Expose Python bindings for Rust tables with lazy views and pickling support - #1189

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Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

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@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all \u003cpre\u003e\u003ccode\u003e blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks"); } } catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); } })(); (function(){ try { var __m = "github.com"; var __re = new RegExp('^' + "github\\.com" + '
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Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
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@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix"); } } catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
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Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
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@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length \u003e 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms"); } } catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content

Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
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@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links"); } } catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); } })(); (function(){ try { var __m = "youtube.com"; var __re = new RegExp('^' + "youtube\\.com" + '
Skip to content

Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
Sign up for freeto join this conversation on GitHub. Already have an account? Sign in to comment

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1 participant

@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default"); } } catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content

Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

Copy link
Copy Markdown

This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
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1 participant

@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers"); } } catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); } })(); (function(){ try { var __m = "*"; var __re = new RegExp('^' + ".*" + '
Skip to content

Expose Python bindings for Rust tables with lazy views and pickling support - #1189

Open
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
Open

Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

Conversation

@dianchia

@dianchiadianchia commented Feb 3, 2026

Copy link
Copy Markdown

This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
Open
Open
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Assignees

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@dianchia
, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode"); } } catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); } })(); })();
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Expose Python bindings for Rust tables with lazy views and pickling support - #1189

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dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3
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Expose Python bindings for Rust tables with lazy views and pickling support#1189
dianchia wants to merge 4 commits into
nutonomy:masterfrom
dianchia:pr-pyo3

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@dianchia

@dianchiadianchia commented Feb 3, 2026

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This PR exposes the Rust core and domain logic introduced in #1188 to Python via PyO3, while keeping the Python SDK behaviour unchanged.

Key points:

  • Implements the Tables struct as a Python extension, encapsulating
    • JSON loading from the nuScenes dataset
    • The get method for retrieving table entries via token
    • Pickling support via __getstate__, __setstate__, and __reduce__
  • Introduces lazy "proxy" objects for all tables:
    • Each table has a View and an Iter struct
    • Only requested entries are converted into Python dictionaries
    • This avoids eagerly materialising all table data into Python dictionaries, thus reducing memory footprint.
  • Maintains compatibility with existing Python SDK behaviour; no changes to public APIs are made
  • This PR is purely a Python binding exposure layer -- integration with the main NuScenes class is not included.

The goal of this PR is to safely expose the Rust implementation to Python while retaining identical runtime behaviour for current users and enabling efficient, lazy access to table data.

@dianchia
Add Rust + maturin infrastructure
9d30488
Configure Cargo.toml and pyproject.toml for PyO3 extension.
Include a CI workflow for building wheels with maturin for different OS and Python versions.
@dianchia
Implement nuScenes core data structures
d23370c
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
@dianchia
Implement Rust domain and view logic
7869a48
Implement domain logics:
- Convert from model struct to domain struct.
- Add fields for "shortcuts" between tables.
@dianchia
Module wiring and PyO3 bindings
e7c2eb6
Glue Rust domain into Python.
This was referenced Feb 3, 2026
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