# cadc_devkit

**Repository Path**: yangmissionyang/cadc_devkit

## Basic Information

- **Project Name**: cadc_devkit
- **Description**: A devkit for the Canadian Adverse Driving Conditions (CADC) dataset.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-12-23
- **Last Updated**: 2023-11-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# cadcd_devkit
A devkit for the Canadian Adverse Driving Conditions dataset.

## download_cadcd.py
This will download all raw or labeled data into the given folder.

This dataset is licensed under the [Creative Commons Attribution-NonCommercial 4.0 International License](http://creativecommons.org/licenses/by-nc/4.0/).

## run_demo_vehicle_path.py
This script loads all GPS  messages in a drive, converts them to an ENU frame with the origin at the first message and plots each message as an axis frame.

![Vehicle path demo](images/2019_02_27_0027_vehicle_path.png) <!-- .element height="50%" width="50%" -->

## run_demo_tracklets.py
This script loads a camera image and the corresponding 3D annotation file in a drive, loads the calibration data, then creates and projects each cuboid within the frame onto the camera image.

![Vehicle path demo](images/2019_02_27_0033_tracklets_frame_12.png)

## run_demo_lidar.py
This script loads a camera image and the corresponding lidar file in a drive, loads the calibration data, then projects each lidar point onto the camera image. Point color is scaled by depth.

![Vehicle path demo](images/2019_02_27_0027_lidar_frame_90.png)

## run_demo_lidar_bev.py
This script loads lidar data and the corresponding 3D annotation file in a drive, then creates a birds eye view of the lidar point cloud with the cuboid boxes overlaid. Script created by [asvath](https://github.com/asvath) and also located [here](https://github.com/asvath/cadcd/blob/master/birds_eye_view.py).

![Vehicle path demo](images/2019_02_27_0033_lidar_bev_frame_12_cropped.png)

## OpenPCDet data loader
[OpenPCDet](https://github.com/open-mmlab/OpenPCDet) is an open source project with multiple architectures implemented for lidar based 3D object detection and support of several different datasets. A CADC dataset loader has been implemented on the forked [cadc support branch](https://github.com/mpitropov/OpenPCDet/tree/cadc_support) with the [Getting started](https://github.com/mpitropov/OpenPCDet/blob/cadc_support/docs/GETTING_STARTED.md#cadc-dataset) document updated for the cadc dataset. Any issues with the data loader should be opened within this repository. As of right now there is only one difficulty level for test results.

## Additional scripts
Please view [asvath's](https://github.com/asvath) [cadcd](https://github.com/asvath/cadcd) repository.

## Citation
    @misc{pitropov2020canadian,
        title={Canadian Adverse Driving Conditions Dataset},
        author={Matthew Pitropov and Danson Garcia and Jason Rebello and Michael Smart and Carlos Wang and Krzysztof Czarnecki and Steven Waslander},
        year={2020},
        eprint={2001.10117},
        archivePrefix={arXiv},
        primaryClass={cs.CV}
    }