nuscenes_to_argoverse

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nuscenes_to_argoverse

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nuscenes_to_argoverse 최신버젼 다운로드

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# nuScenes to Argoverse Converter
This repository provides a set of tools to convert all nuScenes raw data and map data to the Argoverse format. There are 3 main scripts:
- nuScenes `samples` (2 hz) converter: `main.py`
- nuScenes `sweeps` (20 hz) and `samples` (2 hz) converter: `main_sweeps.py`
- nuScenes v1.3 map converter: `map_conversion.py`

## Dependencies

[nuscenes-devkit](https://github.com/nutonomy/nuscenes-devkit/blob/bccad8f0ee19afd963f41ae36133ae05516a7ed3/docs/installation.md)
[argoverse-api](https://github.com/argoai/argoverse-api#installation)

## Data Format Overview

NuScenes dataset stores the raw data in a relational database as described [here](https://github.com/nutonomy/nuscenes-devkit/blob/bccad8f0ee19afd963f41ae36133ae05516a7ed3/docs/schema_nuscenes.md).
Lidar data is provided in the sensor coordinate system and each point has 5 dimensions. The x,y,z coordinates, intensity and ring index. The intensity measures the reflectivity of the objects and ring index is the index of the laser ranging from 0 to 31.
Annotations are provided in the global city coordinate frame.

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