How to get 'scene.ply' in nuScenes about openscene HOT 8 CLOSED

Ah, thanks for pointing this out. It may be because I was pre-processing the nuScenes dataset that has been preprocessed to the ply file by my colleague at Google. I will check on that. Otherwise, I think the scene.ply is simply the lidar clouds for every 0.5 seconds (which should be provided in the original dataset), and the GT semantic annotation was provided only on the last time stamp in each 0.5-second cloud.

You should be able to adapt the code without much change :)

Best
Songyou

from openscene.

Hi,

Sorry for the late reply. Here is an outline of how the scene.ply files were created for the nuScenes dataset:

For each keyframe in nuScenes

1. Gather the preceding 0.5 seconds of LiDAR sweeps (everything up to the last keyframe, but not including it). Transform each sweep into the coordinate frame of the current keyframe.
2. Create a mesh with one vertex per LiDAR point from all data in step 1 and no edges or faces.
3. For each vertex, store 7 values- the x,y,z position (3 float32s), the r,g,b, values (3 Byte type values, using the RGB provided by nuScenes), the ground truth semantic category (one int32 value, according to the nuScenes lidarseg task category label).

I believe that is all the preprocessing that was done for the ply files- please let me know if anything is unclear, and sorry again for the delay (it's my fault, not Songyou's).

from openscene.

Could u release the processing code for nuscenes for this part? BTW, how to organize the file structure to obtain nuscenes_2d, including both the nuscens and nuscenes_image?

from openscene.

Ah, thanks for pointing this out. It may be because I was pre-processing the nuScenes dataset that has been preprocessed to the ply file by my colleague at Google. I will check on that. Otherwise, I think the scene.ply is simply the lidar clouds for every 0.5 seconds (which should be provided in the original dataset), and the GT semantic annotation was provided only on the last time stamp in each 0.5-second cloud.

You should be able to adapt the code without much change :)

Best Songyou

For Which paper we can refer to this release code? Could u give some more detailed cues?

from openscene.

Hi @TyroneLi

As I replied to you in the email, unfortunately we won't be able to release this part of the code since this preprocessing pipeline goes through internal google data formats, and it was not meant to be open sourced.

Hope you can still enjoy using our processed scene.ply files. Thanks!

Best
Songyou

from openscene.

Hi @TyroneLi

As I replied to you in the email, unfortunately we won't be able to release this part of the code since this preprocessing pipeline goes through internal google data formats, and it was not meant to be open sourced.

Hope you can still enjoy using our processed scene.ply files. Thanks!

Best Songyou

@pengsongyou Fine. But your processed nuscene_3d.zip only contained the val part.
https://github.com/pengsongyou/openscene/blob/main/scripts/download_dataset.sh
Could you upload the train set of your processed nuscenes_3d.
Thanks.

from openscene.

@TyroneLi thanks for reminding. I have already added the nuscenes_3d_train.zip to the download file. Please check it out.
https://github.com/pengsongyou/openscene/blob/main/scripts/download_dataset.sh

from openscene.

@TyroneLi thanks for reminding. I have already added the nuscenes_3d_train.zip to the download file. Please check it out. https://github.com/pengsongyou/openscene/blob/main/scripts/download_dataset.sh

Nice! Thanks!

from openscene.