Av2LidarDatasetProcessor¶

class standard_e2e.caching.src_datasets.av2_lidar.Av2LidarDatasetProcessor(common_output_path, split, index_data_generator=None, adapters=None, context_aggregators=None)[source]¶

Bases: Av2SensorDatasetProcessor

Processor for the Argoverse 2 lidar dataset.

Modality coverage:

  • ✓ lidar (per-sweep merged point cloud, ego frame)

  • ✓ HD map (vector lanes, drivable area, crosswalks; same taxonomy as Av2SensorDatasetProcessor)

  • ✗ cameras (AV2 lidar logs have no camera images)

  • ✗ 3D detections (AV2 lidar logs have no annotations.feather)

The two missing modalities are surfaced as defaults at training time via ModalityDefaults, so a model trained on AV2 lidar can share batches with cameras+detections datasets like AV2 sensor or Waymo Perception.

Parameters:
DATASET_NAME = 'av2_lidar'¶
property allowed_splits: list[str]¶

Return the list of allowed splits for the dataset.

property context_aggregators¶
property dataset_name: str¶

Return the name of the dataset.

property inner_path: str¶

Return the inner path relative to the common output path.

needs_attr(attr)¶

Whether at least one registered adapter reads this StandardFrameData field. Used by per-dataset processors to skip expensive modality builds (cameras, lidar, hd_map, detections, …) when no adapter would consume them. True when attr is in the consumed-attrs union, plus a hard-coded special case: the identifier / index fields are always treated as needed since they are required for the cache + index regardless of adapter chain.

Return type:

bool

Parameters:

attr (StandardFrameDataField)

property output_path: str¶

Return the output path for the processed dataset.

process_frame(raw_frame_data)¶
Return type:

tuple[TransformedFrameData, FrameIndexData]

Parameters:

raw_frame_data (Any)

process_frame_and_save_data(raw_frame_data)¶

Process a single frame of raw data, save the processed frame data to disk, and return the corresponding FrameIndexData.

Return type:

FrameIndexData

Parameters:

raw_frame_data (Any)

property specific_output_path: str¶

Return the specific output path for the dataset.

property split: str¶

Return the dataset split.