open3d.ml.torch.datasets.NuScenes

class open3d.ml.torch.datasets.NuScenes(dataset_path, info_path=None, name='NuScenes', cache_dir='./logs/cache', use_cache=False, **kwargs)

This class is used to create a dataset based on the NuScenes 3D dataset, and used in object detection, visualizer, training, or testing.

The NuScenes 3D dataset is best suited for autonomous driving applications.

__init__(dataset_path, info_path=None, name='NuScenes', cache_dir='./logs/cache', use_cache=False, **kwargs)

Initialize the function by passing the dataset and other details.

Parameters

• dataset_path – The path to the dataset to use.

• info_path – The path to the file that includes information about the dataset. This is default to dataset path if nothing is provided.

• name – The name of the dataset (NuScenes in this case).

• cache_dir – The directory where the cache is stored.

• use_cache – Indicates if the dataset should be cached.

Returns

The corresponding class.

Return type

class

static get_label_to_names()

Returns a label to names dictionary object.

Returns

A dict where keys are label numbers and values are the corresponding names.

get_split(split)

Returns a dataset split.

Parameters

• split – A string identifying the dataset split that is usually one of

• 'training' –

• 'test' –

• 'validation' –

• 'all'. (or) –

Returns

A dataset split object providing the requested subset of the data.

get_split_list(split)

Returns the list of data splits available.

Parameters

• split – A string identifying the dataset split that is usually one of

• 'training' –

• 'test' –

• 'validation' –

• 'all'. (or) –

Returns

A dataset split object providing the requested subset of the data.

Raises

• ValueError – Indicates that the split name passed is incorrect. The split name should be one of

• 'training', 'test', 'validation', or 'all'. –

is_tested()

Checks if a datum in the dataset has been tested.

Parameters

dataset – The current dataset to which the datum belongs to. attr: The attribute that needs to be checked.

Returns

If the dataum attribute is tested, then return the path where the attribute is stored; else, returns false.

static read_label(info, calib)

Reads labels of bound boxes.

Returns

The data objects with bound boxes information.

static read_lidar(path)

Reads lidar data from the path provided.

Returns

A data object with lidar information.

save_test_result()

Saves the output of a model.

Parameters

• results – The output of a model for the datum associated with the attribute passed.

• attr – The attributes that correspond to the outputs passed in results.