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DATA_PREP.md

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Prepare Bench2Drive Dataset

Download Bench2Drive

Download our dataset from (LINK) and make sure the structure of data as follows:

Notice: some version of data may have slightly different folder structure. You may need to use soft link (ln -s) and change the path related code.

    Bench2DriveZoo-Jittor
    ├── ...                   
    ├── data/
    |   ├── bench2drive/
    |   |   ├── v1/                                          # Bench2Drive base 
    |   |   |   ├── Accident_Town03_Route101_Weather23/
    |   |   |   ├── Accident_Town03_Route102_Weather20/
    |   |   |   └── ...
    |   |   └── maps/                                        # maps of Towns
    |   |       ├── Town01_HD_map.npz
    |   |       ├── Town02_HD_map.npz
    |   |       └── ...
    |   ├── others
    |   |       └── b2d_motion_anchor_infos_mode6.pkl        # motion anchors for UniAD
    |   └── splits
    |           └── bench2drive_base_train_val_split.json    # trainval_split of Bench2Drive base

Prepare Bench2Drive data info

Run the following command:

cd mmcv/datasets
python prepare_B2D.py --workers 16   # workers used to prepare data

The command will generate b2d_infos_train.pkl, b2d_infos_val.pkl, b2d_map_infos.pkl under data/infos.

Note: This command will be by default use all routes except those in data/splits/bench2drive_base_train_val_split.json as the training set. It will take about 1 hour to generate all the data with 16 workers for Base set (1000 clips).

Structure of code

After installing and data preparing, the structure of our code will be as follows:

    Bench2DriveZoo-Jittor
    ├── adzoo/
    |   ├── bevformer/
    |   ├── uniad/
    |   └── vad/                   
    ├── ckpts/
    |   ├── r101_dcn_fcos3d_pretrain.pth                   # pretrain weights for bevformer
    |   ├── resnet50-19c8e357.pth                          # image backbone pretrain weights for vad
    |   ├── bevformer_base_b2d.pth                         # download weights you need
    |   ├── uniad_base_b2d.pth                             # download weights you need
    |   └── ...
    ├── data/
    |   ├── bench2drive/
    |   |   ├── v1/                                        # Bench2Drive base 
    |   |   |   ├── Accident_Town03_Route101_Weather23/
    |   |   |   ├── Accident_Town03_Route102_Weather20/
    |   |   |   └── ...
    |   |   └── maps/                                      # maps of Towns
    |   |       ├── Town01_HD_map.npz
    |   |       ├── Town02_HD_map.npz
    |   |       └── ...
    │   ├── infos/
    │   │   ├── b2d_infos_train.pkl
    │   │   ├── b2d_infos_val.pkl
    |   |   └── b2d_map_infos.pkl
    |   ├── others
    |   |       └── b2d_motion_anchor_infos_mode6.pkl      # motion anchors for UniAD
    |   └── splits
    |           └── bench2drive_base_train_val_split.json  # trainval_split of Bench2Drive base 
    ├── docs/
    ├── mmcv/
    ├── team_code/  # for Closed-loop Evaluation in CARLA