CamerasIdentityAdapter

class standard_e2e.caching.adapters.CamerasIdentityAdapter(max_size=None)

Bases: IdentityAdapter

Identity adapter for camera data.

With max_size set, each camera image is downscaled so its longest side is at most max_size pixels and its intrinsics are scaled to match (so projection still holds). None (the default) passes the cameras through unchanged.

Parameters:

max_size (int | None)

property consumes_attrs: set[StandardFrameDataField]

StandardFrameData fields this adapter reads.

Used by source-dataset processors to skip building modalities that no adapter consumes (lazy-load). For example, an HDMapBEVAdapter returns {StandardFrameDataField.HD_MAP}; a processor whose adapter chain registers no HD-map adapter can then skip the (often expensive) _build_hd_map step entirely.

Returning an empty set means “this adapter does not gate any modality build” — appropriate for adapters that read optional aux_data keys (e.g. preference trajectories) which the processor populates unconditionally and cheaply.

property metadata: dict[str, Any]

Per-frame metadata this adapter contributes to aux_data.

Override in subclasses to surface adapter-side configuration that a downstream consumer needs to interpret the modality output (e.g. the ordered channel list of a BEV rasterizer). The default is an empty dict; the source dataset processor merges these into each frame’s aux_data so the .npz remains self-describing.

property name: str

Name of the adapter. Must be implemented by subclasses.

transform(standard_frame_data)

Validate input frame and dispatch to subclass implementation.

Return type:

dict[Modality, Any]

Parameters:

standard_frame_data (StandardFrameData)