LidarPointCloudDefaults

class standard_e2e.dataset_utils.modality_defaults.LidarPointCloudDefaults

Bases: ModalityDefaults

Substitute a missing LIDAR_PC modality with an empty LidarPointCloud (xyz components, zero points). Lets datasets without lidar coexist with lidar-bearing ones in a single UnifiedE2EDataset.

property allowed_modalities: list[Modality]

Return a list of allowed modalities for this defaults handler.

normalize(raw_value, modality)

Normalize a raw modality payload using the subclass implementation.

Parameters:

• raw_value (Any) – Raw modality payload (may be None).

• modality (Modality) – Modality to normalize; must be present in allowed_modalities.

Returns:

The normalized payload produced by _normalize.

Return type:

Any

Raises:

ValueError – If modality is not a Modality enum member or is not allowed for this defaults handler.