nuscenes_data/dataset/
inner.rs

1use crate::{
2    error::{Error, Result},
3    serializable::{
4        Attribute, CalibratedSensor, Category, EgoPose, Instance, Log, Map, Sample,
5        SampleAnnotation, SampleData, Scene, Sensor, Token, Visibility, VisibilityToken,
6    },
7};
8use chrono::NaiveDateTime;
9use std::{collections::HashMap, path::PathBuf};
10
11#[derive(Debug, Clone)]
12pub struct DatasetInner {
13    pub version: String,
14    pub dataset_dir: PathBuf,
15    pub attribute_map: HashMap<Token, Attribute>,
16    pub calibrated_sensor_map: HashMap<Token, CalibratedSensor>,
17    pub category_map: HashMap<Token, Category>,
18    pub ego_pose_map: HashMap<Token, EgoPose>,
19    pub instance_map: HashMap<Token, InstanceInner>,
20    pub log_map: HashMap<Token, Log>,
21    pub map_map: HashMap<Token, Map>,
22    pub scene_map: HashMap<Token, SceneInner>,
23    pub sample_map: HashMap<Token, SampleInner>,
24    pub sample_annotation_map: HashMap<Token, SampleAnnotation>,
25    pub sample_data_map: HashMap<Token, SampleData>,
26    pub sensor_map: HashMap<Token, Sensor>,
27    pub visibility_map: HashMap<VisibilityToken, Visibility>,
28    pub sorted_ego_pose_tokens: Vec<Token>,
29    pub sorted_sample_tokens: Vec<Token>,
30    pub sorted_sample_data_tokens: Vec<Token>,
31    pub sorted_scene_tokens: Vec<Token>,
32}
33
34#[derive(Debug, Clone)]
35pub struct SampleInner {
36    pub token: Token,
37    pub next: Option<Token>,
38    pub prev: Option<Token>,
39    pub timestamp: NaiveDateTime,
40    pub scene_token: Token,
41    pub annotation_tokens: Vec<Token>,
42    pub sample_data_tokens: Vec<Token>,
43}
44
45impl SampleInner {
46    pub fn from(
47        sample: Sample,
48        annotation_tokens: Vec<Token>,
49        sample_data_tokens: Vec<Token>,
50    ) -> Self {
51        let Sample {
52            token,
53            next,
54            prev,
55            scene_token,
56            timestamp,
57        } = sample;
58
59        Self {
60            token,
61            next,
62            prev,
63            scene_token,
64            timestamp,
65            annotation_tokens,
66            sample_data_tokens,
67        }
68    }
69}
70
71#[derive(Debug, Clone)]
72pub struct InstanceInner {
73    pub token: Token,
74    pub category_token: Token,
75    pub annotation_tokens: Vec<Token>,
76}
77
78impl InstanceInner {
79    pub fn from(
80        instance: Instance,
81        sample_annotation_map: &HashMap<Token, SampleAnnotation>,
82    ) -> Result<Self> {
83        let Instance {
84            token,
85            nbr_annotations,
86            category_token,
87            first_annotation_token,
88            last_annotation_token,
89        } = instance;
90
91        let mut annotation_token_opt = Some(first_annotation_token);
92        let mut annotation_tokens = vec![];
93
94        while let Some(annotation_token) = annotation_token_opt {
95            let annotation = &sample_annotation_map
96                .get(&annotation_token)
97                .expect("internal error: invalid annotation_token");
98            assert_eq!(
99                annotation_token, annotation.token,
100                "internal error: annotation.token mismatch"
101            );
102            annotation_tokens.push(annotation_token);
103            annotation_token_opt = annotation.next;
104        }
105
106        if annotation_tokens.len() != nbr_annotations {
107            let msg = format!(
108                "the instance with token {} assures nbr_annotations = {}, but in fact {}",
109                token,
110                nbr_annotations,
111                annotation_tokens.len()
112            );
113            return Err(Error::CorruptedDataset(msg));
114        }
115        if annotation_tokens.last().unwrap() != &last_annotation_token {
116            let msg = format!(
117                "the instance with token {} assures last_annotation_token = {}, but in fact {}",
118                token,
119                last_annotation_token,
120                annotation_tokens.last().unwrap()
121            );
122            return Err(Error::CorruptedDataset(msg));
123        }
124
125        let ret = Self {
126            token,
127            category_token,
128            annotation_tokens,
129        };
130        Ok(ret)
131    }
132}
133
134#[derive(Debug, Clone)]
135pub struct SceneInner {
136    pub token: Token,
137    pub name: String,
138    pub description: String,
139    pub log_token: Token,
140    pub sample_tokens: Vec<Token>,
141}
142
143impl SceneInner {
144    pub fn from(scene: Scene, sample_map: &HashMap<Token, Sample>) -> Result<Self> {
145        let Scene {
146            token,
147            name,
148            description,
149            log_token,
150            nbr_samples,
151            first_sample_token,
152            last_sample_token,
153        } = scene;
154
155        let mut sample_tokens = vec![];
156        let mut sample_token_opt = Some(first_sample_token);
157
158        while let Some(sample_token) = sample_token_opt {
159            let sample = &sample_map[&sample_token];
160            assert_eq!(
161                sample.token, sample_token,
162                "internal error: sample.token mismatch"
163            );
164            sample_tokens.push(sample_token);
165            sample_token_opt = sample.next;
166        }
167
168        if sample_tokens.len() != nbr_samples {
169            let msg = format!(
170                "the sample with token {} assures nbr_samples = {}, but in fact {}",
171                token,
172                nbr_samples,
173                sample_tokens.len()
174            );
175            return Err(Error::CorruptedDataset(msg));
176        }
177        if *sample_tokens.last().unwrap() != last_sample_token {
178            let msg = format!(
179                "the sample with token {} assures last_sample_token = {}, but in fact {}",
180                token,
181                last_sample_token,
182                sample_tokens.last().unwrap()
183            );
184            return Err(Error::CorruptedDataset(msg));
185        }
186
187        let ret = Self {
188            token,
189            name,
190            description,
191            log_token,
192            sample_tokens,
193        };
194        Ok(ret)
195    }
196}
nuscenes_data/dataset/inner.rs

nuscenes_data/dataset/
inner.rs
