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Label Generation

Generating labels will require some extra dependencies

pip install nuscenes-devkit==1.1.7

Generating Labels

This process takes around ~30 minutes for 1000 episodes on nuScenes.

To generate or modify labels,

# Show labels as they are being processed with the visualization argument
python3 scripts/generate_labels.py
    data=nuscenes \
    data.version=v1.0-trainval \
    data.dataset_dir=/media/datasets/nuscenes \
    data.labels_dir=/media/datasets/cvt_labels_nuscenes \
    visualization=nuscenes_viz

# Disable visualizations by omitting the "visualization" flag
python3 scripts/generate_labels.py \
    data=nuscenes \
    data.version=v1.0-trainval \
    data.dataset_dir=/media/datasets/nuscenes \
    data.labels_dir=/media/datasets/cvt_labels_nuscenes \

You can also set data.version=v1.0-mini to generate or test your modifications on a smaller subset.