| """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", |
| ] |
|
|
