1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169

use crate::{
    error::{NuScenesDataError, NuScenesDataResult},
    serializable::{Instance, Sample, SampleAnnotation, Scene},
    token::LongToken,
};
use chrono::NaiveDateTime;
use std::collections::HashMap;

#[derive(Debug, Clone)]
pub struct SampleInternal {
    pub token: LongToken,
    pub next: Option<LongToken>,
    pub prev: Option<LongToken>,
    pub timestamp: NaiveDateTime,
    pub scene_token: LongToken,
    pub annotation_tokens: Vec<LongToken>,
    pub sample_data_tokens: Vec<LongToken>,
}

impl SampleInternal {
    pub fn from(
        sample: Sample,
        annotation_tokens: Vec<LongToken>,
        sample_data_tokens: Vec<LongToken>,
    ) -> Self {
        let Sample {
            token,
            next,
            prev,
            scene_token,
            timestamp,
        } = sample;

        Self {
            token,
            next,
            prev,
            scene_token,
            timestamp,
            annotation_tokens,
            sample_data_tokens,
        }
    }
}

#[derive(Debug, Clone)]
pub struct InstanceInternal {
    pub token: LongToken,
    pub category_token: LongToken,
    pub annotation_tokens: Vec<LongToken>,
}

impl InstanceInternal {
    pub fn from(
        instance: Instance,
        sample_annotation_map: &HashMap<LongToken, SampleAnnotation>,
    ) -> NuScenesDataResult<Self> {
        let Instance {
            token,
            nbr_annotations,
            category_token,
            first_annotation_token,
            last_annotation_token,
        } = instance;

        let mut annotation_token_opt = Some(first_annotation_token);
        let mut annotation_tokens = vec![];

        while let Some(annotation_token) = annotation_token_opt {
            let annotation = &sample_annotation_map
                .get(&annotation_token)
                .ok_or(NuScenesDataError::InternalBug)?;
            if annotation_token != annotation.token {
                return Err(NuScenesDataError::InternalBug);
            }
            annotation_tokens.push(annotation_token);
            annotation_token_opt = annotation.next;
        }

        if annotation_tokens.len() != nbr_annotations {
            let msg = format!(
                "the instance with token {} assures nbr_annotations = {}, but in fact {}",
                token,
                nbr_annotations,
                annotation_tokens.len()
            );
            return Err(NuScenesDataError::CorruptedDataset(msg));
        }
        if annotation_tokens.last().unwrap() != &last_annotation_token {
            let msg = format!(
                "the instance with token {} assures last_annotation_token = {}, but in fact {}",
                token,
                last_annotation_token,
                annotation_tokens.last().unwrap()
            );
            return Err(NuScenesDataError::CorruptedDataset(msg));
        }

        let ret = Self {
            token,
            category_token,
            annotation_tokens,
        };
        Ok(ret)
    }
}

#[derive(Debug, Clone)]
pub struct SceneInternal {
    pub token: LongToken,
    pub name: String,
    pub description: String,
    pub log_token: LongToken,
    pub sample_tokens: Vec<LongToken>,
}

impl SceneInternal {
    pub fn from(scene: Scene, sample_map: &HashMap<LongToken, Sample>) -> NuScenesDataResult<Self> {
        let Scene {
            token,
            name,
            description,
            log_token,
            nbr_samples,
            first_sample_token,
            last_sample_token,
        } = scene;

        let mut sample_tokens = vec![];
        let mut sample_token_opt = Some(first_sample_token);

        while let Some(sample_token) = sample_token_opt {
            let sample = &sample_map[&sample_token];
            if sample.token != sample_token {
                return Err(NuScenesDataError::InternalBug);
            }
            sample_tokens.push(sample_token);
            sample_token_opt = sample.next;
        }

        if sample_tokens.len() != nbr_samples {
            let msg = format!(
                "the sample with token {} assures nbr_samples = {}, but in fact {}",
                token,
                nbr_samples,
                sample_tokens.len()
            );
            return Err(NuScenesDataError::CorruptedDataset(msg));
        }
        if *sample_tokens.last().unwrap() != last_sample_token {
            let msg = format!(
                "the sample with token {} assures last_sample_token = {}, but in fact {}",
                token,
                last_sample_token,
                sample_tokens.last().unwrap()
            );
            return Err(NuScenesDataError::CorruptedDataset(msg));
        }

        let ret = Self {
            token,
            name,
            description,
            log_token,
            sample_tokens,
        };
        Ok(ret)
    }
}