nuscenes-data: Loading nuScenes Dataset in Rust

This project provides functionality to load and inspect nuScenes dataset. It is under development and should not be considered for production usage.

The data schema follows the specification on nuScenes website.

Build

Install Rust toolchain before your build. We suggest rustup to manage your toolchain.

To build the library,

cargo build

Usage

Here demonstrates the example usage. You may see examples directory to check out more examples.

// extern crate nuscenes_data;
use image::GenericImageView;
use nuscenes_data::{error::NuScenesDataResult, LoadedSampleData, NuScenesDataset};

fn main() -> NuScenesDataResult<()> {
    // Change the path to your dataset directory
    let dataset = NuScenesDataset::load("1.02", "/some/path/v1.02-train")?;

    // Iterate over scenes chronologically
    for scene in dataset.scene_iter() {
        println!("read scene {}", scene.token);

        // Get associated log
        let log = scene.log();
        println!("captured at {}", log.date_captured);

        // Iterate over associated samples
        for sample in scene.sample_iter() {
            println!(
                "found sample {} in scene {} with timestamp {}",
                sample.token, scene.token, sample.timestamp
            );

            // Get the related scene back from sample
            assert_eq!(scene.token, sample.scene_token);
            assert_eq!(scene.token, sample.scene().token);

            // Iterate over associated annotations
            for annotation in sample.sample_annotation_iter() {
                println!(
                    "found annotation {} in sample {}",
                    annotation.token, sample.token,
                );
            }

            // Iterate over associated data
            for data in sample.sample_data_iter() {
                println!("found data {} in sample {}", data.token, sample.token);

                // Load data
                match data.load()? {
                    LoadedSampleData::PointCloud(matrix) => {
                        println!(
                            "get point cloud from data {} with {} points",
                            data.token,
                            matrix.nrows()
                        );
                    }
                    LoadedSampleData::Image(image) => {
                        println!(
                            "get image from data {} with shape {}x{}",
                            data.token,
                            image.width(),
                            image.height()
                        );
                    }
                }
            }
        }
    }

    Ok(())
}

License

MIT license. See license file.