Bucketed Scene Flow Evaluation
Reason this release was yanked:
Broken
Project description
Bucketed Scene Flow Evaluation
A standardized dataloader plus eval protocol for various scene flow datasets.
Data Structures:
Located in datastructures/scene_sequence.py
RawSceneSequence
RawSceneSequence
describes the raw scene -- raw observations and their global frame poses.
RawSceneSequence
presents a map interface from Timestamp
to RawSceneItem
.
QuerySceneSequence
QuerySceneSequence
is a self-contained description of:
- the raw scene
- query particles
- the requested timestamps the prediction method should solve for
Query particles are comprised of a series of particles, each associated with a particle id, and a single query timestamp. The query timestamp associates the particles with the requested timestamps. In principle these particles could be at any point in the requested series, although datasets may provide stronger guarantees (e.g. scene flow datasets will have these be the first of two timestamps)
QuerySceneSequence
presents a map interface from ParticleID
to Tuple[WorldParticle, Timestamp]
.
EstimatedParticleTrajectories
EstimatedParticleTrajectories
describes trajectories for every ParticleID
over the given timestamps.
EstimatedParticleTrajectories
EstimatedParticleTrajectories
describes trajectories for every ParticleID
over the given timestamps, along with semantic class IDs for each particle.
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