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| """
座舱感知数据合成管道
组合：Cosmos + Omniverse + Isaac Sim + RadarGen
"""
class CabinDataFactory:
"""
座舱感知数据合成工厂
管道：
1. Cosmos生成座舱场景视频
2. Omniverse构建3D座舱环境
3. Isaac Sim模拟传感器
4. RadarGen合成雷达数据
5. 自动标注（从仿真元数据）
"""
def __init__(self):
self.pipeline = {
"step_1_scene_generation": {
"tool": "Cosmos World Foundation Model",
"input": "文本描述或参考图像",
"output": "座舱场景视频",
"examples": [
"driver looking at phone, daytime, front view",
"child sleeping in back seat, night, IR",
"passenger leaning forward, evening",
"empty back seat, daytime"
]
},
"step_2_environment_build": {
"tool": "Omniverse + OpenUSD",
"input": "座舱3D资产",
"output": "完整座舱场景",
"components": [
"座椅（多型号/材质）",
"方向盘+仪表盘+中控",
"车窗+后视镜",
"乘员角色（Metahuman）",
"光照（日间/隧道/夜间/IR）"
]
},
"step_3_sensor_simulation": {
"tool": "Isaac Sim 3.0",
"input": "3D场景+角色动画",
"output": "多传感器数据",
"sensors": {
"rgb_camera": "8MP, 30fps, 多视角",
"ir_camera": "940nm, 30fps",
"mmwave_radar": "60GHz, 15fps, 点云",
"depth": "ToF/结构光",
"pressure": "座椅接触"
}
},
"step_4_radar_synthesis": {
"tool": "RadarGen (ECCV 2026)",
"input": "相机图像→深度+语义+运动",
"output": "合成雷达点云（含RCS+速度）",
"advantage": "比仿真雷达更真实"
},
"step_5_auto_annotation": {
"tool": "仿真元数据自动标注",
"input": "场景图+角色姿态+行为",
"output": "标注数据",
"labels": {
"bbox": "乘员边界框",
"pose": "3D关节坐标",
"gaze": "视线方向",
"behavior": "行为类别",
"fatigue": "疲劳等级",
"posture": "坐姿类别"
}
}
}
def estimate_output(self, hours_of_generation: float = 8) -> dict:
"""估算合成数据产出"""
fps = 30
frames_per_hour = fps * 3600
return {
"generation_time_hours": hours_of_generation,
"frames_per_hour": frames_per_hour,
"total_frames": int(frames_per_hour * hours_of_generation),
"modalities": {
"rgb_images": int(frames_per_hour * hours_of_generation),
"ir_images": int(frames_per_hour * hours_per_generation),
"radar_pointclouds": int(15 * 3600 * hours_of_generation),
"depth_maps": int(frames_per_hour * hours_of_generation),
},
"annotations": {
"bbox": int(frames_per_hour * hours_of_generation),
"pose_3d": int(frames_per_hour * hours_of_generation),
"gaze": int(frames_per_hour * hours_of_generation),
"behavior": int(frames_per_hour * hours_of_generation),
},
"scenarios_per_hour": 120,
"unique_persons": 50,
"lighting_variations": 8,
"camera_angles": 5
}
if __name__ == "__main__":
factory = CabinDataFactory()
print("座舱数据合成管道:")
for step, config in factory.pipeline.items():
print(f"\n{step}:")
print(f" 工具: {config['tool']}")
print(f" 输出: {config['output']}")
output = factory.estimate_output(8)
print(f"\n8小时生成产出估算:")
print(f" 总帧数: {output['total_frames']:,}")
print(f" RGB图像: {output['modalities']['rgb_images']:,}")
print(f" 雷达点云: {output['modalities']['radar_pointclouds']:,}")
print(f" 场景数: {output['scenarios_per_hour'] * 8:,}")
|
