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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:

<p align="left"> <img src="https://user-images.githubusercontent.com/15787503/96957491-c79e7f00-14c8-11eb-8eaf-32c2b01f4124.gif" height="215"> <img src="https://user-images.githubusercontent.com/15787503/96957715-63c88600-14c9-11eb-9476-8469c4b2fe17.gif" height="215"> </p> <p align="left"> <img src="https://user-images.githubusercontent.com/15787503/96957958-11d43000-14ca-11eb-9b25-e58798d5f318.gif" height="215"> <img src="https://user-images.githubusercontent.com/15787503/96958977-f585c280-14cc-11eb-8f38-1853e30bd1de.gif" height="215"> </p>

Dependencies

nuscenes-devkit argoverse-api

Data Format Overview

NuScenes dataset stores the raw data in a relational database as described here. 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.