src.dataset.orca_dataset module

src.dataset.orca_dataset module#

class src.dataset.orca_dataset.ORCADataset(*args: Any, **kwargs: Any)[source]#

Bases: BaseDataset

ORCA (Optimal Reciprocal Collision Avoidance) simulation dataset loader.

Used for loading synthetic trajectory data generated by the ORCA algorithm, typically for benchmarking or pretraining.

raw_fps = None#
classmethod load_data(args: Namespace, data_path: str, with_shape=False) → ORCADataset[source]#

Load a single ORCA simulation scene.

Read the frame rate from fps.txt and load the trajectory data from csv. If map.png exists, load it and compute the corresponding map in world coordinates.

Parameters:

  • args (Namespace) – Global arguments.

  • data_path (str) – Path to data.csv or data.csv.gz.

Returns:

Initialized dataset instance.

Return type:

ORCADataset

classmethod load_data_batch(args: Namespace, data_path: str, show_tqdm=True) → List[ORCADataset][source]#

Batch-load ORCA datasets.

Contents