Struct nuscenes_data::base::NuScenesDataset

pub struct NuScenesDataset { /* private fields */ }

Implementations

impl NuScenesDataset

pub fn version(&self) -> &str

Gets version of the dataset.

pub fn dir(&self) -> &Path

Gets the directory of dataset.

pub fn load<S, P>(version: S, dir: P) -> NuScenesDataResult<Self>where S: AsRef<str>, P: AsRef<Path>,

Load the dataset directory.

use nuscenes_data::NuScenesDataset;

fn main() -> NuscenesDataResult<()> {
    let dataset = NuScenesDataset::load("1.02", "/path/to/your/dataset")?;
    OK(())
}

Examples found in repository

examples/main.rs (line 7)

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(())
}

pub fn attribute_iter( &self ) -> Iter<'_, Attribute, HashMapKeys<'_, LongToken, Attribute>>

pub fn calibrated_sensor_iter( &self ) -> Iter<'_, CalibratedSensor, HashMapKeys<'_, LongToken, CalibratedSensor>>

pub fn category_iter( &self ) -> Iter<'_, Category, HashMapKeys<'_, LongToken, Category>>

pub fn ego_pose_iter(&self) -> Iter<'_, EgoPose, SliceIter<'_, LongToken>>

pub fn instance_iter( &self ) -> Iter<'_, Instance, HashMapKeys<'_, LongToken, InstanceInternal>>

pub fn log_iter(&self) -> Iter<'_, Log, HashMapKeys<'_, LongToken, Log>>

pub fn map_iter(&self) -> Iter<'_, Map, HashMapKeys<'_, ShortToken, Map>>

pub fn sample_iter(&self) -> Iter<'_, SampleInternal, SliceIter<'_, LongToken>>

pub fn sample_annotation_iter( &self ) -> Iter<'_, SampleAnnotation, HashMapKeys<'_, LongToken, SampleAnnotation>>

pub fn sample_data_iter(&self) -> Iter<'_, SampleData, SliceIter<'_, LongToken>>

pub fn scene_iter(&self) -> Iter<'_, SceneInternal, SliceIter<'_, LongToken>>

Examples found in repository

examples/main.rs (line 10)

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(())
}

pub fn sensor_iter( &self ) -> Iter<'_, Sensor, HashMapKeys<'_, LongToken, Sensor>>

pub fn visibility_iter( &self ) -> Iter<'_, Visibility, HashMapKeys<'_, String, Visibility>>

Trait Implementations

impl Clone for NuScenesDataset

fn clone(&self) -> NuScenesDataset

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NuScenesDataset

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.