Download FreeWorld v1.0 full dataset data and CAN bus expansion data HERE. Freeworld need not additional operation to handle the format, you can use it with Freeworld and nuScene's API at onece.
Download nuScenes V1.0 full dataset data and CAN bus expansion data HERE. Prepare nuscenes data as follows.
Download CAN bus expansion
# download 'can_bus.zip'
unzip can_bus.zip
# move can_bus to data dir
Prepare nuScenes data
We genetate custom annotation files which are different from mmdet3d's
Directly download the train file and val file from google drive, or generate by yourself:
python tools/data_converter/vad_nuscenes_converter.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag vad_nuscenes --version v1.0 --canbus ./data
Using the above code will generate vad_nuscenes_infos_temporal_{train,val}.pkl.
Folder structure
FreeAD
├── projects/
├── tools/
├── configs/
├── ckpts/
│ ├── resnet50-19c8e357.pth
├── data/
│ ├── can_bus/
│ ├── nuscenes/
│ │ ├── maps/
│ │ ├── samples/
│ │ ├── sweeps/
│ │ ├── v1.0-test/
| | ├── v1.0-trainval/
| | ├── vad_nuscenes_infos_temporal_train.pkl
| | ├── vad_nuscenes_infos_temporal_val.pkl
Be careful to set the params in prepare_data.sh
cd /path/to/FreeAD/
conda activate freead
sh prepare_data.sh