mindspore.dataset.ArgoverseDataset
- class mindspore.dataset.ArgoverseDataset(data_dir, column_names='graph', num_parallel_workers=1, shuffle=None, python_multiprocessing=True, perf_mode=True)[source]
Load argoverse dataset and create graph.
Here argoverse dataset is public dataset for autonomous driving, current implement ArgoverseDataset is mainly for loading Motion Forecasting Dataset in argoverse dataset, recommend to visit official website for more detail: https://www.argoverse.org/av1.html#download-link.
- Parameters
data_dir (str) – directory for loading dataset, here contains origin format data and will be loaded in process method.
column_names (Union[str, list[str]], optional) – single column name or list of column names of the dataset. Default: “graph”. Num of column name should be equal to num of item in return data when implement method like __getitem__, recommend to specify it with column_names=[“edge_index”, “x”, “y”, “cluster”, “valid_len”, “time_step_len”] like the following example.
num_parallel_workers (int, optional) – Number of subprocesses used to fetch the dataset in parallel. Default: 1.
shuffle (bool, optional) – Whether or not to perform shuffle on the dataset. This parameter can only be specified when the implemented dataset has a random access attribute ( __getitem__ ). Default: None.
python_multiprocessing (bool, optional) – Parallelize Python operations with multiple worker process. This option could be beneficial if the Python operation is computational heavy. Default: True.
perf_mode (bool, optional) – mode for obtaining higher performance when iterate created dataset(will call __getitem__ method in this process). Default True, will save all the data in graph (like edge index, node feature and graph feature) into graph feature.
- Raises
TypeError – If data_dir is not of type str.
TypeError – If num_parallel_workers is not of type int.
TypeError – If shuffle is not of type bool.
TypeError – If python_multiprocessing is not of type bool.
TypeError – If perf_mode is not of type bool.
RuntimeError – If data_dir is not valid or does not exit.
ValueError – If num_parallel_workers exceeds the max thread numbers.
Examples
>>> from mindspore.dataset import ArgoverseDataset >>> >>> argoverse_dataset_dir = "/path/to/argoverse_dataset_directory" >>> graph_dataset = ArgoverseDataset(data_dir=argoverse_dataset_dir, ... column_names=["edge_index", "x", "y", "cluster", "valid_len", ... "time_step_len"]) >>> for item in graph_dataset.create_dict_iterator(output_numpy=True, num_epochs=1): ... pass
About Argoverse Dataset:
Argverse is the first dataset containing high-precision maps, which contains 290KM high-precision map data with geometric shape and semantic information.
You can unzip the dataset files into the following structure and read by MindSpore’s API:
. └── argoverse_dataset_dir ├── train │ ├──... ├── val │ └──... ├── test │ └──...Citation:
@inproceedings{Argoverse, author = {Ming-Fang Chang and John W Lambert and Patsorn Sangkloy and Jagjeet Singh and Slawomir Bak and Andrew Hartnett and De Wang and Peter Carr and Simon Lucey and Deva Ramanan and James Hays}, title = {Argoverse: 3D Tracking and Forecasting with Rich Maps}, booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, year = {2019} }
- load()
Load data from given(processed) path, you can also override this method in your dataset class.
- process()[source]
Process method for argoverse dataset, here we load original dataset and create a lot of graphs based on it. Pre-processed method mainly refers to: https://github.com/xk-huang/yet-another-vectornet/blob/master/dataset.py.
- save()
Save processed data into disk in numpy.npz format, you can also override this method in your dataset class.
Pre-processing Operation
Apply a function in this dataset. |
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Concatenate the dataset objects in the input list. |
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Filter dataset by prediction. |
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Map func to each row in dataset and flatten the result. |
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Apply each operation in operations to this dataset. |
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The specified columns will be selected from the dataset and passed into the pipeline with the order specified. |
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Rename the columns in input datasets. |
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Repeat this dataset count times. |
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Reset the dataset for next epoch. |
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Shuffle the dataset by creating a cache with the size of buffer_size . |
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Skip the first N elements of this dataset. |
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Split the dataset into smaller, non-overlapping datasets. |
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Takes at most given numbers of elements from the dataset. |
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Zip the datasets in the sense of input tuple of datasets. |
Batch
Combine batch_size number of consecutive rows into batch which apply per_batch_map to the samples first. |
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Bucket elements according to their lengths. |
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Combine batch_size number of consecutive rows into batch which apply pad_info to the samples first. |
Iterator
Create an iterator over the dataset. |
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Create an iterator over the dataset. |
Attribute
Return the size of batch. |
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Return the class index. |
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Return the names of the columns in dataset. |
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Return the number of batches in an epoch. |
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Get the replication times in RepeatDataset. |
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Get the column index, which represents the corresponding relationship between the data column order and the network when using the sink mode. |
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Get the number of classes in a dataset. |
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Get the shapes of output data. |
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Get the types of output data. |
Apply Sampler
Add a child sampler for the current dataset. |
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Replace the last child sampler of the current dataset, remaining the parent sampler unchanged. |
Others
Return a transferred Dataset that transfers data through a device. |
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Release a blocking condition and trigger callback with given data. |
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Add a blocking condition to the input Dataset and a synchronize action will be applied. |
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Serialize a pipeline into JSON string and dump into file if filename is provided. |