nuscenes2mcap
Introduction
nuScenes is a large-scale dataset of autonomous driving in urban environments, provided free for non-commercial use. This project provides helper scripts to download the nuScenes dataset and convert scenes into MCAP files for easy viewing in tools such as Foxglove Studio.
Usage
Converting the nuScenes data to MCAP
- Download the nuScenes mini dataset. You will need to make an account and agree to the terms of use.
- Extract the following files into the
data/
directory:can_bus.zip
todata/
nuScenes-map-expansion-v1.3.zip
todata/maps
v1.0-mini.tgz
todata/
- Build and run the converter container with
./convert_mini_scenes.sh
Uploading data and events to Foxglove Data Platform
If you have a Foxglove Data Platform API key, you can use it to upload your scene data with:
docker build -t mcap_converter .
export FOXGLOVE_DATA_PLATFORM_TOKEN=<your secret token>
docker run -e FOXGLOVE_DATA_PLATFORM_TOKEN -v $(pwd)/output:/output \
mcap_converter python3 upload_mcap.py /output
This repo also contains a script that can create synthetic events from the MCAP data.
docker run -e FOXGLOVE_DATA_PLATFORM_TOKEN -v $(pwd)/output:/output \
mcap_converter python3 upload_events.py /output
Updating Protobuf definitions
pip install mypy-protobuf
protoc --python_out=. --mypy_out=. --proto_path /path/to/foxglove/schemas/schemas/proto/ /path/to/foxglove/schemas/schemas/proto/foxglove/*.proto
License
nuscenes2mcap is licensed under the MIT License.
Stay in touch
Join our Slack channel to ask questions, share feedback, and stay up to date on what our team is working on.