Data Preparation

Dataset

1. Download nuScenes

Download the nuScenes dataset to ./data/nuscenes.

2. Creating infos file

We modify data preparation in MMDetection3D, which addtionally creates 2D annotations and temporal information for training/evaluation.

python tools/create_data_nusc.py --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes2d --version v1.0

Using the above code will generate nuscenes2d_temporal_infos_{train,val}.pkl. We also privided the processed train, val and test pkl.

• After preparation, you will be able to see the following directory structure:

Folder structure

QAF2D
├── projects/
├── mmdetection3d/
├── tools/
├── data/
│   ├── nuscenes/
│   │   ├── maps/
│   │   ├── samples/
│   │   ├── sweeps/
│   │   ├── v1.0-test/
|   |   ├── v1.0-trainval/
|   |   ├── nuscenes2d_temporal_infos_train.pkl
|   |   ├── nuscenes2d_temporal_infos_val.pkl

In addition, you also need to rename nuscenes2d_temporal_infos_train.pkl to nuscenes2d_temporal_infos_train_stream.pkl and rename nuscenes2d_temporal_infos_val.pkl to nuscenes2d_temporal_infos_val_stream.pkl