Download nuScenes V1.0 full dataset data and CAN bus expansion data HERE. Prepare nuscenes data by running
Download CAN bus expansion
# download 'can_bus.zip'
unzip can_bus.zip
# move can_bus to data dir
Prepare nuScenes data
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.
Folder structure
bevformer
├── projects/
├── tools/
├── configs/
├── ckpts/
│ ├── r101_dcn_fcos3d_pretrain.pth
├── data/
│ ├── can_bus/
│ ├── nuscenes/
│ │ ├── maps/
│ │ ├── samples/
│ │ ├── sweeps/
│ │ ├── v1.0-test/
| | ├── v1.0-trainval/
| | ├── nuscenes_infos_temporal_train.pkl
| | ├── nuscenes_infos_temporal_val.pkl