Enums

Modality

The output side of the adapter contract: the keys under which adapters write their results into TransformedFrameData, and the modality whitelist the loader reads back at training time. Each adapter’s transform returns {Modality.X: payload} — e.g. LidarAdapter produces Modality.LIDAR_PC and HDMapBEVAdapter produces Modality.HD_MAP_BEV.

Contrast with StandardFrameDataField, the input side (the raw StandardFrameData fields adapters consume). The relationship is many-to-one: the single input field LIDAR feeds both the LIDAR_PC and LIDAR_BEV output modalities, and HD_MAP feeds HD_MAP and HD_MAP_BEV — which is exactly why the two are separate enums rather than one.

class standard_e2e.enums.Modality(*values)

Bases: StrEnum

Enumeration of different data modalities used in the system.

CAMERAS = 'cameras'

LIDAR_BEV = 'lidar_bev'

LIDAR_PC = 'lidar_pc'

HD_MAP = 'hd_map'

HD_MAP_BEV = 'hd_map_bev'

SPEED = 'speed'

INTENT = 'intent'

FUTURE_STATES = 'future_states'

PAST_STATES = 'past_states'

PREFERENCE_TRAJECTORY = 'preference_trajectory'

DETECTIONS_3D = 'detections_3d'

DETECTIONS_3D_BEV = 'detections_3d_bev'

StandardFrameDataField

Field names of StandardFrameData — the input side of the adapter contract: what an adapter declares it reads via consumes_attrs, and what a processor gates its (often expensive) modality builds on via needs_attr(). Distinct from Modality, the output side: one input field (e.g. LIDAR) can feed several output modalities (LIDAR_PC, LIDAR_BEV).

class standard_e2e.enums.StandardFrameDataField(*values)

Bases: StrEnum

Field names of StandardFrameData.

This is the input side of the adapter contract: an adapter declares which StandardFrameData fields it reads via consumes_attrs, and a processor consults needs_attr to skip building modalities no adapter consumes. Do not confuse this with Modality, which is the output side (what adapters produce into TransformedFrameData) — e.g. the input field LIDAR can feed both the LIDAR_PC and LIDAR_BEV output modalities.

Members must stay in sync with the StandardFrameData fields; a unit test asserts set(StandardFrameDataField) == set(StandardFrameData.model_fields).

DATASET_NAME = 'dataset_name'

SPLIT = 'split'

SEGMENT_ID = 'segment_id'

FRAME_ID = 'frame_id'

TIMESTAMP = 'timestamp'

GLOBAL_POSITION = 'global_position'

INTENT = 'intent'

CAMERAS = 'cameras'

LIDAR = 'lidar'

FUTURE_STATES = 'future_states'

PAST_STATES = 'past_states'

HD_MAP = 'hd_map'

FRAME_DETECTIONS_3D = 'frame_detections_3d'

AUX_DATA = 'aux_data'

EXTRA_INDEX_DATA = 'extra_index_data'

Intent

Enumeration of driver intent values.

class standard_e2e.enums.Intent(*values)

Bases: IntEnum

Intent enum for frame data.

UNKNOWN = 0

GO_STRAIGHT = 1

GO_LEFT = 2

GO_RIGHT = 3

CameraDirection

Enumeration of camera mounting directions.

class standard_e2e.enums.CameraDirection(*values)

Bases: StrEnum

Enumeration of camera directions.

FRONT = 'front'

FRONT_LEFT = 'front_left'

FRONT_RIGHT = 'front_right'

SIDE_LEFT = 'side_left'

SIDE_RIGHT = 'side_right'

REAR = 'rear'

REAR_LEFT = 'rear_left'

REAR_RIGHT = 'rear_right'

TrajectoryComponent

Enumeration of trajectory data components.

class standard_e2e.enums.TrajectoryComponent(*values)

Bases: StrEnum

Enumeration of trajectory components.

TIMESTAMP = 'timestamp'

IS_VALID = 'is_valid'

X = 'x'

Y = 'y'

Z = 'z'

SPEED = 'speed'

HEADING = 'heading'

VELOCITY_X = 'velocity_x'

VELOCITY_Y = 'velocity_y'

ACCELERATION_X = 'acceleration_x'

ACCELERATION_Y = 'acceleration_y'

LENGTH = 'length'

WIDTH = 'width'

HEIGHT = 'height'

DetectionType

Enumeration of object detection types.

class standard_e2e.enums.DetectionType(*values)

Bases: StrEnum

Enumeration of agent types.

UNKNOWN = 'unknown'

PEDESTRIAN = 'pedestrian'

VEHICLE = 'vehicle'

BICYCLE = 'bicycle'

SIGN = 'sign'