|
|
|
|
| # nuScenes |
| Download nuScenes V1.0 full dataset data, CAN bus and map(v1.3) extensions [HERE](https://www.nuscenes.org/download), then follow the steps below to prepare the data. |
|
|
|
|
| **Download nuScenes, CAN_bus and Map extensions** |
| ```shell |
| 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](https://huggingface.co/OpenDriveLab/UniAD2.0_R101_nuScenes/tree/main/data):* |
| ```shell |
| 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. |
| ```shell |
| 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](https://huggingface.co/OpenDriveLab/UniAD2.0_R101_nuScenes/tree/main/data) |
| ```shell |
| 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 |
| ``` |
| --- |
| <- Last Page: [Installation](./INSTALL.md) |
| |
| -> Next Page: [Train/Eval UniAD](./TRAIN_EVAL.md) |
