Read images and annotations#

ImagesAndAnnotationsDataset Class provides image and annotations. Example task description yaml file is here.

image_topics:
  - topic_name: /image_front_left
annotation_topic: /detic_image_labeler/annotation
compressed: false

from amber_mcap.dataset.images_and_annotations_dataset import (
    ImagesAndAnnotationsDataset,
    ReadImagesAndAnnotationsConfig,
)

dataset = ImagesAndAnnotationsDataset(
  "(path to rosbag .mcap file)",
  ReadImagesAndAnnotationsConfig.from_yaml_file("(path to rosbag yaml description file)"))

Supported annotation type#

Name	Support status	Remarks
Bounding Box
Polygon
Mask