sensor that is not represented by the available options.

TYPE: str = 'other'¶

classmethod from_json(json_stream: JSONStreamOther, json_coordinate_system: JSONCoordinateSystem) → OtherSensor¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[JSONStreamOther, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

class raillabel.format.Point2d(x: float, y: float)¶

Bases: object

A 2d point in an image.

classmethod from_json(json: tuple[float, float]) → Point2d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The x-coordinate of the point in the image in pixels from the left.

y: float¶: The y-coordinate of the point in the image in pixels from the top.

class raillabel.format.Point3d(x: float, y: float, z: float)¶

Bases: object

A point in the 3D space.

classmethod from_json(json: tuple[float, float, float]) → Point3d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The x-coordinate of the point.

y: float¶: The y-coordinate of the point.

z: float¶: The z-coordinate of the point.

class raillabel.format.Poly2d(points: list[Point2d], closed: bool, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

Sequence of 2D points. Can either be a polygon or polyline.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

closed: bool¶: If True, this object represents a polygon and if False, it represents a polyline.

classmethod from_json(json: JSONPoly2d, object_id: UUID) → Poly2d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

points: list[Point2d]¶: List of the 2d points that make up the polyline.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONPoly2d¶: Export this object into the RailLabel JSON format.

class raillabel.format.Poly3d(points: list[Point3d], closed: bool, object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

Sequence of 3D points. Can either be a polygon or polyline.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

closed: bool¶: If True, this object represents a polygon and if False, it represents a polyline.

classmethod from_json(json: JSONPoly3d, object_id: UUID) → Poly3d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

points: list[Point3d]¶: List of the 3d points that make up the polyline.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONPoly3d¶: Export this object into the RailLabel JSON format.

class raillabel.format.Quaternion(x: float, y: float, z: float, w: float)¶

Bases: object

A rotation represented by a quaternion.

classmethod from_json(json: tuple[float, float, float, float]) → Quaternion¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float, float]¶: Export this object into the RailLabel JSON format.

w: float¶: The omega component of the quaternion.

x: float¶: The x component of the quaternion.

y: float¶: The y component of the quaternion.

z: float¶: The z component of the quaternion.

class raillabel.format.Radar(intrinsics: IntrinsicsRadar, extrinsics: Transform | None = None, uri: str | None = None, description: str | None = None, TYPE: str = 'radar')¶

Bases: object

A radar sensor.

TYPE: str = 'radar'¶

description: str | None = None¶: Additional information about the sensor.

extrinsics: Transform | None = None¶: External calibration of the sensor defined by the 3D transform to the coordinate system origin.

classmethod from_json(json_stream: JSONStreamRadar, json_coordinate_system: JSONCoordinateSystem) → Radar¶: Construct an instant of this class from RailLabel JSON data.

intrinsics: IntrinsicsRadar¶: The intrinsic calibration of the sensor.

to_json() → tuple[JSONStreamRadar, JSONCoordinateSystem]¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: Name of the subdirectory containing the sensor files.

class raillabel.format.Scene(metadata: Metadata, sensors: dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor] = <factory>, objects: dict[UUID, Object] = <factory>, frames: dict[int, Frame] = <factory>)¶

Bases: object

The root RailLabel class, which contains all data.

filter(filters: list[_FilterAbc]) → Scene¶: Return a scene with annotations, sensors, objects and frames excluded.

frames: dict[int, Frame]¶: A container of dynamic, timewise, information. Keys are the frame integer number.

classmethod from_json(json: JSONScene) → Scene¶: Construct a scene from a json object.

metadata: Metadata¶: Container of information about the annotation file itself.

objects: dict[UUID, Object]¶: Unique objects (like a specific person) in this scene. Keys are object uuids

sensors: dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor]¶: The sensors used in this scene. Keys are sensor names.

to_json() → JSONScene¶: Export this scene into the RailLabel JSON format.

class raillabel.format.Seg3d(point_ids: list[int], object_id: UUID, sensor_id: str, attributes: dict[str, float | bool | str | list])¶

Bases: object

The 3D segmentation of a lidar pointcloud.

attributes: dict[str, float | bool | str | list]¶: Additional information associated with the annotation.

classmethod from_json(json: JSONVec, object_id: UUID) → Seg3d¶: Construct an instant of this class from RailLabel JSON data.

name(object_type: str) → str¶: Return the name of the annotation used for indexing in the object data pointers.

object_id: UUID¶: The unique identifyer of the real-life object, this annotation belongs to.

point_ids: list[int]¶: The list of point indices.

sensor_id: str¶: The unique identifyer of the sensor this annotation is labeled in.

to_json(uid: UUID, object_type: str) → JSONVec¶: Export this object into the RailLabel JSON format.

class raillabel.format.SensorReference(timestamp: Decimal, uri: str | None = None)¶

Bases: object

A reference to a sensor in a specific frame.

classmethod from_json(json: JSONStreamSync) → SensorReference¶: Construct an instant of this class from RailLabel JSON data.

timestamp: Decimal¶: Timestamp containing the Unix epoch time of the sensor in a specific frame with up to nanosecond precision.

to_json() → JSONStreamSync¶: Export this object into the RailLabel JSON format.

uri: str | None = None¶: URI to the file corresponding to the frame recording in the particular frame.

class raillabel.format.Size2d(x: float, y: float)¶

Bases: object

The size of a rectangle in a 2d image.

classmethod from_json(json: tuple[float, float]) → Size2d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The size along the x-axis.

y: float¶: The size along the y-axis.

class raillabel.format.Size3d(x: float, y: float, z: float)¶

Bases: object

The 3D size of a cube.

classmethod from_json(json: tuple[float, float, float]) → Size3d¶: Construct an instant of this class from RailLabel JSON data.

to_json() → tuple[float, float, float]¶: Export this object into the RailLabel JSON format.

x: float¶: The size along the x-axis.

y: float¶: The size along the y-axis.

z: float¶: The size along the z-axis.

class raillabel.format.Transform(pos: Point3d, quat: Quaternion)¶

Bases: object

A transformation between two coordinate systems.

classmethod from_json(json: JSONTransformData) → Transform¶: Construct an instant of this class from RailLabel JSON data.

pos: Point3d¶: Translation with regards to the parent coordinate system.

quat: Quaternion¶: Rotation quaternion with regards to the parent coordinate system.

to_json() → JSONTransformData¶: Export this object into the RailLabel JSON format.

raillabel.format package¶

Submodules¶

raillabel.format.bbox module¶

raillabel.format.camera module¶

raillabel.format.cuboid module¶

raillabel.format.frame module¶

raillabel.format.frame_interval module¶

Example:¶

]¶

raillabel.format.gps_imu module¶

raillabel.format.intrinsics_pinhole module¶

raillabel.format.intrinsics_radar module¶

raillabel.format.lidar module¶

raillabel.format.metadata module¶

raillabel.format.num module¶

raillabel.format.object module¶

raillabel.format.other_sensor module¶

raillabel.format.point2d module¶

raillabel.format.point3d module¶

raillabel.format.poly2d module¶

raillabel.format.poly3d module¶

raillabel.format.quaternion module¶

raillabel.format.radar module¶

raillabel.format.scene module¶

raillabel.format.seg3d module¶

raillabel.format.sensor_reference module¶

raillabel.format.size2d module¶

raillabel.format.size3d module¶

raillabel.format.transform module¶

Module contents¶

Example:¶

]¶