apairo 0.4.0

Extensible framework to load robotics datasets

Unified Python loader for robotics sensor datasets — one API across synchronous and asynchronous layouts, with built-in preprocessing, filtering, and dataset composition.

All data is returned as numpy.ndarray. Convert to the framework of your choice.

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Installation

pip install apairo

Optional extras:

pip install apairo[vision]   # Image loading (Pillow)

Requires Python ≥ 3.11.

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Quickstart

import apairo

ds = apairo.SemanticKittiDataset("/data/semantic_kitti", keys=["lidar", "labels"])
sample = ds[0]
# sample.data["lidar"]   -> np.ndarray (N, 4)  float32  [x, y, z, intensity]
# sample.data["labels"]  -> np.ndarray (N,)    int64

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Supported datasets

Class	Layout	Modalities
SemanticKittiDataset	synchronous	lidar, labels
Rellis3DDataset	synchronous	lidar, labels, poses
Goose3DDataset	synchronous	lidar, labels
RawDataset	asynchronous	any channels — declared in .apairo/channels.yaml
TartanKittiDataset	asynchronous	any TartanDrive v2 channel

RawDataset is the profile-free loader for the asynchronous layout: it takes its channels — and their format (npy, npys, bin, img, zarr) — entirely from .apairo/channels.yaml, so it loads any such dataset, including the output of apairo_extractor, with no code change.

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Command line

Installing apairo provides the apairo command to inspect and initialize datasets from the terminal:

# Write/repair the .apairo sidecars by scanning a directory (root-aware, idempotent)
apairo init /data/my_dataset

# Show sequences, channels (tracked + untracked), event count and any issues
apairo status /data/my_dataset           # add --json for machine output

apairo init reconstructs the .apairo files for data laid out before they existed (e.g. an older extraction) — no re-extraction needed — and the result loads directly with RawDataset. See Command Line for the full reference.

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Pipeline

apairo provides a composable set of operations that chain together — each returns a full dataset:

from apairo import Rellis3DDataset, FramePreprocessor
from torch.utils.data import DataLoader
import numpy as np

# 1. Preprocess — run once, persisted in .apairo, reloaded transparently
class TravLabel(FramePreprocessor):
    output_key = "trav_gt";  output_loader = "npys"
    input_keys = ["labels"]; timestamps_from = "lidar"; sources = ["labels"]
    def process(self, sample): return (sample.data["labels"] < 10).astype(np.uint8)

ds = Rellis3DDataset(root, keys=["lidar", "labels"])
ds.run_preprocess(TravLabel())

# 2. Cache an expensive derived channel — computed once, served from RAM
ds.transform("lidar", expensive_ground_prior, output="ground_prior")
ds_prior = ds.select(["ground_prior"]).cache()

# 3. Build train split — filter, join cached prior, apply augmentation
valid = np.load("cache/valid_indices.npy")
ds_train = (
    Rellis3DDataset(root, keys=["lidar", "trav_gt"])
    .filter(valid)
    .join(ds_prior)
    .transform("lidar", RangeFilter(max=50.0))
)

# 4. Drop into DataLoader — no adapter needed
loader = DataLoader(ds_train, batch_size=8, shuffle=True, collate_fn=my_collate)

See examples/ for complete runnable pipelines.

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Preprocessing

Define a FramePreprocessor or SequencePreprocessor, run it once — apairo persists the output and reloads it transparently on subsequent runs.

from apairo.preprocess import FramePreprocessor

class TravLabel(FramePreprocessor):
    output_key      = "trav_label"
    output_loader   = "npys"
    input_keys      = ["labels"]
    timestamps_from = "labels"
    sources         = ["labels"]

    def process(self, sample) -> np.ndarray:
        return (sample.data["labels"] < 10).astype(np.uint8)

ds = apairo.Goose3DDataset("/data/goose", keys=["lidar", "labels"])
ds.run_preprocess(TravLabel())

See apairo_preprocess for a collection of ready-made preprocessors.

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Transforms

Apply callables at access time — no disk writes.

# Per-channel
ds.transform("lidar", RangeFilter(max=50.0))

# Sample-level — consistent mask across aligned channels
def sync_filter(sample):
    mask = np.linalg.norm(sample.data["lidar"][:, :3], axis=1) < 50.0
    sample.data["lidar"]  = sample.data["lidar"][mask]
    sample.data["labels"] = sample.data["labels"][mask]
    return sample

ds.transform(sync_filter)

See apairo_transform for a collection of ready-made transforms.

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Filtering

filter() returns a dataset view restricted to frames that pass a predicate. Sweep once, persist the indices, reload without I/O cost on subsequent runs:

# Compute and save
view = ds.filter("trav_gt", lambda gt: (gt == 1).sum() >= 50)
np.save("cache/valid.npy", view.indices)

# Reload — no sweep
view = ds.filter(np.load("cache/valid.npy"))

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Select & cache

select(keys) narrows a dataset to a subset of channels. cache() materialises it in RAM. Together they let you cache only the channels worth caching:

ds = Rellis3DDataset(root, keys=["lidar"])
ds.transform("lidar", expensive_ground_prior, output="ground_prior")

# Compute once, store in RAM
ds_prior = ds.select(["ground_prior"]).cache()

# Reuse across training runs — prior served from RAM, base channels from disk
base = Rellis3DDataset(root, keys=["lidar", "labels"])
ds_v1 = base.join(ds_prior).transform(augment_v1)
ds_v2 = base.join(ds_prior).transform(augment_v2)

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Asynchronous datasets — synchronize()

Asynchronous datasets (multi-rate sensor rigs) expose a timestamp-ordered event timeline: ds[i] is one event from one sensor. To get complete multi-channel frames, resample onto a reference clock:

ds = apairo.TartanKittiDataset(seq_dir, keys=["velodyne_0", "image_left", "cmd"])

ds_sync = ds.synchronize(
    reference="velodyne_0",   # default: lowest-frequency channel
    method="latest",          # "latest" (zero-order hold) or "nearest"
    tolerance=0.05,           # drop frames with no match within ±50 ms
)

ds_sync[0].data   # {"velodyne_0": ..., "image_left": ..., "cmd": ...}

The result is a synchronous view — random access, shuffling, and the whole chaining API (filter, select, cache, join, DataLoader) work unchanged. Matching is a pure index computation; no data is read until access.

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Combining datasets

# ConcatDataset — frame axis (different recording sessions)
combined = apairo.ConcatDataset([ds_session1, ds_session2])

# ZipDataset — channel axis (same frames, different modalities)
combined = apairo.ZipDataset(ds_base, ds_prior)
# or: ds_base.join(ds_prior)

# Built-in splits
ds_train = apairo.Rellis3DDataset(root, keys=["lidar", "labels"]).split("train")
ds_val   = apairo.Rellis3DDataset(root, keys=["lidar", "labels"]).split("val")

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Extending apairo

Add a new synchronous dataset with a YAML profile and a minimal subclass. See documentation for the full guide.

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Contributing

apairo is one repository of a small ecosystem (apairo_transform, apairo_preprocess, apairo_extractor, apairo_rr). Where a change belongs, the design invariants, and the dev workflow are documented in CONTRIBUTING.md.

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License

MIT