TransformedFrameData

class standard_e2e.data_structures.TransformedFrameData(**data)

Bases: BaseModel

Represents a single frame data with associated metadata, transformed by Adapters. A finalized, training-ready structure, loaded by Dataset: Raw frame data -> StandardFrameData -> TransformedFrameData.

Parameters:

• dataset_name (str)

• segment_id (str)

• frame_id (int)

• timestamp (float)

• split (str)

• global_position (Trajectory | None)

• filename (str | None)

• aux_data (Dict[str, Any] | None)

• extra_index_data (Dict[str, Any] | None)

• timestamp_diff (float | None)

• modality_defaults (dict[Modality, ModalityDefaults] | None)

dataset_name

Name of the dataset containing this frame.

Type:

str

segment_id

Identifier of the sequence/segment this frame belongs to.

Type:

str

frame_id

Unique identifier of the frame within the segment.

Type:

int

timestamp

Timestamp of the frame in seconds.

Type:

float

split

Dataset split (e.g., train/val/test) for this frame.

Type:

str

global_position

World-frame position data; defaults to a zeroed position if not provided.

Type:

Trajectory | None

filename

Auto-generated file name of the frame npz; computed as {dataset_name}/{split}/{segment_id}_{frame_id}.npz when missing.

Type:

str | None

aux_data

Optional auxiliary metadata.

Type:

dict[str, Any] | None

extra_index_data

Optional extra indexing metadata.

Type:

dict[str, Any] | None

timestamp_diff

Optional time delta to adjacent frames.

Type:

float | None

modality_defaults

Optional default handlers used to normalize modality data.

Type:

dict[Modality, ModalityDefaults] | None

Private Attributes:

_modality_data (dict[Modality, Any]): Raw modality-specific payloads,

stored privately for compatibility with legacy code.

Use get_modality_data() to access.

set_modality_data(modality, data)

Store payload for a given modality.

Parameters:

• modality (Modality)

• data (Any)

get_modality_data(modality, set_default=True)

Retrieve payload for a modality, optionally normalizing via its default handler.

Parameters:

• modality (Modality)

• set_default (bool)

Return type:

Any

get_present_modality_keys()

List the modalities currently stored.

Return type:

List[Modality]

to_npz(path)

Serialize the frame (including modality data) to a compressed .npz file.

Parameters:

path (str)

from_npz(path, required_modalities=None)

Loads a frame from .npz, optionally ensuring required modalities exist (inserting None) and applying defaults.

Parameters:

• path (str)

• required_modalities (list[Modality] | None)

Return type:

TransformedFrameData

aux_data: Dict[str, Any] | None

dataset_name: str

extra_index_data: Dict[str, Any] | None

filename: str | None

frame_id: int

classmethod from_npz(path, required_modalities=None)

Load the frame data from a .npz file.

Return type:

TransformedFrameData

Parameters:

• path (str)

• required_modalities (list[Modality] | None)

get_modality_data(modality, set_default=True)

Retrieve modality-specific data from the stored modality map.

Parameters:

• modality (Modality) – The modality key used to locate the associated data.

• set_default (bool) – If True, normalizes the raw modality data using the configured default handler for the given modality when available. If False, returns the raw modality value without normalization. Defaults to True.

Returns:

The raw or normalized modality data, or None if the modality key is not present.

Return type:

Any

get_present_modality_keys()

Return the list of modality keys currently present in the frame data.

Returns:

The modalities for which data is stored.

Return type:

List[Modality]

global_position: Trajectory | None

modality_defaults: dict[Modality, ModalityDefaults] | None

segment_id: str

set_modality_data(modality, data)

Store data associated with the given modality.

Parameters:

• modality (Modality) – The modality identifier used as the key.

• data (Any) – The data object to associate with the modality.

split: str

timestamp: float

timestamp_diff: float | None

to_npz(path)

Serialize the frame data to a compressed NPZ file.

Parameters:

path (str) – Destination file path for the NPZ archive.