prepare_data.md

Prepare NuScenes Dataset

For evaluation

• Download nuScenes V1.0 full dataset data from here and place it in ./data/nuscenes/.

• Download panoptic occupancy ground truth for Occ3D-nuScenes from here or generate them following SparseOcc and place it in ./data/nucenes/gts.

• Download pkl files and place them in ./data/nuscenes/.

• Download pretrained weights and place them in ./ckpts.

For training

• Download depth images and place them in .data/nuscenes/.

• Download pseudo-labels and place them in ./data/nuscenes/.

• Download the pretrained weights for the feature extractor and place them in /.ckpts.

Directory structure

sfm_occ
├── mmdet3d/
├── tools/
├── configs/
├── ckpts/
│   ├── sfm_pan_occ.pth
├── data/
│   ├── nuscenes/
│   │   ├── gts/
│   │   ├── samples/
|   |   ├── nuscenes_infos_train_sfm.pkl
|   |   ├── nuscenes_infos_val.pkl
|   |   ├── nuscenes_infos_test.pkl
│   │   ├── sfm_occ/
|   |   ├── sfm_depth/
|   |   └── v1.0-{trainval}
|   |       └── Usual files (e.g. attribute.json, calibrated_sensor.json etc.)