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0cfefd2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | """Cosmos-Drive-Dreams 数据加载与目标构建。"""
from .se3 import (
matrix_to_6d,
six_d_to_matrix,
invert_se3,
rotation_matrix_to_axis_angle,
axis_angle_to_rotation_matrix,
)
from .ftheta_proj import project_points_ftheta
from .transforms import (
crop_top_half,
normalize_image,
add_gaussian_noise,
perturb_kinematics,
)
from .targets import build_detection_targets, build_ego_future_target, ObjectTrackInfo
from .hdmap import parse_hdmap_clip, HDMAP_SOURCES
from .cosmos_dataset import CosmosDriveDreamsDataset, build_clip_index
__all__ = [
"matrix_to_6d",
"six_d_to_matrix",
"invert_se3",
"rotation_matrix_to_axis_angle",
"axis_angle_to_rotation_matrix",
"project_points_ftheta",
"crop_top_half",
"normalize_image",
"add_gaussian_noise",
"perturb_kinematics",
"build_detection_targets",
"build_ego_future_target",
"ObjectTrackInfo",
"CosmosDriveDreamsDataset",
"build_clip_index",
"parse_hdmap_clip",
"HDMAP_SOURCES",
]
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