Dataset Player – nuScenes

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This block reads and plays the raw data which is associated with the v1.0-mini, v1.0-trainval, and v1.0-test nuScenes dataset versions. Dataset is available on YonoStore.

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Version 0.3.4-x86_64
Input ports
  • Control Signal (yonoarc_msgs/Bool) - The control signal port that can be used to start/pause publishing the data according to the publishing mode.
Output Ports
  • Front Camera Image (sensor_msgs/Image) - The output image of the front camera
  • Front Left Camera Image (sensor_msgs/Image) - The output image of the front left camera
  • Front Right Camera Image (sensor_msgs/Image) - The output image of the front right camera
  • Back Camera Image (sensor_msgs/Image) - The output image of the back camera
  • Back Left Camera Image (sensor_msgs/Image) - The output image of the back left camera
  • Back Right Camera Image (sensor_msgs/Image) - The output image of the back right camera
  • Lidar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the top lidar
  • Front Radar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the front radar
  • Front Left Radar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the front left radar
  • Front Right Radar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the front right radar
  • Back Left Radar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the back left radar
  • Back Right Radar 3D Point Cloud (sensor_msgs/PointCloud2) - The output point cloud of the back right radar
  • 3D Ground Truth Bounding Boxes (nuscenes_msgs/sample_annotations) - The ground truth nuScenes 3D bounding boxes in sample annotations format
  • Transforms (nuscenes_msgs/TF) - Transforms which cover the relations between different sensor frames to the ego vehicle frame as well as the ego vehicle frame to the global frame at the capturing instant of each sensor. The order of the transforms are the same as the order of the output sensor ports.
  • Camera Intrinsic Matrices (nuscenes_msgs/CameraIntrinsicMatrices) - The camera intrinsic matrices of the six camera sensors
  • Sample (nuscenes_msgs/sample) - It contains all the current sample information similar to the structure in the nuScenes database.
Properties
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Dataset Directory - The location of the nuscenes dataset. The location should match the Dataset Version field to work properly.
  • Dataset Version - You can select which dataset version/part/split you want to play.
  • Publishing Rate - The rate at which the block publishes the outputs. To get the desired publishing rate, please use the needed sensors only.
  • Key frames - Check the box, if you want to play the keyframes sample data only.
  • Repeat - Check the box, if you want the dataset samples to be repeatedly published.
  • 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.
  • Pause - Click the button, if you want to pause the streaming of the data.
  • Play - Click the button, if you want to play the data. The dataset will not be played by default.
  • Reset - Click the button, if you want to reset the streaming operation.
References None

Yonohub Team

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