1. Download nuScenes V1.0 full dataset and can bus data HERE. Organize the folder structure:
OccNet
├── data/
│ ├── can_bus/
│ ├── nuscenes/
│ │ ├── maps/
│ │ ├── samples/
│ │ ├── sweeps/
│ │ ├── v1.0-test
│ │ ├── v1.0-trainval
2. Prepared nuScenes 3D detection data
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 the following files
data/nuscenes/nuscenes_infos_temporal_{train,val}.pkl
3. Prepare 3D Occupancy dataset
We provide the 3D occupancy and flow annotations for the train and validation dataset. The annotations is defined in the LiDAR cooridinate system including 16 classes.
Dataset Information
| Type | Info |
|---|---|
| train | val | 28130 | 6019 |
| annotations | occupancy | flow |
| cameras | 6 |
| range | [-50m, -50m, -5m, 50m, 50m, 3m] |
| volume size | [200, 200, 16] |
| #classes | 0 - 15 |
1.Dowload train and validataion dataset and put it in the data folder
| Version | voxel size | Google Drive  |
Baidu Cloud |
Size |
|---|---|---|---|---|
| occ_gt_release_v1_0 | 0.5m | train_val | train_val | ~15G |
2.unzip the file
tar -zxvf occ_gt_release_v1_0.tar.gz
You will obtain the folder structure
OccNet
├── data/
│ ├── occ_gt_release_v1_0/
│ │ ├── train/
│ │ ├── val/
│ │ ├── occ_gt_train.json
│ │ ├── occ_gt_val.json
3.Merge 3D detection and 3D occupancy dataset
python tools/create_data_with_occ.py
Using the above code will generate the following files
data/occ_gt_release_v1_0/nuscenes_infos_temporal_{train,val}_occ_gt.pkl
We also provide the downlink of theses pkls.
| Version | Google Drive |
Baidu Cloud |
|---|---|---|
| occ_gt_release_v1_0 | train | val | train | val |
4.The data structure of the project is organized as:
OccNet
├── data/
│ ├── can_bus/
│ ├── nuscenes/
│ │ ├── maps/
│ │ ├── samples/
│ │ ├── sweeps/
│ │ ├── v1.0-test
│ │ ├── v1.0-trainval
│ │ ├── nuscenes_infos_temporal_train.pkl
│ │ ├── nuscenes_infos_temporal_val.pkl
│ ├── occ_gt_release_v1_0/
│ │ ├── train/
│ │ ├── val/
│ │ ├── occ_gt_train.json
│ │ ├── occ_gt_val.json
│ │ ├── nuscenes_infos_temporal_train_occ_gt.pkl
│ │ ├── nuscenes_infos_temporal_val_occ_gt.pkl