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

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

python tools/maptrv2/custom_nusc_map_converter.py --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0 --canbus ./data

Using the above code will generate nuscenes_map_infos_temporal_{train,val}.pkl, which contain local vectorized map annotations.

Folder structure

MapTR
├── mmdetection3d/
├── 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

Argoverse2

Download the Argoverse2 Sensor Dataset here.

Folder structure

MapTR
├── mmdetection3d/
├── projects/
├── tools/
├── configs/
├── ckpts/
│   ├── r101_dcn_fcos3d_pretrain.pth
├── data/
│   ├── can_bus/
│   ├── nuscenes/
│   ├── argoverse2/
│   │   ├── sensor/
|   |   |   |—— train/
|   |   |   |—— val/
|   |   |   |—— test/

Prepare Argoverse2 data

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

python tools/maptrv2/custom_av2_map_converter.py --data-root ./data/argoverse2/sensor/

Using the above code will generate av2_map_infos_{train,val}.pkl, which contain local vectorized map annotations.