PandaSet 2 Rosbag

Convert PandaSet dataset to Rosbags with Python. Please refer to pandaset-devkit for the official devkit.

Dataset

Download

To download the dataset, please visit the official PandaSet webpage and sign up through the form. You will then be forwarded to a page with download links to the raw data and annotations.

Unpack

Unpack the archive into any directory on your hard disk. The path will be referenced in usage of pandaset-devkit later, and does not have to be in the same directory as your scripts.

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

Instructions

Setup

Create a Python>=3.6 environment with pip installed.
Clone the repository git clone https://github.com/scaleapi/pandaset-devkit
cd into pandaset-devkit/python
Execute pip3 install .
Clone this repository https://github.com/aldipiroli/PandaSet_2_Rosbag

Usage

In PandaSet_2_Rosbag/pandaset2rosbag.py:

Set the scene number e.g. bag_ID = 001
Set the bag name and location bag_name = /home/user/dataset/RosBags/ + str(bag_ID) + '.bag'
Set the dataset location dataset = DataSet('/home/user/dataset/Pandaset/dataset/')
Launch the file python3 pandaset2rosbag.py

aldipiroli/pandaset2rosbag