nuScenes

Download nuScenes V1.0 full dataset data, CAN bus and map(v1.3) extensions HERE, then follow the steps below to prepare the data.

Download nuScenes, CAN_bus and Map extensions

cd /PATH/TO/ViDAR/UniAD
mkdir data
# Download nuScenes V1.0 full dataset data directly to (or soft link to) UniAD/data/
# Download CAN_bus and Map(v1.3) extensions directly to (or soft link to) UniAD/data/nuscenes/

Prepare UniAD data info

Option1: We have already prepared the off-the-shelf data infos for you:

cd /PATH/TO/ViDAR/UniAD/data
mkdir infos && cd infos
wget https://github.com/OpenDriveLab/UniAD/releases/download/v1.0/nuscenes_infos_temporal_train.pkl  # train_infos
wget https://github.com/OpenDriveLab/UniAD/releases/download/v1.0/nuscenes_infos_temporal_val.pkl  # val_infos

Option2: You can also generate the data infos by yourself:

The generated data path will contain the root directory. Please remember to change the data_root to empty in config files if using your generated pkl. Refer to https://github.com/OpenDriveLab/UniAD/issues/13.

cd /PATH/TO/ViDAR/UniAD
mkdir infos
./tools/uniad_create_data.sh
# This will generate nuscenes_infos_temporal_{train,val}.pkl

Prepare Motion Anchors

cd /PATH/TO/ViDAR/UniAD
mkdir others && cd others
wget https://github.com/OpenDriveLab/UniAD/releases/download/v1.0/motion_anchor_infos_mode6.pkl

The Overall Structure

Please make sure the structure of UniAD is as follows:

ViDAR
├──UniAD
│  ├── projects/
│  ├── tools/
│  ├── ckpts/
│  │   ├── bevformer_r101_dcn_24ep.pth
│  │   ├── uniad_base_track_map.pth
│  |   ├── uniad_base_e2e.pth
│  |   ├── finetune-ViDAR-RN101-nus-full-1future.pth
│  |   ├── UniAD-s1-ViDAR-RN101-nus-full-1future.pth
│  ├── data/
│  │   ├── nuscenes/
│  │   │   ├── can_bus/
│  │   │   ├── maps/
│  │   │   ├── samples/
│  │   │   ├── sweeps/
│  │   │   ├── v1.0-test/
│  │   │   ├── v1.0-trainval/
│  │   ├── infos/
│  │   │   ├── nuscenes_infos_temporal_train.pkl
│  │   │   ├── nuscenes_infos_temporal_val.pkl
│  │   ├── others/
│  │   │   ├── motion_anchor_infos_mode6.pkl

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