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nuScenes dev-kit

Welcome to the dev-kit of the nuScenes dataset.

Dataset download

To download nuScenes you need to go to the Download page, create an account and confirm the nuScenes Terms of Use. After logging in you will see multiple archives for images, pointclouds and meta data. For the devkit to work you will need to download all archives. Please unpack the archives to the /data/nuscenes folder *without* overwriting folders that occur in multiple archives. Eventually you should have the following folder structure:

/data/nuscenes
    maps	-	Large image files (~500 Gigapixel) that depict the drivable surface of the scene.
    samples	-	Sensor data for keyframes
    sweeps	-	Sensor data for intermediate frames
    v0.1	-	JSON tables that include all the meta data and annotations

If you want to use another folder, specify the dataroot parameter of the NuScenes class below.

Devkit setup

Download the devkit to your home directory using:

cd && git clone https://github.com/nutonomy/nuscenes-devkit.git

The dev-kit is tested for Python 3.7. We may add backward compatibility in future releases. To install the required packages, run the following in your favourite virtual environment:

pip install -r requirements.txt

Also add the nuscenes_python directory to your PYTHONPATH environmental variable, e.g. by adding the following to your ~/.bashrc:

export PYTHONPATH="${PYTHONPATH}:$HOME/nuscenes-devkit/nuscenes_python"

Getting started

To get started with the nuScenes devkit, please run the tutorial as an IPython notebook:

jupyter notebook $HOME/nuscenes-devkit/nuscenes_python/nuscenes_tutorial.ipynb

In case you want to avoid downloading and setting up the data, you can also take a look at the same notebook on Github.