dataset.md

nuScenes-Occ3d

Please download nuScenes full dataset v1.0, CAN bus expansion, and nuScenes-lidarseg from the official website. For the occupancy labels, please download them from the Occ3d website. The dataset folder should be organized as follows:

data
├── occ3d/
|   ├── can_bus/
|   ├── gts/
|   ├── maps/
|   ├── samples/
|   ├── sweeps/
|   ├── v1.0-trainval/
|   ├── v1.0-test/
|   ├── lidarseg/
|   |   ├── v1.0-trainval/
|   |   ├── v1.0-test/
|   |   ├── v1.0-mini/

Then please use the following scripts to prepare the pkl files.

python data_tools/create_data_bevdet.py

Then the finally dataset folder will be organized as

data
├── occ3d/
|   ├── can_bus/
|   ├── gts/
|   ├── maps/
|   ├── samples/
|   ├── sweeps/
|   ├── v1.0-trainval/
|   ├── v1.0-test/
|   ├── lidarseg/
|   |   ├── v1.0-trainval/
|   |   ├── v1.0-test/
|   |   ├── v1.0-mini/
|   ├── bevdetv2-nuscenes_infos_train.pkl
|   ├── bevdetv2-nuscenes_infos_val.pkl