prepare_dataset.md

NuScenes

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

https://github.com/open-mmlab/mmdetection3d/blob/master/docs/en/datasets/nuscenes_det.md

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

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

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

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

Folder structure

MSBEVFusion
├── projects
│   ├── configs
│   ├── nuscenes
├── ckpts
├── tools
├── data
│   ├── nuscenes
│   │   ├── can_bus
│   │   ├── maps
│   │   ├── samples
│   │   ├── sweeps
│   │   ├── v1.0-trainval
│   │   ├── test
│   │   │   ├── can_bus
│   │   │   ├── maps
│   │   │   ├── samples
│   │   │   ├── sweeps
│   │   │   ├── v1.0-test
│   ├── nuscenes_train_pkl
│   │   ├── nuscenes_database
│   │   ├── nuscenes_infos_train.pkl
│   │   ├── nuscenes_infos_val.pkl
│   │   ├── nuscenes_dbinfos_train.pkl
│   ├── nuscenes_test_pkl
│   │   ├── nuscenes_infos_test.pkl