| # linger_loaders |
| |
| Python tools for the LiNGER dataset: loaders for the ceiling-LiDAR tracklets, the recorded point-cloud segments and |
| the environment files (static map, furniture, study area), the experimental flicker filter, and a replay tool that turns |
| tracklets into a Rerun recording. The loaders need only the standard library and NumPy and return NumPy arrays in the |
| shared coordinate frame (meters, z up), with field names as in the paper's appendix. |
| |
| ## Install |
| |
| pip install -e . # from this directory: loaders and flicker filter (NumPy only) |
| pip install -e ".[quickstart]" # adds matplotlib for examples/quickstart.py |
| pip install -e ".[replay]" # adds rerun-sdk 0.38.1 for the replay tool (needs Python 3.10 or newer) |
| |
| ## Quickstart |
| |
| python examples/quickstart.py /path/to/linger busy quickstart_busy.png |
|
|
| This plots the busy benchmark session's offline tracks over the static map and the study area. |
|
|
| ## Loaders |
|
|
| The paths below are relative to the dataset root (the folder that holds `README.md`, `CONFIG.json` and |
| `environment/`), as laid out in the review sample. |
|
|
| ```python |
| import csv, json |
| from linger_loaders import (load_tracklets, track_runs, load_segment, iter_frames, |
| load_static_map, load_furniture, load_study_area) |
| |
| off = load_tracklets("benchmark/busy/tracks_final_5hz.csv.gz") # t_unix, track_id, x, y, state, coasting |
| win = json.load(open("benchmark/busy/window.json"))["window_unix"] # [start, end) in Unix seconds |
| live = load_tracklets("track_log/tracks_day15_000000.jsonl.gz", session=win) |
| starts = [float(r["started_unix"]) for r in csv.DictReader(open("metadata/tracker_runs.csv"))] |
| run = track_runs(live["stamp"], starts) # key live tracks by (run[i], live["id"][i]) |
| |
| seg = load_segment("benchmark/busy/clouds/geo_day15_080014/node1__seg033") |
| for t_ms, pts in iter_frames(seg): # pts: n x 3 float32, shared coordinate frame |
| ... |
| |
| sm = load_static_map("environment/static_map.npz") # points (m), node, floor_z |
| furn = load_furniture("environment/furniture.json") # list of dicts: id, label, x, y, len_m, wid_m, yaw_rad, shape |
| area = load_study_area("environment/study_area.json") # n x 2 polygon |
| ``` |
|
|
| Live track IDs restart with the tracker, so they are unique only within one run. A state ending in `~coasting` |
| marks a row the tracker predicted without a detection. |
|
|
| ## Flicker filter |
|
|
| `linger_loaders.flicker` is the experimental flicker filter. It writes a list of flagged live tracks and never |
| deletes any; the rule is described at the top of `linger_loaders/flicker.py`. |
|
|
| python -m linger_loaders.flicker --logs track_log/tracks_day8_000000.jsonl.gz track_log/tracks_day15_000000.jsonl.gz \ |
| benchmark/quiet/tracks_live_day13_120200.jsonl.gz --runs metadata/tracker_runs.csv \ |
| --sessions metadata/flicker/session_spans.json --out flags.json --flagged-tsv flagged.tsv |
| |
| The released flags were computed on the full logs, so running this command on the sample's logs gives nearly the same |
| set: a track cut off at the edge of a sample log can count differently. The `tracker_run` column holds the run's |
| position in `metadata/tracker_runs.csv`. |
|
|
| `linger-flicker` is the same command once the package is installed. |
|
|
| ## Replay |
|
|
| `linger_loaders.replay` writes one Rerun recording per tracklet file: the static floor map with the study area and |
| the node positions, each current track as a point labeled with its ID, a trail of its last 3 s, and the number of |
| tracks present per frame. It reads only the released files (`environment/`, `CONFIG.json` and the tracklets). |
|
|
| python -m linger_loaders.replay . track_log/tracks_day15_000000.jsonl.gz -o day15.rrd --title "Day 15" |
| python -m linger_loaders.replay . benchmark/busy/tracks_live_day15_133000.jsonl.gz \ |
| benchmark/busy/tracks_final_5hz.csv.gz -o busy.rrd --title "Busy benchmark" |
| rerun day15.rrd |
| |
| With several tracklet files, the live and offline recordings share one file; switch between them in the viewer's |
| recording list. `linger-replay` is the same command once the package is installed. |
|
|
| ## License |
|
|
| The code in this package is licensed under the MIT License (see `LICENSE`). The data it reads are licensed |
| separately, under CC BY-NC 4.0 (see the dataset's `LICENSE`). |
|
|
