Located in datastructures/scene_sequence.py
RawSceneSequence describes the raw scene -- raw observations and their global frame poses.
RawSceneSequence presents a map interface from Timestamp to RawSceneItem.
QuerySceneSequence is a self-contained description of:
- the raw scene
- query particles
- the requested timestamps the prediction method should solve for
Query particles are comprised of a series of particles, each associated with a particle id, and a single query timestamp. The query timestamp associates the particles with the requested timestamps. In principle these particles could be at any point in the requested series, although datasets may provide stronger guarantees (e.g. scene flow datasets will have these be the first of two timestamps)
QuerySceneSequence presents a map interface from ParticleID to tuple[WorldParticle, Timestamp].
EstimatedParticleTrajectories describes trajectories for every ParticleID over the given timestamps.
EstimatedParticleTrajectories describes trajectories for every ParticleID over the given timestamps, along with semantic class IDs for each particle.