Beta.scene.reader

Public SDK scene read types. These are stable SDK types that insulate users from the internal wire format. They are constructed from the internal types in beta/scene/internal/scene.py.

SceneEvent Objects

@dataclass
class SceneEvent()

A single event in a stream, with its signed download URL and timestamp.

timestamp

Timestamp of the event.

url

Raw unsigned URI as stored in the scene definition.

signed_url

Time-limited signed URL for downloading the file.

PointCloudStream Objects

@dataclass
class PointCloudStream()

A stream of lidar point cloud events.

frame_of_reference_id

Frame of reference in which this stream’s point clouds are expressed.

find_event

def find_event(timestamp: float) -> SceneEvent | None

Return the event with the given timestamp, or None if not present.

get_event

def get_event(timestamp: float) -> SceneEvent

Return the event with the given timestamp. Raises:

KeyError - If no event with that timestamp exists.

ImageStream Objects

@dataclass
class ImageStream()

A stream of camera image events.

frame_of_reference_id

Frame of reference associated with the image stream’s camera.

find_event

def find_event(timestamp: float) -> SceneEvent | None

Return the event with the given timestamp, or None if not present.

get_event

def get_event(timestamp: float) -> SceneEvent

Return the event with the given timestamp. Raises:

KeyError - If no event with that timestamp exists.

TimeSeriesStream Objects

@dataclass
class TimeSeriesStream()

A self-contained CSV time-series stream.

url

Raw unsigned URI as stored in the scene definition.

signed_url

Time-limited signed URL for downloading the CSV file.

FrameOfReferenceEvent Objects

@dataclass
class FrameOfReferenceEvent()

A pose of a frame of reference relative to its parent frame.

timestamp

Timestamp of the pose.

frame_id

ID of the frame represented by this event.

parent_frame_id

ID of the parent frame, or None when no parent is declared.

rotation

3x3 column-major rotation matrix from this frame to its parent frame.

position

Translation from this frame to its parent frame.

FrameOfReferenceStream Objects

@dataclass
class FrameOfReferenceStream()

A stream describing a named frame of reference over time.

find_event

def find_event(timestamp: float) -> FrameOfReferenceEvent | None

Return the event with the given timestamp, or None if not present.

get_event

def get_event(timestamp: float) -> FrameOfReferenceEvent

Return the event with the given timestamp. Raises:

KeyError - If no event with that timestamp exists.

CompositeScene Objects

@dataclass
class CompositeScene()

A scene composed of multiple named streams.

find_stream

def find_stream(
    stream_id: str, *, kind: Literal["point_cloud", "image", "time_series",
                                     "frame_of_reference"]
) -> PointCloudStream | ImageStream | TimeSeriesStream | FrameOfReferenceStream | None

Return the stream with the given ID and kind, or None if not present.

get_stream

def get_stream(
    stream_id: str, *, kind: Literal["point_cloud", "image", "time_series",
                                     "frame_of_reference"]
) -> PointCloudStream | ImageStream | TimeSeriesStream | FrameOfReferenceStream

Return the stream with the given ID and kind. Raises:

KeyError - If no stream with that ID and kind exists.

get_images_at_timestamp

def get_images_at_timestamp(timestamp: float) -> list[tuple[str, SceneEvent]]

Return camera image events at the given timestamp across image streams. Streams without a matching event are skipped.

SceneReader Objects

class SceneReader()

Read scene structure and signed URLs from a scene storage item.

read

def read() -> Scene

Fetch the scene structure with signed download URLs for all constituent files.

to_upload_payload

def to_upload_payload(
    title: str | None = None,
    *,
    client_metadata: dict[str, Any] | None = None,
    uri_mapper: Callable[[str], str] | Mapping[str, str] | None = None
) -> orm_storage.DataUploadScene

Fetch this scene and convert it to a DataUploadScene for re-upload. Arguments:

title - Title to use for the uploaded scene. Defaults to the source storage item name.
client_metadata - Metadata for the uploaded scene. Defaults to the source item metadata.
uri_mapper - Optional callable or mapping used to rewrite each stored URI before upload.

Returns: A scene upload payload suitable for DataUploadItems(scenes=[...]).

SceneRead Objects

@deprecated(version="0.1.198", alternative="SceneReader")
class SceneRead(SceneReader)

Deprecated alias for SceneReader.

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Beta.scene.reader

SceneEvent Objects

timestamp

url

signed_url

PointCloudStream Objects

frame_of_reference_id

find_event

get_event

ImageStream Objects

frame_of_reference_id

find_event

get_event

TimeSeriesStream Objects

url

signed_url

FrameOfReferenceEvent Objects

timestamp

frame_id

parent_frame_id

rotation

position

FrameOfReferenceStream Objects

find_event

get_event

CompositeScene Objects

find_stream

get_stream

get_images_at_timestamp

SceneReader Objects

read

to_upload_payload

SceneRead Objects

​SceneEvent Objects

​timestamp

​url

​signed_url

​PointCloudStream Objects

​frame_of_reference_id

​find_event

​get_event

​ImageStream Objects

​frame_of_reference_id

​find_event

​get_event

​TimeSeriesStream Objects

​url

​signed_url

​FrameOfReferenceEvent Objects

​timestamp

​frame_id

​parent_frame_id

​rotation

​position

​FrameOfReferenceStream Objects

​find_event

​get_event

​CompositeScene Objects

​find_stream

​get_stream

​get_images_at_timestamp

​SceneReader Objects

​read

​to_upload_payload

​SceneRead Objects

SceneEvent Objects

timestamp

url

signed_url

PointCloudStream Objects

frame_of_reference_id

find_event

get_event

ImageStream Objects

frame_of_reference_id

find_event

get_event

TimeSeriesStream Objects

url

signed_url

FrameOfReferenceEvent Objects

timestamp

frame_id

parent_frame_id

rotation

position

FrameOfReferenceStream Objects

find_event

get_event

CompositeScene Objects

find_stream

get_stream

get_images_at_timestamp

SceneReader Objects

read

to_upload_payload

SceneRead Objects