| # External Data Dependencies |
|
|
| The dataset root contains derived corruptions and protocols. Original sensor |
| data, official GT and model weights are not included in these packages. |
| Users must obtain the original datasets under their applicable access terms. |
| See [Licenses and Use](DISTRIBUTION.md) and the [dataset card](README.md). |
|
|
| Set the roots explicitly: |
|
|
| ```bash |
| export OCCSTRESS_DATA_ROOT=/datasets/OccStress |
| export OCCSTRESS_EXTERNAL_ROOT=/datasets/OccStress-external |
| ``` |
|
|
| The external root is a separate directory with this logical layout: |
|
|
| ```text |
| OccStress-external/ |
| OccStress-nuScenes/ |
| gts/<scene>/<token>/labels.npz |
| world-nuscenes_infos_val.pkl |
| nuscenes_infos_val_temporal_v3_scene.pkl |
| native_dataset/ |
| OccStress-Waymo/ |
| native_gt/validation-data/... |
| cam_infos_vali.pkl |
| native_dataset/ |
| OccStress-CARLA/ |
| canonical_gt/<scene>/<token>/labels.npz |
| native_dataset/<scene>/... |
| ``` |
|
|
| Directories may be symlinks to authorized existing data. Do not overwrite |
| existing directories or copy the originals merely to satisfy this layout. |
| Use dependencies read-only; ordinary symlinks do not enforce OS-level read-only |
| access. Do not include these links or their targets in a public upload. |
|
|
| ## nuScenes |
|
|
| Obtain GT through [Occ3D-nuScenes](https://github.com/Tsinghua-MARS-Lab/Occ3D#occ3d-nuscenes), |
| world-info through [II-World](https://github.com/lzzzzzm/II-World), and the |
| scene-organized info through [DOME](https://github.com/gusongen/DOME). |
|
|
| - `gts` is the original Occ3D validation GT, in the canonical 18-class space. |
| - `world-nuscenes_infos_val.pkl` provides the official frame-wise poses and |
| controls used by the II-World/GenieDrive adapters. |
| - `nuscenes_infos_val_temporal_v3_scene.pkl` is the scene-organized metadata view |
| used by the scene-based forecasting adapters. These two info files are not |
| interchangeable merely because they describe the same validation split. |
| - `native_dataset` is needed for camera/LiDAR source re-export, not for consuming |
| already exported occupancy. Follow each upstream exporter's sensor-root options. |
|
|
| ## Waymo |
|
|
| Obtain validation `voxel04` through |
| [Occ3D-Waymo](https://github.com/Tsinghua-MARS-Lab/Occ3D#occ3d-waymo), after |
| accepting the original dataset access terms. The Motion dataset is not a |
| substitute for matching Perception sensor segments when regenerating exports. |
|
|
| - Mount the original Occ3D voxel04 root as `native_gt`; it must contain |
| `validation-data`. Native `voxel_label` is mapped using the provided class map. |
| Derived `semantics` is already canonical and must not be mapped again. |
| - Forecasting poses and controls are included at |
| `meta/OccStress-Waymo/controls.json` in the OccStress root. |
| - `native_dataset` is the prepared camera/sensor view used by the upstream |
| exporter, not an arbitrary Waymo download directory. Camera-direct evaluation |
| also needs the matching `cam_infos_vali.pkl` and native camera-root CLI options. |
|
|
| ## CARLA |
|
|
| - `canonical_gt` must be the right-handed, Occ3D-mapped view. Mounting native |
| left-handed UniOcc arrays at this location is incorrect. Use the code release's |
| `tools/prepare_external_data.py carla-gt` with the published metadata and native |
| source. Do not run the historical intermediate-layout converter on this tree. |
| - `native_dataset` contains the authorized UniOcc CARLA validation source files, |
| including camera PNGs, LiDAR PLYs and original occupancy NPZs referenced by the |
| control metadata. It remains an external dependency. |
| - Poses and controls are included at `meta/OccStress-CARLA/controls.json`. |
| The canonical command convention is documented in the dataset README. |
|
|
| ## New-Machine Preparation |
|
|
| Run these commands from the OccStress code checkout. Each mount refuses to |
| replace a different existing destination. Refer to the code documentation at |
| `docs/EXTERNAL_DATA_PREPARATION.md` for official providers and optional sensors. |
|
|
| ```bash |
| python tools/prepare_external_data.py mount --dataset nuscenes \ |
| --kind gts --source /datasets/raw/occ3d-nuscenes/gts |
| python tools/prepare_external_data.py mount --dataset nuscenes \ |
| --kind world-nuscenes_infos_val.pkl --source /datasets/raw/infos/world-nuscenes_infos_val.pkl |
| python tools/prepare_external_data.py mount --dataset nuscenes \ |
| --kind nuscenes_infos_val_temporal_v3_scene.pkl \ |
| --source /datasets/raw/infos/nuscenes_infos_val_temporal_v3_scene.pkl |
| python tools/prepare_external_data.py mount --dataset waymo \ |
| --kind native_gt --source /datasets/raw/occ3d-waymo/voxel04 |
| python tools/prepare_external_data.py mount --dataset carla \ |
| --kind native_dataset --source /datasets/raw/uniocc/Carla-2Hz-val |
| python tools/prepare_external_data.py carla-gt \ |
| --source-root /datasets/raw/uniocc/Carla-2Hz-val |
| python tools/prepare_external_data.py check --dataset nuscenes --trust-pickle |
| python tools/prepare_external_data.py check --dataset waymo --trust-pickle |
| python tools/prepare_external_data.py check --dataset carla --trust-pickle |
| ``` |
|
|
| Use `tasl-lab/uniocc` revision `e81775b36e376f591a1145ca054b72fd541a67eb`, |
| folder `Carla-2Hz-val`: three scenes, 120 frames each. The converter checks the |
| source metadata checksum, reads only numeric NPZ arrays, maps labels and flips |
| axis 1 once. It does not rewrite controls or original files. The dependency |
| check verifies complete clean-reference coverage, not GPU metric reproduction. |
|
|
| To obtain just this source subset: |
|
|
| ```bash |
| hf download tasl-lab/uniocc --repo-type dataset \ |
| --revision e81775b36e376f591a1145ca054b72fd541a67eb \ |
| --include 'Carla-2Hz-val/*' --local-dir /datasets/raw/uniocc |
| ``` |
|
|
| Weights are not part of this dataset. Downstream checkpoints are required to run |
| forecasters; upstream 3D weights are needed only for re-exporting predictions. |
| Prefer official references in the code release's `configs/resources.json`. |
|
|
| ## Check Scope |
|
|
| The assembly's external dependency report checks all 14,377 referenced GT files |
| and CARLA sensor references for existence and nonzero size. It does not hash |
| original data or certify a complete raw nuScenes/Waymo sensor inventory. Separate |
| upstream exporter tests still need to verify their calibration and sensor inputs. |
| Availability on the assembly machine does not imply availability on a new machine. |
|
|
| Only load trusted protocol PKLs when using `--trust-pickle`. Keep original-data |
| mounts and machine-specific environment settings outside the public dataset. |
|
|
