NuScenesDataExtractor

Data extractor class for extracting data from nuScenes dataset

Prerequisites

Download and set up nuScenes.

Run example

Specify nuScenes python-sdk path in main.py and nusc_data_extractor.py, then run:

>>> python main.py

Commands

Control

Select the desired scene with

scene_name = 'scene-0001'
de_nusc.set_scene(scene_name)

For iterating through the time steps of the scene use

de_nusc.advance()

Data extraction

Extract data of the lidar sensor for current time step:

lidar_points = de_nusc.get_lidar_pointcloud()

Extract data of one radar sensor for current time step:

radar_channel = 'RADAR_FRONT'
radar_points, radar_velocities = de_nusc.get_radar_pointcloud(radar_channel)

Extract data of all radar sensors for current time step:

radar_points, radar_velocities = de_nusc.get_all_radar_pointclouds()

Extract raw image of one camera sensor for current time step:

camera_channel = 'CAM_FRONT'
camera_image = de_nusc.get_camera_image(camera_channel)

Get annotations for all possible annotations. If a sensor channel (e.g. 'RADAR_FRONT') is specified, just the annotations seen by the sensor are given.