bagx.scenario¶
bagx.scenario
¶
Scenario/dangerous scene extraction from rosbag files.
Identifies and extracts time segments where interesting or dangerous scenarios occur, such as GNSS loss, sensor dropouts, high dynamics, etc.
detect_scenarios(bag_path, gnss_lost_threshold_sec=2.0, dropout_threshold_sec=2.0, accel_threshold_mps2=15.0, sync_delay_threshold_ms=100.0, output_json=None)
¶
Detect interesting/dangerous scenarios in a bag file.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
bag_path
|
str
|
Path to the bag file. |
required |
gnss_lost_threshold_sec
|
float
|
Duration of no-fix to consider GNSS lost. |
2.0
|
dropout_threshold_sec
|
float
|
Duration of topic silence to consider a dropout. |
2.0
|
accel_threshold_mps2
|
float
|
Acceleration magnitude threshold for high dynamics. |
15.0
|
sync_delay_threshold_ms
|
float
|
Inter-topic delay threshold for sync degradation. |
100.0
|
output_json
|
TextIO | None
|
Optional file handle for JSON output. |
None
|
Returns:
| Type | Description |
|---|---|
ScenarioReport
|
ScenarioReport with detected scenarios. |
print_scenario_report(report, console=None)
¶
Pretty-print a scenario detection report.