py123d 0.0.9

A Library for Driving Datasets.

123D: A Library for Driving Datasets

Video | Documentation

Features

• Unified API for driving data, including sensor data, maps, and labels.
• Support for multiple sensors storage formats.
• Fast dataformat based on Apache Arrow.
• Visualization tools with matplotlib and Viser.

Warning

This library is under active development and not stable. The API and features may change in future releases. Please report issues, feature requests, or other feedback by opening an issue.

Changelog

• [2026-02-23] v0.0.9

  • Added preliminary Waymo Open Motion Dataset support.
  • Added support for nuScenes interpolated to 10Hz.
  • Replaced gpkg map implementation with Arrow-based format for improved performance.
  • Added sensor names and timestamps to camera and Lidar data across all datasets.
  • Added ego-to-camera transforms in static metadata.
  • Added support for loading merged point clouds in API.
  • Improvements to geometry module, in terms of speed and syntax.
  • Improved map querying speed and OpenDrive lane connectivity handling.
  • Added recommended conversion options to dataset YAML configuration files.
  • Improvements in dataset conversion for sensor sync, speed, and memory requirements.

• [2025-11-21] v0.0.8 (silent release)

  • Release of package and documentation.
  • Demo data for tutorials.