Skip to content

Latest commit

 

History

History
117 lines (98 loc) · 4.09 KB

prepare_data.md

File metadata and controls

117 lines (98 loc) · 4.09 KB
Raw

Prepare nuScenes-Occupancy

1. Download nuScenes V1.0 full dataset data HERE. Folder structure:

OpenOccupancy
├── data/
│   ├── nuscenes/
│   │   ├── maps/
│   │   ├── samples/
│   │   ├── sweeps/
│   │   ├── lidarseg/
│   │   ├── v1.0-test/
│   │   ├── v1.0-trainval/

2. Download the generated train/val pickle files and put them in data. Folder structure:

OpenOccupancy
├── data/
│   ├── nuscenes/
│   │   ├── maps/
│   │   ├── samples/
│   │   ├── sweeps/
│   │   ├── lidarseg/
│   │   ├── v1.0-test/
│   │   ├── v1.0-trainval/
│   │   ├── nuscenes_occ_infos_train.pkl/
│   │   ├── nuscenes_occ_infos_val.pkl/

2. Pre-compute depth map for fast training (depth-aware view transform module, same logic as BEVDepth):

python ./tools/gen_data/gen_depth_gt.py

Folder structure:

OpenOccupancy
├── data/
│   ├── nuscenes/
│   ├── depth_gt/

3. Download and unzip our annotation for nuScenes-Occupancy:

Subset Google Drive Google Drive Baidu Cloud Baidu Yun Size
trainval-v0.0(deprecated) link link (code:BS95) approx. 24G

Note that the v0.0 version is deprecated, and we release the v0.1 version, new features:

  • Less occupancy noises, especially the artifacts caused by moving objects.
  • More lightweight (V0.0: 24GB-before unzip, 270GB-after unzip. V0.1: 5GB-before unzip, 130GB-after unzip).
  • Impreoved performance: v0.1 pretrained models enhance the mIoU by ~0.3 (compared to v0.0 pretrained models).
Subset Google Drive Google Drive Baidu Cloud Baidu Yun Size
trainval-v0.1 link link (code:25ue) approx. 5G

We will release annotation (with more iterations of augmenting and purifying) in the future.

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

Folder structure:

OpenOccupancy
├── data/
│   ├── nuscenes/
│   ├── depth_gt/
│   ├── nuScenes-Occupancy/

Basic information of nuScenes-Occupancy

Type Info
train 28,130 frames
val 6,019 frames
cameras 6
voxel size 0.2m
range [-51.2m, -51.2m, -5m, 51.2m, 51.2m, 3m]
volume size [512, 512, 40]
classes 0 - 16 (see bellow)
Label Category
0* noise
1 barrier
2 bicycle
3 bus
4 car
5 construction
6 motorcycle
7 pedestrian
8 trafficcone
9 trailer
10 truck
11 driveable_surface
12 other
13 sidewalk
14 terrain
15 mannade
16 vegetation

*Note that we ignore noise, and set empty as label 0 in the training phase.