data/docs/DATA_PREP.md

nuScenes

Download nuScenes V1.0 full dataset data, CAN bus and map(v1.3) extensions HERE, then follow the steps below to prepare the data.

Download nuScenes, CAN_bus and Map extensions

cd UniAD
mkdir data
# Download nuScenes V1.0 full dataset data directly to (or soft link to) UniAD/data/
# Download CAN_bus and Map(v1.3) extensions directly to (or soft link to) UniAD/data/nuscenes/

Prepare UniAD data info

Option1: We have already prepared the off-the-shelf data infos for you in HuggingFace::OpenDriveLab/UniAD2.0_R101_nuScenes:

cd UniAD/data
mkdir infos && cd infos
wget https://huggingface.co/OpenDriveLab/UniAD2.0_R101_nuScenes/resolve/main/data/nuscenes_infos_temporal_train.pkl # train_infos

wget https://huggingface.co/OpenDriveLab/UniAD2.0_R101_nuScenes/resolve/main/data/nuscenes_infos_temporal_val.pkl # val_infos

Option2: You can also generate the data infos by yourself:

The generated data path will contain the root directory. Please remember to change the data_root to empty in config files if using your generated pkl. Refer to https://github.com/OpenDriveLab/UniAD/issues/13.

cd UniAD/data
mkdir infos
./tools/uniad_create_data.sh
# This will generate nuscenes_infos_temporal_{train,val}.pkl

Prepare Motion Anchors

We already upload motion anchors in HuggingFace::OpenDriveLab/UniAD2.0_R101_nuScenes

cd UniAD/data
mkdir others && cd others
wget https://huggingface.co/OpenDriveLab/UniAD2.0_R101_nuScenes/resolve/main/data/motion_anchor_infos_mode6.pkl

The Overall Structure

Please make sure the structure of UniAD is as follows: UniAD ├── projects/ ├── tools/ ├── ckpts/ │ ├── bevformer_r101_dcn_24ep.pth │ ├── uniad_base_track_map.pth | ├── uniad_base_e2e.pth ├── data/ │ ├── nuscenes/ │ │ ├── can_bus/ │ │ ├── maps/ │ │ ├── lidarseg/ │ │ ├── samples/ │ │ ├── sweeps/ │ │ ├── v1.0-test/ │ │ ├── v1.0-trainval/ │ │ ├── v1.0-mini/ │ ├── infos/ │ │ ├── nuscenes_infos_temporal_train.pkl │ │ ├── nuscenes_infos_temporal_val.pkl │ ├── others/ │ │ ├── motion_anchor_infos_mode6.pkl

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