Integrate optional Rust-based tables into NuScenes with use_rust flag
#1190
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Configure Cargo.toml and pyproject.toml for PyO3 extension. Include a CI workflow for building wheels with maturin for different OS and Python versions.
- Implement nuScenes core data structures such as Scene, Sample, SampleAnnotation, etc.
Implement domain logics: - Convert from model struct to domain struct. - Add fields for "shortcuts" between tables.
Glue Rust domain into Python.
Integrate Rust backend into Python SDK as an opt-in feature.
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This PR integrates the previously exposed Rust
Tables(#1189) into the mainNuScenesclass while preserving the existing Python SDK behaviour.Key points:
_PythonLoaderclass that encapsulates the original Python table loading and indexing logic._RustLoaderclass that wraps the RustTablesextension and exposes equivalent functionality.use_rustflag toNuScenes.__init__(default:False) to select between_PythonLoaderand_RustLoader.get, reverse indexing, shortcuts) are delegated to the selected loader via a single internal_loaderattribute.use_rust=True.This PR completes the optional Rust integration, providing a fully contained, Python-compatible pathway for using the Rust extension, while allowing future PRs to optimise and expand the Rust functionality without impacting existing Python workflows.