feat: add rrd support (#21)

.pre-commit-config.yaml

@@ -1,29 +1,29 @@
 ---
 repos:
   - repo: https://github.com/abravalheri/validate-pyproject
-    rev: v0.21
+    rev: v0.22
     hooks:
       - id: validate-pyproject
 
   - repo: https://github.com/crate-ci/typos
-    rev: v1.26.0
+    rev: v1.26.8
     hooks:
       - id: typos
 
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.18.0
+    rev: v3.19.0
     hooks:
       - id: pyupgrade
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.7.0
+    rev: v0.7.1
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
 
   - repo: https://github.com/DetachHead/basedpyright-pre-commit-mirror
-    rev: 1.19.0
+    rev: 1.19.1
     hooks:
       - id: basedpyright
 

README.md

@@ -18,9 +18,9 @@
 uv add rbyte [--extra <EXTRA>]
 ```
 
-See [pyproject.toml](./pyproject.toml) for available extras.
+See `pyproject.toml` for available extras.
 
-## [Examples](./examples)
+## Examples
 
 1. Install required tools:
 - [`uv`](https://github.com/astral-sh/uv)
@@ -35,7 +35,7 @@ git clone https://github.com/yaak-ai/rbyte
 3. Run:
 ```shell
 cd rbyte
-just example nuscenes
+just notebook examples/nuscenes_mcap.ipynb
 ```
 
 ## Development

config/_templates/dataset/nuscenes.yaml → config/_templates/dataset/nuscenes_mcap.yaml

@@ -6,11 +6,11 @@
 #@     'nuScenes-v1.0-mini-scene-0061-cut',
 #@ ]
 
-#@ camera_topics = [
-#@     '/CAM_FRONT/image_rect_compressed',
-#@     '/CAM_FRONT_LEFT/image_rect_compressed',
-#@     '/CAM_FRONT_RIGHT/image_rect_compressed',
-#@ ]
+#@ camera_topics = {
+#@     'CAM_FRONT': '/CAM_FRONT/image_rect_compressed',
+#@     'CAM_FRONT_LEFT': '/CAM_FRONT_LEFT/image_rect_compressed',
+#@     'CAM_FRONT_RIGHT': '/CAM_FRONT_RIGHT/image_rect_compressed',
+#@ }
 ---
 _target_: rbyte.Dataset
 _convert_: all
@@ -19,8 +19,8 @@ inputs:
   #@ for input_id in inputs:
   (@=input_id@):
     frame:
-      #@ for topic in camera_topics:
-      (@=topic@):
+      #@ for camera, topic in camera_topics.items():
+      (@=camera@):
         index_column: (@=topic@)/_idx_
         reader:
           _target_: rbyte.io.frame.McapFrameReader
@@ -49,7 +49,7 @@ inputs:
                 - rbyte.utils.mcap.JsonDecoderFactory
 
               fields:
-                #@ for topic in camera_topics:
+                #@ for topic in camera_topics.values():
                 (@=topic@):
                   log_time:
                     _target_: polars.Datetime
@@ -68,14 +68,15 @@ inputs:
           _target_: rbyte.io.table.TableAligner
           separator: "/"
           merge:
-            (@=camera_topics[0]@):
+            (@=camera_topics.values()[0]@):
               log_time:
                 method: ref
 
-            #@ for topic in camera_topics[1:]:
+            #@ for topic in camera_topics.values()[1:]:
             (@=topic@):
               log_time:
                 method: ref
+
               _idx_:
                 method: asof
                 tolerance: 40ms
@@ -96,7 +97,7 @@ inputs:
 
 sample_builder:
   _target_: rbyte.sample.builder.GreedySampleTableBuilder
-  index_column: (@=camera_topics[0]@)/_idx_
+  index_column: (@=camera_topics.values()[0]@)/_idx_
   length: 1
   stride: 1
   min_step: 1

config/_templates/dataset/nuscenes_rrd.yaml

@@ -0,0 +1,97 @@
+#! https://app.rerun.io/examples/nuscenes_dataset.rrd
+
+#@yaml/text-templated-strings
+
+#@ inputs = [
+#@     'nuscenes',
+#@ ]
+
+#@ camera_entities = {
+#@     'CAM_FRONT_LEFT': '/world/ego_vehicle/CAM_FRONT_LEFT',
+#@     'CAM_FRONT': '/world/ego_vehicle/CAM_FRONT',
+#@     'CAM_FRONT_RIGHT': '/world/ego_vehicle/CAM_FRONT_RIGHT',
+#@ }
+---
+_target_: rbyte.Dataset
+_convert_: all
+_recursive_: false
+inputs:
+  #@ for input_id in inputs:
+  (@=input_id@):
+    frame:
+      #@ for camera, entity in camera_entities.items():
+      (@=camera@):
+        index_column: (@=entity@)/_idx_
+        reader:
+          _target_: rbyte.io.frame.RrdFrameReader
+          path: "${data_dir}/(@=input_id@).rrd"
+          index: timestamp
+          entity_path: (@=entity@)
+          frame_decoders:
+            image/jpeg:
+              _target_: simplejpeg.decode_jpeg
+              _partial_: true
+              colorspace: rgb
+              fastdct: true
+              fastupsample: true
+      #@ end
+
+    table:
+      builder:
+        _target_: rbyte.io.table.TableBuilder
+        _convert_: all
+        readers:
+          - path: "${data_dir}/(@=input_id@).rrd"
+            reader:
+              _target_: rbyte.io.table.RrdTableReader
+              _recursive_: false
+              index: timestamp
+              contents:
+                #@ for entity in camera_entities.values():
+                (@=entity@):
+                  - _idx_
+                #@ end
+
+                /world/ego_vehicle/LIDAR_TOP:
+                  - Position3D
+
+        merger:
+          _target_: rbyte.io.table.TableAligner
+          separator: /
+          merge:
+            #@ entity = camera_entities.values()[0]
+            (@=entity@):
+              timestamp:
+                method: ref
+
+            #@ for entity in camera_entities.values()[1:]:
+            (@=entity@):
+              timestamp:
+                method: ref
+
+              _idx_:
+                method: asof
+                strategy: nearest
+                tolerance: 20ms
+            #@ end
+
+            /world/ego_vehicle/LIDAR_TOP:
+              timestamp:
+                method: ref
+
+              Position3D:
+                method: asof
+                strategy: nearest
+                tolerance: 20ms
+
+        filter: |
+          `/world/ego_vehicle/CAM_FRONT/timestamp` between '2018-07-24 03:28:48' and '2018-07-24 03:28:50'
+  #@ end
+
+sample_builder:
+  _target_: rbyte.sample.builder.GreedySampleTableBuilder
+  index_column: (@=camera_entities.values()[0]@)/_idx_
+  length: 1
+  stride: 1
+  min_step: 1
+  filter: !!null

config/_templates/logger/rerun/nuscenes.yaml → config/_templates/logger/rerun/nuscenes_mcap.yaml

@@ -1,24 +1,24 @@
 #@yaml/text-templated-strings
 
 #@ camera_topics = {
-#@   camera: '/{}/image_rect_compressed'.format(camera)
-#@   for camera in ['CAM_FRONT_LEFT', 'CAM_FRONT', 'CAM_FRONT_RIGHT']
+#@     'CAM_FRONT': '/CAM_FRONT/image_rect_compressed',
+#@     'CAM_FRONT_LEFT': '/CAM_FRONT_LEFT/image_rect_compressed',
+#@     'CAM_FRONT_RIGHT': '/CAM_FRONT_RIGHT/image_rect_compressed',
 #@ }
 ---
 _target_: rbyte.viz.loggers.RerunLogger
 schema:
   frame:
-    #@ for camera_topic in camera_topics.values():
-    (@=camera_topic@):
+    #@ for camera in camera_topics.keys():
+    (@=camera@):
       Image:
         color_model: RGB
     #@ end
 
   table:
-    #@ camera_topic = camera_topics.values()[0]
-    (@=camera_topic@)/log_time: TimeNanosColumn
-    #@ for camera_topic in camera_topics.values():
-    (@=camera_topic@)/_idx_: TimeSequenceColumn
+    #@ for topic in camera_topics.values():
+    (@=topic@)/_idx_: TimeSequenceColumn
+    (@=topic@)/log_time: TimeNanosColumn
     #@ end
     /odom/vel.x: Scalar
 
@@ -30,10 +30,10 @@ blueprint:
       contents:
         - _target_: rerun.blueprint.Horizontal
           contents:
-            #@ for camera, camera_topic in camera_topics.items():
+            #@ for camera in camera_topics.keys():
             - _target_: rerun.blueprint.Spatial2DView
               name: #@ camera
-              origin: #@ "frame/{}".format(camera_topic)
+              origin: #@ "frame/{}".format(camera)
             #@ end
 
         - _target_: rerun.blueprint.TimeSeriesView

config/_templates/logger/rerun/nuscenes_rrd.yaml

@@ -0,0 +1,41 @@
+#@yaml/text-templated-strings
+
+#@ camera_entities = {
+#@     "CAM_FRONT_LEFT": "/world/ego_vehicle/CAM_FRONT_LEFT",
+#@     "CAM_FRONT": "/world/ego_vehicle/CAM_FRONT",
+#@     "CAM_FRONT_RIGHT": "/world/ego_vehicle/CAM_FRONT_RIGHT",
+#@ }
+---
+_target_: rbyte.viz.loggers.RerunLogger
+schema:
+  frame:
+    #@ for camera in camera_entities.keys():
+    (@=camera@):
+      Image:
+        color_model: RGB
+    #@ end
+
+  table:
+    #@ for camera_entity in camera_entities.values():
+    (@=camera_entity@)/_idx_: TimeSequenceColumn
+    (@=camera_entity@)/timestamp: TimeNanosColumn
+    #@ end
+    /world/ego_vehicle/LIDAR_TOP/timestamp: TimeNanosColumn
+    /world/ego_vehicle/LIDAR_TOP/Position3D: Points3D
+
+spawn: true
+blueprint:
+  _target_: rerun.blueprint.Blueprint
+  _args_:
+    - _target_: rerun.blueprint.Vertical
+      contents:
+        - _target_: rerun.blueprint.Spatial3DView
+          origin: table
+
+        - _target_: rerun.blueprint.Horizontal
+          contents:
+            #@ for camera in camera_entities.keys():
+            - _target_: rerun.blueprint.Spatial2DView
+              name: #@ camera
+              origin: #@ "frame/{}".format(camera)
+            #@ end

config/_templates/table_builder/rrd.yaml

@@ -0,0 +1,53 @@
+#@yaml/text-templated-strings
+
+#@ camera_entities = {
+#@     "CAM_FRONT_LEFT": "/world/ego_vehicle/CAM_FRONT_LEFT",
+#@     "CAM_FRONT": "/world/ego_vehicle/CAM_FRONT",
+#@     "CAM_FRONT_RIGHT": "/world/ego_vehicle/CAM_FRONT_RIGHT",
+#@ }
+---
+_target_: rbyte.io.table.TableBuilder
+_convert_: all
+readers:
+  - path: ???
+    reader:
+      _target_: rbyte.io.table.RrdTableReader
+      _recursive_: false
+      index: timestamp
+      contents:
+        #@ for entity in camera_entities.values():
+        (@=entity@):
+          - _idx_
+        #@ end
+
+        /world/ego_vehicle/LIDAR_TOP:
+          - Position3D
+
+merger:
+  _target_: rbyte.io.table.TableAligner
+  separator: /
+  merge:
+    #@ entity = camera_entities.values()[0]
+    (@=entity@):
+      timestamp:
+        method: ref
+
+    #@ for entity in camera_entities.values()[1:]:
+    (@=entity@):
+      timestamp:
+        method: ref
+
+      _idx_:
+        method: asof
+        strategy: nearest
+        tolerance: 20ms
+    #@ end
+
+    /world/ego_vehicle/LIDAR_TOP:
+      timestamp:
+        method: ref
+
+      Position3D:
+        method: asof
+        strategy: nearest
+        tolerance: 20ms

config/_templates/table_builder/yaak.yaml

@@ -59,7 +59,8 @@ merger:
   _target_: rbyte.io.table.TableAligner
   separator: "."
   merge:
-    ImageMetadata.(@=cameras[0]@):
+    #@ camera = cameras[0]
+    ImageMetadata.(@=camera@):
       time_stamp:
         method: ref