"""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",
]