{
  "dataset": "nuScenes-NRS",
  "release_version": "1.0.0",
  "source": {
    "dataset": "nuScenes v1.0-trainval plus the matching lidarseg release",
    "raw_data_redistributed": false,
    "camera": "CAM_FRONT",
    "lidar": "LIDAR_TOP"
  },
  "distribution": {
    "format": "ZIP archives containing masks/<sample-token>.png",
    "training_archive": "training/masks.zip",
    "validation_archive": "validation/masks.zip",
    "unpacked_layout": "training/masks/*.png and validation/masks/*.png"
  },
  "mask": {
    "format": "PNG",
    "dtype": "uint8",
    "channels": 3,
    "resolution": [
      1600,
      900
    ],
    "encoding_rgb": {
      "road": [
        255,
        0,
        0
      ],
      "background": [
        0,
        0,
        0
      ]
    },
    "filename": "<sample-token>.png"
  },
  "generation": {
    "lidarseg_class": 24,
    "lidarseg_class_name": "drivable_surface",
    "projection": "LiDAR_TOP -> ego -> global -> camera ego -> CAM_FRONT",
    "delaunay_max_edge_px": 40.0,
    "closing_kernel": [
      15,
      15
    ],
    "closing_iterations": 2,
    "douglas_peucker_factor": 0.01,
    "minimum_contour_area_px": 1000,
    "erosion_kernel": [
      5,
      5
    ],
    "erosion_iterations": 1
  },
  "splits": {
    "training": {
      "mask_count": 3182,
      "scene_count": 79,
      "scene_tokens_sha256": "34653c561c01277dab77d306cd5b6b30f8eb43bc997433742d811f718c2959b1",
      "scene_names": [
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        "scene-0994",
        "scene-0995",
        "scene-0996",
        "scene-0997",
        "scene-0998",
        "scene-0999",
        "scene-1000",
        "scene-1001",
        "scene-1002",
        "scene-1003",
        "scene-1004",
        "scene-1005",
        "scene-1006",
        "scene-1007",
        "scene-1008",
        "scene-1009",
        "scene-1010",
        "scene-1011",
        "scene-1012",
        "scene-1013",
        "scene-1014",
        "scene-1015",
        "scene-1016",
        "scene-1017",
        "scene-1018",
        "scene-1019",
        "scene-1020",
        "scene-1021",
        "scene-1022",
        "scene-1023",
        "scene-1024",
        "scene-1025",
        "scene-1044",
        "scene-1045",
        "scene-1046",
        "scene-1047",
        "scene-1048",
        "scene-1049",
        "scene-1050",
        "scene-1051",
        "scene-1052",
        "scene-1053",
        "scene-1054",
        "scene-1055",
        "scene-1056",
        "scene-1057",
        "scene-1058",
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        "scene-1060",
        "scene-1061",
        "scene-1062",
        "scene-1063",
        "scene-1064",
        "scene-1065",
        "scene-1066",
        "scene-1067",
        "scene-1068",
        "scene-1069",
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        "scene-1071",
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        "scene-1073",
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        "scene-1075",
        "scene-1076",
        "scene-1077",
        "scene-1078",
        "scene-1079",
        "scene-1080",
        "scene-1081",
        "scene-1082",
        "scene-1083",
        "scene-1084",
        "scene-1085",
        "scene-1086",
        "scene-1087",
        "scene-1088",
        "scene-1089"
      ],
      "token_list": "splits/training.txt",
      "mask_directory": "training/masks",
      "token_list_sha256": "a81759c52dcfab1941496259a27a464b3e7c2bc633101fd715e51a8c754ee4cb"
    },
    "validation": {
      "mask_count": 805,
      "scene_count": 20,
      "scene_tokens_sha256": "eab20ddb461e4ac410d86196d351e07d6ac6e56ac18dc10af15b6e3d691e62b4",
      "scene_names": [
        "scene-1090",
        "scene-1091",
        "scene-1092",
        "scene-1093",
        "scene-1094",
        "scene-1095",
        "scene-1096",
        "scene-1097",
        "scene-1098",
        "scene-1099",
        "scene-1100",
        "scene-1101",
        "scene-1102",
        "scene-1104",
        "scene-1105",
        "scene-1106",
        "scene-1107",
        "scene-1108",
        "scene-1109",
        "scene-1110"
      ],
      "token_list": "splits/validation.txt",
      "mask_directory": "validation/masks",
      "token_list_sha256": "4dbd6b4fd6471204fc728c93effbfb9febbcf512b504e8346c1f5dccbc1f5b35"
    }
  },
  "split_policy": {
    "scene_disjoint": true,
    "training_scene_count": 79,
    "validation_scene_count": 20
  }
}