TruckScenes DevKit C++

A C++ SDK for loading and visualizing the MAN TruckScenes dataset.

Prerequisites

macOS

brew install cmake eigen opencv

Ubuntu/Debian

sudo apt-get install cmake libeigen3-dev libopencv-dev

Build

cd truckscenes-devkit-cpp
mkdir -p build && cd build
cmake ..
make -j$(nproc)

Run

# From build directory
./test-sdk

# Or specify data path
./test-sdk /path/to/man-truckscenes

Project Structure

truckscenes-devkit-cpp/
├── include/           # Headers (TruckScenes.h, json.hpp, lzf.h)
├── src/               # Source files (TruckScenes.cpp, lzf.cpp)
├── test_sdk.cpp       # Main dashboard application
├── CMakeLists.txt     # Build configuration
└── README.md          # This file

Features

• Load TruckScenes JSON tables
• Parse PCD point clouds (with LZF compression)
• OpenCV-based dashboard visualization
• BEV (Bird's Eye View) rendering