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PandaSet 2 Kitti

Convert Pandaset to SemanticKitti format.

Dataset

Visit the Pandaset website, sign up and then download the dataset.

Structure

Files & Folders

.
├── LICENSE.txt
├── annotations
│   ├── cuboids
│   │   ├── 00.pkl.gz
│   │   .
│   │   .
│   │   .
│   │   └── 79.pkl.gz
│   └── semseg  // Semantic Segmentation is available for specific scenes
│       ├── 00.pkl.gz
│       .
│       .
│       .
│       ├── 79.pkl.gz
│       └── classes.json
├── camera
│   ├── back_camera
│   │   ├── 00.jpg
│   │   .
│   │   .
│   │   .
│   │   ├── 79.jpg
│   │   ├── intrinsics.json
│   │   ├── poses.json
│   │   └── timestamps.json
│   ├── front_camera
│   │   └── ...
│   ├── front_left_camera
│   │   └── ...
│   ├── front_right_camera
│   │   └── ...
│   ├── left_camera
│   │   └── ...
│   └── right_camera
│       └── ...
├── lidar
│   ├── 00.pkl.gz
│   .
│   .
│   .
│   ├── 79.pkl.gz
│   ├── poses.json
│   └── timestamps.json
└── meta
    ├── gps.json
    └── timestamps.json

Requirements

Python packages required:

  • Numpy: pip install numpy
  • Numpy Quaternion: pip install numpy-quaternion
  • Pandaset-devkit (install from the repo)

Usage

Run the convert.py script secifying the path to Pandaset and the output path for the converted dataset as follow:

python convert.py <path_to_pandaset> <path_to_output>

Warning: The script will generate only scenes that have semantic segmentation labels available, all the other will be skipped.