🥮 mooncakes.io

    moonbit-robot-vision-formats

    Offline robotics vision format bridge for image timestamps, camera calibration, trajectories, depth metadata and annotation sync.

    robotics
    vision
    csv
    yaml
    dataset
    slam
    Download zip
    Author
    Version
    0.3.1
    License
    Apache-2.0
    Repository
    Last updated
    last month
    Downloads
    20

    #moonbit-robot-vision-formats

    Offline format bridges for robotics vision datasets in MoonBit.

    The project focuses on text artifacts commonly exported from ROS bag workflows: image timestamp indexes, CameraInfo-style calibration YAML, 2D trajectory CSV, depth image metadata and object annotations. It is not a ROS client and does not subscribe to topics. The goal is to give MoonBit users a small, testable library for converting and aligning perception data before it reaches SLAM, calibration or dataset review tools.

    ///|
    test "README quick start" {
      let csv =
        #|sec,nsec,frame_id,path
        #|42,0,camera/front,front_000001.png
        #|42,33333333,camera/front,front_000002.png
        #|
      let frames = parse_image_index_csv(csv)
      inspect(
        image_index_summary(frames),
        content="2 frames from 42.000000000 to 42.033333333",
      )
    }

    #Scope

    • Parse and write image timestamp CSV exported from bag extraction scripts.
    • Parse the scalar and matrix subset of camera calibration YAML used by common sensor_msgs/CameraInfo dumps.
    • Parse trajectory CSV containing timestamped planar poses.
    • Parse depth metadata sidecars without loading large depth image payloads.
    • Parse 2D annotation CSV and align all streams by timestamp tolerance.

    #Repository Notes

    This repository is an original MoonBit application-ecosystem library. Before implementation, the package space on Mooncakes was checked with robotics, vision, camera, depth, CSV and YAML keywords. No mature MoonBit package with this same offline robotics vision bridge scope was found.

    #Validation

    Run these commands before submitting or publishing:

    moon check --target all
moon test --target all
moon check --target all --deny-warn --fmt
moon fmt --check
moon info
git diff --exit-code

    #License

    Apache-2.0.

    The extended API includes quoted CSV parsing, time-series statistics and resampling, polygon and box geometry, camera distortion/undistortion, quality rules and deterministic benchmark checksums.

    The package is published to Mooncakes. Publishing from CI is available through the guarded workflow in .github/workflows/publish.yml.

    CsvError

    source
    pub(all) suberror CsvError {
      EmptyRow
      UnterminatedQuote(Int)
      UnexpectedQuote(Int)
      InvalidColumnCount(Int, Int, Int)
    } derive(Eq, 
    Debug    )

    ManifestError

    source
    pub(all) suberror ManifestError {
      MissingKind
      DuplicateKind(String)
      UnknownKind(String)
      EmptyPath(String)
    } derive(Eq, 
    Debug    )

    VisionFormatError

    source
    pub(all) suberror VisionFormatError {
      EmptyInput
      MissingField(String)
      InvalidNumber(String)
      InvalidRow(String)
      InvalidShape(String)
      OutOfOrder(String)
    } derive(Eq, 
    Debug    )

    Annotation

    source
    pub(all) struct Annotation {
      stamp : Stamp
      frame_id : String
      label : String
      bbox : BoundingBox
      confidence : Double
    } derive(ToJson, 
    Debug    )

    BenchmarkResult

    source
    pub(all) struct BenchmarkResult {
      name : String
      rows : Int
      iterations : Int
      elapsed_ns : Int64
      rows_per_second : Double
      checksum : Int64
    } derive(ToJson, 
    Debug    )

    BoundingBox

    source
    pub(all) struct BoundingBox {
      x : Double
      y : Double
      width : Double
      height : Double
    } derive(ToJson, 
    Debug    )

    BoundingBox::area

    source
    fn BoundingBox::area(self : BoundingBox) -> Double

    BoundingBox::bottom

    source
    fn BoundingBox::bottom(self : BoundingBox) -> Double

    BoundingBox::intersection_area

    source
    fn BoundingBox::intersection_area(self : BoundingBox, other : BoundingBox) -> Double

    BoundingBox::iou

    source
    fn BoundingBox::iou(self : BoundingBox, other : BoundingBox) -> Double

    BoundingBox::is_inside_image

    source
    fn BoundingBox::is_inside_image(self : BoundingBox, width : Int, height : Int) -> Bool

    BoundingBox::right

    source
    fn BoundingBox::right(self : BoundingBox) -> Double

    CameraIntrinsics

    source
    pub(all) struct CameraIntrinsics {
      width : Int
      height : Int
      distortion_model : String
      k : Array[Double]
      d : Array[Double]
      r : Array[Double]
      p : Array[Double]
    } derive(ToJson, 
    Debug    )

    CameraIntrinsics::aspect_ratio

    source
    fn CameraIntrinsics::aspect_ratio(self : CameraIntrinsics) -> Double raise VisionFormatError

    CameraIntrinsics::has_identity_rectification

    source
    fn CameraIntrinsics::has_identity_rectification(self : CameraIntrinsics, tolerance : Double) -> Bool

    CameraIntrinsics::normalize_pixel

    source
    fn CameraIntrinsics::normalize_pixel(self : CameraIntrinsics, pixel : PixelPoint) -> NormalizedPoint raise VisionFormatError

    CameraIntrinsics::principal_point

    source
    fn CameraIntrinsics::principal_point(self : CameraIntrinsics) -> PixelPoint raise VisionFormatError

    CameraIntrinsics::project_normalized

    source
    fn CameraIntrinsics::project_normalized(self : CameraIntrinsics, point : NormalizedPoint) -> PixelPoint raise VisionFormatError

    CameraIssue

    source
    pub(all) enum CameraIssue {
      InvalidDimensions
      InvalidIntrinsicMatrix
      InvalidProjectionMatrix
      InvalidRectificationMatrix
      NonPositiveFocalLength
      EmptyDistortionModel
    } derive(Eq, 
    Debug    )

    CsvOptions

    source
    pub(all) struct CsvOptions {
      delimiter : Char
      trim_fields : Bool
      allow_comments : Bool
    } derive(Eq, 
    Debug    )

    DatasetManifest

    source
    pub(all) struct DatasetManifest {
      name : String
      root : String
      image_index : String
      camera_info : String?
      trajectory : String?
      depth_metadata : String?
      annotations : String?
    } derive(Eq, ToJson, 
    Debug    )

    DatasetManifest::required_files

    source
    fn DatasetManifest::required_files(self : DatasetManifest) -> Array[String]

    DatasetManifest::to_manifest_csv

    source
    fn DatasetManifest::to_manifest_csv(self : DatasetManifest) -> String

    DatasetManifest::to_markdown

    source
    fn DatasetManifest::to_markdown(self : DatasetManifest) -> String

    DatasetQualityReport

    source
    pub(all) struct DatasetQualityReport {
      issues : Array[QualityIssue]
    } derive(Eq, ToJson, 
    Debug    )

    DatasetQualityReport::is_clean

    source
    fn DatasetQualityReport::is_clean(self : DatasetQualityReport) -> Bool

    DatasetQualityReport::summary

    source
    fn DatasetQualityReport::summary(self : DatasetQualityReport) -> String

    DatasetSplit

    source
    pub(all) struct DatasetSplit[T] {
      train : Array[T]
      validation : Array[T]
      test_set : Array[T]
    } derive(
    Debug    )

    DepthMetadata

    source
    pub(all) struct DepthMetadata {
      stamp : Stamp
      frame_id : String
      width : Int
      height : Int
      encoding : String
      unit : String
      min_depth : Double
      max_depth : Double
    } derive(ToJson, 
    Debug    )

    DepthSummary

    source
    pub(all) struct DepthSummary {
      sample_count : Int
      valid_samples : Int
      total_pixels : Int64
      valid_pixels : Int64
      min_depth : Double
      max_depth : Double
      mean_depth : Double
    } derive(ToJson, 
    Debug    )

    DistortedPoint

    source
    pub(all) struct DistortedPoint {
      x : Double
      y : Double
    } derive(ToJson, 
    Debug    )

    DistortionCoefficients

    source
    pub(all) struct DistortionCoefficients {
      k1 : Double
      k2 : Double
      p1 : Double
      p2 : Double
      k3 : Double
    } derive(ToJson, 
    Debug    )

    FieldKind

    source
    pub(all) enum FieldKind {
      IntField
      FloatField
      StringField
      StampField
      PathField
    } derive(Eq, ToJson, 
    Debug    )

    FieldSpec

    source
    pub(all) struct FieldSpec {
      name : String
      kind : FieldKind
      required : Bool
      note : String
    } derive(Eq, ToJson, 
    Debug    )

    FormatSpec

    source
    pub(all) struct FormatSpec {
      name : String
      media_type : String
      fields : Array[FieldSpec]
      description : String
    } derive(Eq, ToJson, 
    Debug    )

    FrameGroup

    source
    pub(all) struct FrameGroup {
      frame_id : String
      count : Int
      first : Stamp
      last : Stamp
      paths : Array[String]
    } derive(ToJson, 
    Debug    )

    ImageFrameRef

    source
    pub(all) struct ImageFrameRef {
      stamp : Stamp
      frame_id : String
      path : String
    } derive(Eq, ToJson, 
    Debug    )

    IssueSeverity

    source
    pub(all) enum IssueSeverity {
      Info
      Warning
      Error
    } derive(Eq, ToJson, 
    Debug    )

    LabelSummary

    source
    pub(all) struct LabelSummary {
      label : String
      count : Int
      mean_confidence : Double
      total_area : Double
    } derive(ToJson, 
    Debug    )

    NormalizedPoint

    source
    pub(all) struct NormalizedPoint {
      x : Double
      y : Double
    } derive(ToJson, 
    Debug    )

    NumericSummary

    source
    pub(all) struct NumericSummary {
      count : Int
      min : Double
      max : Double
      mean : Double
      variance : Double
    } derive(ToJson, 
    Debug    )

    PixelPoint

    source
    pub(all) struct PixelPoint {
      u : Double
      v : Double
    } derive(ToJson, 
    Debug    )

    Point2D

    source
    pub(all) struct Point2D {
      x : Double
      y : Double
    } derive(ToJson, 
    Debug    )

    Point2D::distance

    source
    fn Point2D::distance(self : Point2D, other : Point2D) -> Double

    Point2D::lerp

    source
    fn Point2D::lerp(self : Point2D, other : Point2D, amount : Double) -> Point2D

    Pose2D

    source
    pub(all) struct Pose2D {
      x : Double
      y : Double
      theta : Double
    } derive(ToJson, 
    Debug    )

    QualityIssue

    source
    pub(all) struct QualityIssue {
      severity : IssueSeverity
      source : String
      message : String
    } derive(Eq, ToJson, 
    Debug    )

    QualityRuleCode

    source
    pub(all) enum QualityRuleCode {
      EmptyStream
      NonMonotonic
      LargeTimestampGap
      InvalidDimensions
      InvalidRange
      MissingCalibration
      LowConfidence
      OutOfBounds
      SparseStream
    } derive(Eq, ToJson, 
    Debug    )

    QualityThresholds

    source
    pub(all) struct QualityThresholds {
      max_gap_ns : Int64
      min_confidence : Double
      max_confidence : Double
      min_depth : Double
      max_depth : Double
      require_camera : Bool
    } derive(ToJson, 
    Debug    )

    RuleViolation

    source
    pub(all) struct RuleViolation {
      code : QualityRuleCode
      source : String
      row : Int
      detail : String
    } derive(ToJson, 
    Debug    )

    Sample2D

    source
    pub(all) struct Sample2D {
      stamp : Stamp
      value : Point2D
    } derive(ToJson, 
    Debug    )

    Segment2D

    source
    pub(all) struct Segment2D {
      start : Point2D
      end : Point2D
    } derive(ToJson, 
    Debug    )

    Segment2D::length

    source
    fn Segment2D::length(self : Segment2D) -> Double

    Segment2D::point_at

    source
    fn Segment2D::point_at(self : Segment2D, amount : Double) -> Point2D

    Stamp

    source
    pub(all) struct Stamp {
      sec : Int
      nsec : Int
    } derive(Eq, ToJson, 
    Debug    )

    Stamp::compare

    source
    fn Stamp::compare(self : Stamp, other : Stamp) -> Int

    Stamp::delta_ns

    source
    fn Stamp::delta_ns(self : Stamp, next : Stamp) -> Int64

    Stamp::to_nanoseconds

    source
    fn Stamp::to_nanoseconds(self : Stamp) -> Int64

    Stamp::to_string

    source
    fn Stamp::to_string(self : Stamp) -> String

    SyncFramePolicy

    source
    pub(all) enum SyncFramePolicy {
      IgnoreFrameId
      RequireSameFrameId
    } derive(Eq, 
    Debug    )

    SyncMatch

    source
    pub(all) struct SyncMatch {
      image : ImageFrameRef
      trajectory : TrajectorySample?
      depth : DepthMetadata?
      annotations : Array[Annotation]
      max_abs_offset_ns : Int64
    } derive(ToJson, 
    Debug    )

    SyncReport

    source
    pub(all) struct SyncReport {
      matches : Array[SyncMatch]
      unmatched_images : Array[ImageFrameRef]
      unmatched_trajectory : Array[TrajectorySample]
      unmatched_depth : Array[DepthMetadata]
      unmatched_annotations : Array[Annotation]
    } derive(ToJson, 
    Debug    )

    TimeSeriesStats

    source
    pub(all) struct TimeSeriesStats {
      count : Int
      first : Stamp?
      last : Stamp?
      span_ns : Int64
      min_period_ns : Int64?
      max_period_ns : Int64?
      mean_period_ns : Double
      monotonic : Bool
    } derive(ToJson, 
    Debug    )

    TrajectorySample

    source
    pub(all) struct TrajectorySample {
      stamp : Stamp
      frame_id : String
      pose : Pose2D
    } derive(ToJson, 
    Debug    )

    TrajectorySummary

    source
    pub(all) struct TrajectorySummary {
      samples : Int
      distance : Double
      duration_ns : Int64
      average_speed : Double
      min_x : Double
      max_x : Double
      min_y : Double
      max_y : Double
    } derive(ToJson, 
    Debug    )

    all_format_specs

    source
    fn all_format_specs() -> Array[FormatSpec]

    annotation_area_histogram

    source
    fn annotation_area_histogram(annotations : ArrayView[Annotation], bins : Int) -> Array[Int]

    annotation_centroid

    source
    fn annotation_centroid(annotation : Annotation) -> Point2D

    annotation_centroids

    source
    fn annotation_centroids(annotations : ArrayView[Annotation]) -> Array[Point2D]

    annotation_density

    source
    fn annotation_density(annotations : ArrayView[Annotation], width : Int, height : Int) -> Double

    annotation_spec

    source
    fn annotation_spec() -> FormatSpec

    annotations_at_stamp

    source
    fn annotations_at_stamp(annotations : ArrayView[Annotation], stamp : Stamp, tolerance_ns : Int64) -> Array[Annotation]

    annotations_for_image

    source
    fn annotations_for_image(image : ImageFrameRef, annotations : ArrayView[Annotation], tolerance_ns : Int64, policy : SyncFramePolicy) -> Array[Annotation]

    annotations_for_label

    source
    fn annotations_for_label(annotations : ArrayView[Annotation], label : String) -> Array[Annotation]

    annotations_in_region

    source
    fn annotations_in_region(annotations : ArrayView[Annotation], region : BoundingBox) -> Array[Annotation]

    annotations_to_csv

    source
    fn annotations_to_csv(annotations : ArrayView[Annotation]) -> String

    average_precision_at_iou

    source
    fn average_precision_at_iou(predictions : ArrayView[BoundingBox], ground_truth : ArrayView[BoundingBox], threshold : Double) -> Double

    benchmark_csv_parse

    source
    fn benchmark_csv_parse(text : String, iterations : Int) -> BenchmarkResult raise VisionFormatError

    benchmark_image_summary

    source
    fn benchmark_image_summary(frames : ArrayView[ImageFrameRef], iterations : Int) -> BenchmarkResult

    benchmark_is_reproducible

    source
    fn benchmark_is_reproducible(result : BenchmarkResult) -> Bool

    benchmark_result

    source
    fn benchmark_result(name : String, rows : Int, iterations : Int, elapsed_ns : Int64, checksum : Int64) -> BenchmarkResult

    benchmark_summary

    source
    fn benchmark_summary(results : ArrayView[BenchmarkResult]) -> String

    benchmark_sync

    source
    fn benchmark_sync(images : ArrayView[ImageFrameRef], trajectory : ArrayView[TrajectorySample], depth : ArrayView[DepthMetadata], annotations : ArrayView[Annotation], tolerance_ns : Int64, iterations : Int) -> BenchmarkResult

    bounding_box_of_points

    source
    fn bounding_box_of_points(points : ArrayView[Point2D]) -> BoundingBox raise VisionFormatError

    box_recall_at_iou

    source
    fn box_recall_at_iou(predictions : ArrayView[BoundingBox], ground_truth : ArrayView[BoundingBox], threshold : Double) -> Double

    camera_diagnostics

    source
    fn camera_diagnostics(camera : CameraIntrinsics) -> Array[CameraIssue]

    camera_info_spec

    source
    fn camera_info_spec() -> FormatSpec

    camera_info_to_yaml

    source
    fn camera_info_to_yaml(camera : CameraIntrinsics) -> String

    camera_is_usable

    source
    fn camera_is_usable(camera : CameraIntrinsics) -> Bool

    camera_is_well_conditioned

    source
    fn camera_is_well_conditioned(camera : CameraIntrinsics, epsilon : Double) -> Bool raise VisionFormatError

    camera_matrix_determinant

    source
    fn camera_matrix_determinant(camera : CameraIntrinsics) -> Double raise VisionFormatError

    camera_normalized_round_trip_error

    source
    fn camera_normalized_round_trip_error(camera : CameraIntrinsics, point : NormalizedPoint) -> Double raise VisionFormatError

    camera_pixel_is_inside

    source
    fn camera_pixel_is_inside(camera : CameraIntrinsics, pixel : PixelPoint) -> Bool

    camera_projection_center

    source
    fn camera_projection_center(camera : CameraIntrinsics) -> PixelPoint

    clamp_box

    source
    fn clamp_box(box : BoundingBox, width : Int, height : Int) -> BoundingBox

    column_index

    source
    fn column_index(header : ArrayView[String], name : String) -> Int?

    confidence_summary

    source
    fn confidence_summary(annotations : ArrayView[Annotation]) -> NumericSummary

    csv_escape

    source
    fn csv_escape(value : String, delimiter : Char) -> String

    csv_join_row

    source
    fn csv_join_row(values : ArrayView[String], delimiter : Char) -> String

    csv_numeric_column

    source
    fn csv_numeric_column(rows : ArrayView[Array[String]], index : Int) -> Array[Double] raise VisionFormatError

    csv_table_to_text

    source
    fn csv_table_to_text(rows : ArrayView[Array[String]], delimiter : Char) -> String

    deduplicate_stamps

    source
    fn[T] deduplicate_stamps(items : ArrayView[T], stamp_of : (T) -> Stamp) -> Array[T]

    default_csv_options

    source
    fn default_csv_options() -> CsvOptions

    default_quality_thresholds

    source
    fn default_quality_thresholds() -> QualityThresholds

    depth_dimensions_are_consistent

    source
    fn depth_dimensions_are_consistent(samples : ArrayView[DepthMetadata]) -> Bool

    depth_encoding_bytes_per_pixel

    source
    fn depth_encoding_bytes_per_pixel(encoding : String) -> Int

    depth_metadata_spec

    source
    fn depth_metadata_spec() -> FormatSpec

    depth_metadata_to_csv

    source
    fn depth_metadata_to_csv(samples : ArrayView[DepthMetadata]) -> String

    depth_ranges_overlap

    source
    fn depth_ranges_overlap(left : DepthMetadata, right : DepthMetadata) -> Bool

    depth_sample_is_valid

    source
    fn depth_sample_is_valid(sample : DepthMetadata) -> Bool

    depth_valid_pixel_ratio

    source
    fn depth_valid_pixel_ratio(summary : DepthSummary) -> Double

    distort_normalized

    source
    fn distort_normalized(point : NormalizedPoint, coefficients : DistortionCoefficients) -> DistortedPoint

    distortion_coefficients

    source
    fn distortion_coefficients(camera : CameraIntrinsics) -> DistortionCoefficients

    downsample_images

    source
    fn downsample_images(frames : ArrayView[ImageFrameRef], every : Int) -> Array[ImageFrameRef]

    empty_time_series_stats

    source
    fn empty_time_series_stats() -> TimeSeriesStats

    expand_box

    source
    fn expand_box(box : BoundingBox, padding : Double) -> BoundingBox

    expected_period_ns

    source
    fn expected_period_ns(rate_hz : Double) -> Int64 raise VisionFormatError

    filter_annotations_by_confidence

    source
    fn filter_annotations_by_confidence(annotations : ArrayView[Annotation], min_confidence : Double) -> Array[Annotation]

    filter_annotations_by_label

    source
    fn filter_annotations_by_label(annotations : ArrayView[Annotation], label : String) -> Array[Annotation]

    filter_images_by_extension

    source
    fn filter_images_by_extension(frames : ArrayView[ImageFrameRef], extension : String) -> Array[ImageFrameRef]

    focal_length_pair

    source
    fn focal_length_pair(camera : CameraIntrinsics) -> (Double, Double) raise VisionFormatError

    format_spec_names

    source
    fn format_spec_names() -> Array[String]

    greedy_non_max_suppression

    source
    fn greedy_non_max_suppression(annotations : ArrayView[Annotation], iou_threshold : Double) -> Array[Annotation]

    group_images_by_frame

    source
    fn group_images_by_frame(frames : ArrayView[ImageFrameRef]) -> Array[FrameGroup]

    image_depth_is_compatible

    source
    fn image_depth_is_compatible(image : ImageFrameRef, sample : DepthMetadata, tolerance_ns : Int64, policy : SyncFramePolicy) -> Bool

    image_frame_ids

    source
    fn image_frame_ids(frames : ArrayView[ImageFrameRef]) -> Array[String]

    image_index_duration_ns

    source
    fn image_index_duration_ns(frames : ArrayView[ImageFrameRef]) -> Int64

    image_index_is_complete

    source
    fn image_index_is_complete(frames : ArrayView[ImageFrameRef], expected_period : Int64, tolerance : Int64) -> Bool

    image_index_spec

    source
    fn image_index_spec() -> FormatSpec

    image_index_summary

    source
    fn image_index_summary(frames : ArrayView[ImageFrameRef]) -> String

    image_index_to_csv

    source
    fn image_index_to_csv(frames : ArrayView[ImageFrameRef]) -> String

    image_paths_for_frame

    source
    fn image_paths_for_frame(frames : ArrayView[ImageFrameRef], frame_id : String) -> Array[String]

    image_periods_ns

    source
    fn image_periods_ns(frames : ArrayView[ImageFrameRef]) -> Array[Int64]

    image_rate_hz

    source
    fn image_rate_hz(frames : ArrayView[ImageFrameRef]) -> Double

    image_trajectory_is_compatible

    source
    fn image_trajectory_is_compatible(image : ImageFrameRef, sample : TrajectorySample, tolerance_ns : Int64, policy : SyncFramePolicy) -> Bool

    inspect_stream_quality

    source
    fn inspect_stream_quality(images : ArrayView[ImageFrameRef], camera : CameraIntrinsics?, trajectory : ArrayView[TrajectorySample], depth : ArrayView[DepthMetadata], annotations : ArrayView[Annotation]) -> DatasetQualityReport

    interpolate_angle

    source
    fn interpolate_angle(a : Double, b : Double, amount : Double) -> Double

    interpolate_point

    source
    fn interpolate_point(a : Sample2D, b : Sample2D, stamp : Stamp) -> Point2D

    interpolate_pose

    source
    fn interpolate_pose(a : TrajectorySample, b : TrajectorySample, stamp : Stamp) -> Pose2D

    interpolate_trajectory

    source
    fn interpolate_trajectory(samples : ArrayView[TrajectorySample], stamp : Stamp) -> TrajectorySample?

    invalid_label_names

    source
    fn invalid_label_names(annotations : ArrayView[Annotation]) -> Array[String]

    label_counts

    source
    fn label_counts(annotations : ArrayView[Annotation]) -> Map[String, Int]

    manifest_from_paths

    source
    fn manifest_from_paths(name : String, root : String, image_index : String, camera_info? : String, trajectory? : String, depth_metadata? : String, annotations? : String) -> DatasetManifest raise ManifestError

    manifest_has_kind

    source
    fn manifest_has_kind(manifest : DatasetManifest, kind : String) -> Bool

    manifest_path_for

    source
    fn manifest_path_for(manifest : DatasetManifest, kind : String) -> String?

    manifest_to_csv

    source
    fn manifest_to_csv(manifest : DatasetManifest) -> String

    mean_absolute_error

    source
    fn mean_absolute_error(actual : ArrayView[Double], predicted : ArrayView[Double]) -> Double raise VisionFormatError

    median

    source
    fn median(values : ArrayView[Double]) -> Double raise VisionFormatError

    merge_sorted_images

    source
    fn merge_sorted_images(left : ArrayView[ImageFrameRef], right : ArrayView[ImageFrameRef]) -> Array[ImageFrameRef]

    missing_periods_ns

    source
    fn missing_periods_ns(periods : ArrayView[Int64], expected : Int64, tolerance : Int64) -> Int

    nearest_stamp_index

    source
    fn[T] nearest_stamp_index(stamp : Stamp, items : ArrayView[T], stamp_of : (T) -> Stamp) -> Int?

    nearest_trajectory_for_image

    source
    fn nearest_trajectory_for_image(image : ImageFrameRef, samples : ArrayView[TrajectorySample], tolerance_ns : Int64, policy : SyncFramePolicy) -> TrajectorySample?

    numeric_summary

    source
    fn numeric_summary(values : ArrayView[Double]) -> NumericSummary

    parse_annotation_csv

    source
    fn parse_annotation_csv(text : String) -> Array[Annotation] raise VisionFormatError

    parse_camera_info_yaml

    source
    fn parse_camera_info_yaml(text : String) -> CameraIntrinsics raise VisionFormatError

    parse_csv_row

    source
    fn parse_csv_row(line : String, options : CsvOptions) -> Array[String] raise CsvError

    parse_csv_table

    source
    fn parse_csv_table(text : String, options : CsvOptions) -> Array[Array[String]] raise CsvError

    parse_depth_metadata_csv

    source
    fn parse_depth_metadata_csv(text : String) -> Array[DepthMetadata] raise VisionFormatError

    parse_image_index_csv

    source
    fn parse_image_index_csv(text : String) -> Array[ImageFrameRef] raise VisionFormatError

    parse_manifest_csv

    source
    fn parse_manifest_csv(name : String, root : String, text : String) -> DatasetManifest raise ManifestError

    parse_stamp

    source
    fn parse_stamp(sec : StringView, nsec : StringView) -> Stamp raise VisionFormatError

    parse_stamp_text

    source
    fn parse_stamp_text(text : String) -> Stamp raise VisionFormatError

    parse_trajectory_csv

    source
    fn parse_trajectory_csv(text : String) -> Array[TrajectorySample] raise VisionFormatError

    percentile

    source
    fn percentile(values : ArrayView[Double], fraction : Double) -> Double raise VisionFormatError

    period_jitter_ns

    source
    fn period_jitter_ns(periods : ArrayView[Int64]) -> (Int64, Int64, Double)

    point_in_polygon

    source
    fn point_in_polygon(point : Point2D, polygon : ArrayView[Point2D]) -> Bool

    polygon_area

    source
    fn polygon_area(points : ArrayView[Point2D]) -> Double

    polygon_is_clockwise

    source
    fn polygon_is_clockwise(points : ArrayView[Point2D]) -> Bool

    polygon_signed_area

    source
    fn polygon_signed_area(points : ArrayView[Point2D]) -> Double

    pose_distance

    source
    fn pose_distance(a : Pose2D, b : Pose2D) -> Double

    precision_recall_f1

    source
    fn precision_recall_f1(true_positive : Int, false_positive : Int, false_negative : Int) -> (Double, Double, Double)

    project_distorted

    source
    fn project_distorted(camera : CameraIntrinsics, point : NormalizedPoint) -> PixelPoint raise VisionFormatError

    quality_score

    source
    fn quality_score(violations : ArrayView[RuleViolation]) -> Double

    require_rectangular

    source
    fn require_rectangular(rows : ArrayView[Array[String]]) -> Int raise CsvError

    resample_trajectory

    source
    fn resample_trajectory(samples : ArrayView[TrajectorySample], start : Stamp, end : Stamp, step_ns : Int64) -> Array[TrajectorySample]

    root_mean_square_error

    source
    fn root_mean_square_error(actual : ArrayView[Double], predicted : ArrayView[Double]) -> Double raise VisionFormatError

    rows_with_column

    source
    fn rows_with_column(rows : ArrayView[Array[String]], index : Int, expected : String) -> Array[Array[String]]

    select_columns

    source
    fn select_columns(row : ArrayView[String], indexes : ArrayView[Int]) -> Array[String]

    split_annotations

    source
    fn split_annotations(annotations : ArrayView[Annotation], seed : Int, validation_percent : Int, test_percent : Int) -> DatasetSplit[Annotation]

    split_by_gap

    source
    fn[T] split_by_gap(items : ArrayView[T], stamp_of : (T) -> Stamp, gap_ns : Int64) -> Array[Array[T]]

    split_counts

    source
    fn[T] split_counts(split : DatasetSplit[T]) -> (Int, Int, Int)

    split_images

    source
    fn split_images(frames : ArrayView[ImageFrameRef], seed : Int, validation_percent : Int, test_percent : Int) -> DatasetSplit[ImageFrameRef]

    split_index

    source
    fn split_index(index : Int, seed : Int, validation_percent : Int, test_percent : Int) -> Int

    split_is_disjoint

    source
    fn[T] split_is_disjoint(split : DatasetSplit[T], equal : (T, T) -> Bool) -> Bool

    split_items

    source
    fn[T] split_items(items : ArrayView[T], seed : Int, validation_percent : Int, test_percent : Int) -> DatasetSplit[T]

    split_manifest

    source
    fn split_manifest(manifest : DatasetManifest, split_name : String) -> DatasetManifest

    split_trajectory

    source
    fn split_trajectory(samples : ArrayView[TrajectorySample], seed : Int, validation_percent : Int, test_percent : Int) -> DatasetSplit[TrajectorySample]

    stationary_samples

    source
    fn stationary_samples(samples : ArrayView[TrajectorySample], maximum_speed : Double) -> Array[TrajectorySample]

    summarize_depth

    source
    fn summarize_depth(samples : ArrayView[DepthMetadata]) -> DepthSummary

    summarize_labels

    source
    fn summarize_labels(annotations : ArrayView[Annotation]) -> Array[LabelSummary]

    summarize_trajectory

    source
    fn summarize_trajectory(samples : ArrayView[TrajectorySample]) -> TrajectorySummary raise VisionFormatError

    sync_report_is_complete

    source
    fn sync_report_is_complete(report : SyncReport) -> Bool

    sync_report_max_offset

    source
    fn sync_report_max_offset(report : SyncReport) -> Int64

    sync_report_summary

    source
    fn sync_report_summary(report : SyncReport) -> String

    synchronize

    source
    fn synchronize(images : ArrayView[ImageFrameRef], trajectory : ArrayView[TrajectorySample], depth : ArrayView[DepthMetadata], annotations : ArrayView[Annotation], tolerance_ns~ : Int64) -> SyncReport

    time_series_stats

    source
    fn[T] time_series_stats(items : ArrayView[T], stamp_of : (T) -> Stamp) -> TimeSeriesStats

    timestamp_span_ns

    source
    fn[T] timestamp_span_ns(items : ArrayView[T], stamp_of : (T) -> Stamp) -> Int64

    timestamps_in_window

    source
    fn[T] timestamps_in_window(start : Stamp, end : Stamp, items : ArrayView[T], stamp_of : (T) -> Stamp) -> Array[T]

    trajectory_average_speed

    source
    fn trajectory_average_speed(samples : ArrayView[TrajectorySample]) -> Double

    trajectory_bounds

    source
    fn trajectory_bounds(samples : ArrayView[TrajectorySample]) -> (Double, Double, Double, Double) raise VisionFormatError

    trajectory_distance

    source
    fn trajectory_distance(samples : ArrayView[TrajectorySample]) -> Double

    trajectory_duration_ns

    source
    fn trajectory_duration_ns(samples : ArrayView[TrajectorySample]) -> Int64

    trajectory_spec

    source
    fn trajectory_spec() -> FormatSpec

    trajectory_to_csv

    source
    fn trajectory_to_csv(samples : ArrayView[TrajectorySample]) -> String

    trajectory_turns

    source
    fn trajectory_turns(samples : ArrayView[TrajectorySample], minimum_change : Double) -> Int

    translate_trajectory

    source
    fn translate_trajectory(samples : ArrayView[TrajectorySample], dx : Double, dy : Double) -> Array[TrajectorySample]

    undistort_normalized

    source
    fn undistort_normalized(point : DistortedPoint, coefficients : DistortionCoefficients, iterations : Int) -> NormalizedPoint

    unique_column_values

    source
    fn unique_column_values(rows : ArrayView[Array[String]], index : Int) -> Array[String]

    unproject_distorted

    source
    fn unproject_distorted(camera : CameraIntrinsics, pixel : PixelPoint, iterations : Int) -> NormalizedPoint raise VisionFormatError

    validate_annotation

    source
    fn validate_annotation(annotation : Annotation, image_width : Int, image_height : Int) -> Unit raise VisionFormatError

    validate_annotation_stream

    source
    fn validate_annotation_stream(annotations : ArrayView[Annotation], image_width : Int, image_height : Int, thresholds : QualityThresholds) -> Array[RuleViolation]

    validate_camera

    source
    fn validate_camera(camera : CameraIntrinsics?, thresholds : QualityThresholds) -> Array[RuleViolation]

    validate_depth_metadata

    source
    fn validate_depth_metadata(sample : DepthMetadata) -> Unit raise VisionFormatError

    validate_depth_stream

    source
    fn validate_depth_stream(samples : ArrayView[DepthMetadata], thresholds : QualityThresholds) -> Array[RuleViolation]

    validate_image_stream

    source
    fn validate_image_stream(frames : ArrayView[ImageFrameRef], thresholds : QualityThresholds) -> Array[RuleViolation]

    validate_label_name

    source
    fn validate_label_name(label : String) -> Bool

    validate_trajectory_stream

    source
    fn validate_trajectory_stream(samples : ArrayView[TrajectorySample], thresholds : QualityThresholds) -> Array[RuleViolation]

    violations_by_code

    source
    fn violations_by_code(violations : ArrayView[RuleViolation]) -> Map[String, Int]

    violations_to_markdown

    source
    fn violations_to_markdown(violations : ArrayView[RuleViolation]) -> String

    Source Files

    Powered by MoonBit

    Site sourceReport issuePackagesBuild queueSkillsStatistics

    © 2026 mooncakes.io