Skip to content

Latest commit

 

History

History
85 lines (75 loc) · 2.8 KB

dataset.md

File metadata and controls

85 lines (75 loc) · 2.8 KB
Raw

NuScenes

Download nuScenes V1.0 full dataset data and CAN bus expansion data HERE.

1. NuScenes LiDAR Benchmark

  • Train by supervision from LiDAR points, and evaluation on the LiDAR benchmark.
# For segmentation & panoptic segmentation, You need lidarseg & panoptic
data_path: ./data/nuscenes
# cp yaml file for label mapping
cp projects/configs/label_mapping/nuscenes.yaml ./data/nuscenes/

dataset structure

nuscenes
├── can_bus/
├── maps/
├── lidarseg/
├── panoptic/
├── samples/
├── sweeps/
├── v1.0-trainval/
├── v1.0-test/
├── nuscenes_infos_temporal_train.pkl
├── nuscenes_infos_temporal_val.pkl
├── nuscenes_infos_temporal_test.pkl
├── nuscenes.yaml

We genetate custom annotation files which are different from mmdet3d's

python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0 --canbus ./data

Using the above code will generate nuscenes_infos_temporal_{train,val}.pkl.

2. NuScenes Occupancy Benchmark (CVPR2023 workshop)

Download the annotations HERE

  • download gts & annotations is enough, no need for the img, others are same in the nuScenes.

dataset structure

occ3d-nus
├── gts/
├── maps/
├── lidarseg/
├── panoptic/
├── samples/
├── v1.0-trainval/
├── occ_infos_temporal_train.pkl
├── occ_infos_temporal_val.pkl

├── occ3d-test/
│ ├── maps/
│ ├── samples/
│ ├── v1.0-test/
│ └── annotations.json

Generate the info files for training and validation:

python tools/create_data_occ.py occ --root-path ./data/occ3d-nus --out-dir ./data/occ3d-nus --extra-tag occ --version v1.0-trainval --canbus ./data/nuscenes --occ-path ./data/occ3d-nus

Generate the info files for trainval split:

# modify the path
python tools/merge_data_occ.py

Generate the info files for test split:

python tools/create_data_occ.py occ --root-path ./data/occ3d-test --out-dir ./data/occ3d-test --extra-tag occ --version v1.0-test --canbus ./data/nuscenes --occ-path ./data/occ3d-test

3. Semantic KITTI

To prepare for SemanticKITTI dataset, please download the KITTI Odometry Dataset (including color, velodyne laser data, and calibration files) and the annotations for Semantic Scene Completion from SemanticKITTI.

4. NuScenes OpenOccupancy

refer to https://github.com/JeffWang987/OpenOccupancy

we only use the dense label:

mv nuScenes-Occupancy-v0.1.7z ./data
cd ./data
7za x nuScenes-Occupancy-v0.1.7z
mv nuScenes-Occupancy-v0.1 nuScenes-Occupancy