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nuscenes2mcap

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Convert nuscenes data to mcap file format

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# nuscenes2mcap

> _Convert [nuScenes](https://www.nuscenes.org/) data into [MCAP](https://mcap.dev/) format_

## 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](https://mcap.dev) files for easy viewing in tools such as [Foxglove](https://foxglove.dev/).

## Usage

### Converting the nuScenes data to MCAP
1. Download the [nuScenes mini dataset](https://motional-nuscenes.s3.ap-northeast-1.amazonaws.com/index.html#public/). (This is a public bucket hosting the official files and does not require an account or login.)
1. Extract the following files into the `data/` directory:
    1. `can_bus.zip` to `data/`
    1. `nuScenes-map-expansion-v1.3.zip` to `data/maps`
    1. `v1.0-mini.tgz` to `data/`
1. Build and run the converter container with `./convert.sh`

### Uploading data and events to Foxglove Data Platform

If you have a Foxglove API key, you can use it to upload your scene data with:
```
docker build -t mcap_converter .
export FOXGLOVE_API_KEY=<your secret token>
docker run -e FOXGLOVE_API_KEY -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_API_KEY -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](https://opensource.org/licenses/MIT).

nuscenes2mcap

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