# For nuScenes Dataset
└── NUSCENES_TRAINVAL_DATASET_ROOT
├── samples <-- key frames
├── sweeps <-- frames without annotation
├── maps <-- unused
└── v1.0-trainval <-- metadata and annotations
Data creation should be under the gpu environment.
# nuScenes
python tools/create_data.py nuscenes_data_prep --root_path=$NUSCENES_TRAINVAL_DATASET_ROOT --suffix None --version="v1.0-trainval"
dataset_type = "NuScenesDataset"
n_sweeps = 10
data_root = "/data/Datasets/nuScenes"
db_info_path="/data/Datasets/nuScenes/dbinfos_train.pkl"
train_anno = "/data/Datasets/nuScenes/infos_train_10sweeps_withvelo.pkl"
val_anno = "/data/Datasets/nuScenes/infos_val_10sweeps_withvelo.pkl"
prepare: modify following path to your own in config_file(such as cbgs_spatial_temporal.py):
The order of tasks and anchors must be the same
tasks = [
dict(num_class=1, class_names=["car"]),
dict(num_class=2, class_names=["truck", "construction_vehicle"]),
dict(num_class=2, class_names=["bus", "trailer"]),
dict(num_class=1, class_names=["barrier"]),
dict(num_class=2, class_names=["motorcycle", "bicycle"]),
dict(num_class=2, class_names=["pedestrian", "traffic_cone"]),
]
anchor_generators=[
dict(
type="anchor_generator_range",
sizes=[1.97, 4.63, 1.74],
anchor_ranges=[-50.4, -50.4, -0.95, 50.4, 50.4, -0.95],
rotations=[0, 1.57],
velocities=[0, 0],
matched_threshold=0.6,
unmatched_threshold=0.45,
class_name="car",
),
dict(
type="anchor_generator_range",
sizes=[2.51, 6.93, 2.84],
anchor_ranges=[-50.4, -50.4, -0.40, 50.4, 50.4, -0.40],
rotations=[0, 1.57],
velocities=[0, 0],
matched_threshold=0.55,
unmatched_threshold=0.4,
class_name="truck",
),
...
]