preparedata.md

Prepare the data

Download the nuScenes dataset along with the CAN bus expansion, place the CAN bus expansion in the designated storage directory ${DATA_PATH}, and create symbolic links pointing to `./data/nuscenes

mkdir data
ln -s ${DATA_PATH} ./data/nuscenes

Pack the meta-information and labels of the dataset, and generate the required pkl files to data/infos. Note that we also generate map_annos in data_converter, with a roi_size of (30, 60) as default, if you want a different range, you can modify roi_size in tools/data_converter/nuscenes_converter.py.

sh scripts/create_data.sh

Generate anchors by K-means

Gnerated anchors are saved to data/kmeans and can be visualized in vis/kmeans.

sh scripts/kmeans.sh

Meanwhile, we have published the planning_vocabulary on Hugging Face.