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Back Camera Output
- Check the box, if you want to get the outputs related to the back camera sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Back Left Camera Output
- Check the box, if you want to get the outputs related to the back left sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Back Right Camera Output
- Check the box, if you want to get the outputs related to the back right sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Front Camera Output
- Check the box, if you want to get the outputs related to the front camera sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Front Left Camera Output
- Check the box, if you want to get the outputs related to the front left camera sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Front Right Camera Output
- Check the box, if you want to get the outputs related to the front right camera sensor. The outputs are the raw data, the transform, and the camera intrinsic matrix.
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Lidar Output
- Check the box, if you want to get the outputs related to the lidar sensor. The outputs are the raw data, and the transform.
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Back Left Radar Output
- Check the box, if you want to get the outputs related to the back left radar sensor. The outputs are the raw data, and the transform.
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Back Right Radar Output
- Check the box, if you want to get the outputs related to the back right radar sensor. The outputs are the raw data, and the transform.
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Front Radar Output
- Check the box, if you want to get the outputs related to the front radar sensor. The outputs are the raw data, and the transform.
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Front Left Radar Output
- Check the box, if you want to get the outputs related to the front left radar sensor. The outputs are the raw data, and the transform.
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Front Right Radar Output
- Check the box, if you want to get the outputs related to the front right radar sensor. The outputs are the raw data, and the transform.
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Publishing Mode
- You have two different modes of publishing. Continuous mode where you can play/stop the publishing of the data only but the data will be published according to the publishing rate. On the other hand, step mode which enables a full control of the publishing process by providing an active signal for publishing each sample.
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Dataset Directory
- The location of the nuscenes dataset. The location should match the Dataset Version field to work properly.
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Dataset Version
- You can select which dataset version/part/split you want to play.
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Publishing Rate
- The rate at which the block publishes the outputs. To get the desired publishing rate, please use the needed sensors only.
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Key frames
- Check the box, if you want to play the keyframes sample data only.
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Repeat
- Check the box, if you want the dataset samples to be repeatedly published.
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Lidar/ Radar Number of Sweeps
- The number of sweeps of the radar or lidar sensors. In the case of non-keyframes samples, the value of nsweeps will be considered as one.
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Pause
- Click the button, if you want to pause the streaming of the data.
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Play
- Click the button, if you want to play the data. The dataset will not be played by default.
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Reset
- Click the button, if you want to reset the streaming operation.
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