prepare_dataset.md

DAIR-V2X-I Rope3D

Download DAIR-V2X-I or Rope3D dataset from official website.

Symlink the dataset root to ./data/.

ln -s [single-infrastructure-side root] ./data/dair-v2x
ln -s [rope3d root] ./data/rope3d

Convert DAIR-V2X-I or Rope3D to KITTI format.

python scripts/data_converter/dair2kitti.py --source-root data/dair-v2x-i --target-root data/dair-v2x-i-kitti
python scripts/data_converter/rope2kitti.py --source-root data/rope3d --target-root data/rope3d-kitti

Visualize the dataset in KITTI format

python scripts/data_converter/visual_tools.py --data_root data/rope3d-kitti --demo_dir ./demo

The directory will be as follows.

CoBEV
├── data
│   ├── dair-v2x-i
│   │   ├── velodyne
│   │   ├── image
│   │   ├── calib
│   │   ├── label
|   |   └── data_info.json
|   └── dair-v2x-i-kitti
|   |   ├── training
|   |   |   ├── calib
|   |   |   ├── label_2
|   |   |   └── images_2
|   |   └── ImageSets
|   |        ├── train.txt
|   |        └── val.txt
|   ├── rope3d
|   |   ├── training
|   |   ├── validation
|   |   ├── training-image_2a
|   |   ├── training-image_2b
|   |   ├── training-image_2c
|   |   ├── training-image_2d
|   |   └── validation-image_2
|   ├── rope3d-kitti
|   |   ├── training
|   |   |   ├── calib
|   |   |   ├── denorm
|   |   |   ├── label_2
|   |   |   └── images_2
|   |   └── map_token2id.json
|   |       
└── ...

Prepare DAIR-V2X-I or Rope3D infos.

python scripts/gen_info_dair.py
python scripts/gen_info_rope3d.py