Dataset Preparation

Download Dataset

DSEC-3DOD

• DSEC-3DOD dataset can be downloaded from the hugging face.

DSEC (Train Event)

Download the DSEC Train split from the official website:

• DSEC download page: https://dsec.ifi.uzh.ch/dsec-datasets/download/

Required data

Only the following is needed:

• Split: train
• Sequence: zurich_city
• Modalities:
  • events
  • disparity

The dataset should have the following format:
data
├── dsec
│   ├── detection
│   │   ├── zurich_city_00_a_00
│   │   ├── zurich_city_00_a_01
│   │   ├── ...
│   ├── detection_train_sample_new.txt
│   ├── detection_val_sample_new.txt
│   ├── train               
│   │   ├── zurich_city_00_a
│   │   │   │   ├── events
│   │   │   │   │   ├── left
│   │   │   │   │   │   ├── events.h5
│   │   │   │   │   │   └── rectify_map.h5
│   │   │   │   │   └── right
│   │   │   │   │       ├── events.h5
│   │   │   │   │       └── rectify_map.h5
│   │   │   │   └── disparity
│   │   │   │       ├── event
│   │   │   │       └── timestamps.txt
│   │   ├── zurich_city_00_b
│   │   └── ...

Stereo Event Voxel

python data/dsec_raw_event_parsing.py --dataset_path data/dsec/train
python data/dsec_left_right_voxel_npz.py

Preprocessing (KITTI-like format)

• Generate the data infos by running the following command:

python -m liga.datasets.dsec.lidar_dsec_dataset create_dsec_infos