Updated metafiles

README.md

@@ -106,6 +106,23 @@ python scripts/download.py downloads data manifest.csv
 rm -r downloads
 ```
 
+## Usage
+
+Due to the structure, the dataset can be easily loaded using the `webdataset` library.
+To convert the `train`, `val` and `test` directories into a `tar` archive, run the following command:
+
+```bash
+for split in train val test; do tar -cf "shards/csvps-$split-000001.tar" "data/$split" done
+```
+
+Subsequently, the dataset can be loaded using the `webdataset` library:
+
+```python
+import webdataset as wds
+
+dataset = wds.WebDataset("shards/csvps-train-{000001}.tar")
+```
+
 
 ## License
 

metadata.json

@@ -0,0 +1,25 @@
+{
+    "depth_range": [1, 90],
+    "semantics": [
+        {"name":"void","kind":"void","color":[128, 64, 128]},
+        {"name":"road","kind":"stuff","color":[128, 64, 128]},
+        {"name":"sidewalk","kind":"stuff","color":[244, 35, 232]},
+        {"name":"building","kind":"stuff","color":[70, 70, 70]},
+        {"name":"wall","kind":"stuff","color":[102, 102, 156]},
+        {"name":"fence","kind":"stuff","color":[190, 153, 153]},
+        {"name":"pole","kind":"stuff","color":[153, 153, 153]},
+        {"name":"traffic light","kind":"stuff","color":[250, 170, 30]},
+        {"name":"traffic sign","kind":"stuff","color":[220, 220, 0]},
+        {"name":"vegetation","kind":"stuff","color":[107, 142, 35]},
+        {"name":"terrain","kind":"stuff","color":[152, 251, 152]},
+        {"name":"sky","kind":"stuff","color":[70, 130, 180]},
+        {"name":"person","kind":"thing","color":[220, 20, 60]},
+        {"name":"rider","kind":"thing","color":[255, 0, 0]},
+        {"name":"car","kind":"thing","color":[0, 0, 142]},
+        {"name":"truck","kind":"thing","color":[0, 0, 70]},
+        {"name":"bus","kind":"thing","color":[0, 60, 100]},
+        {"name":"train","kind":"thing","color":[0, 80, 100]},
+        {"name":"motorcycle","kind":"thing","color":[0, 0, 230]},
+        {"name":"bicycle","kind":"thing","color":[119, 11, 32]}
+    ]
+}

semantics.csv

@@ -1,21 +0,0 @@
-label,name,kind,color
--1,void,void,"(128, 64, 128)"
-0,road,stuff,"(128, 64, 128)"
-1,sidewalk,stuff,"(244, 35, 232)"
-2,building,stuff,"(70, 70, 70)"
-3,wall,stuff,"(102, 102, 156)"
-4,fence,stuff,"(190, 153, 153)"
-5,pole,stuff,"(153, 153, 153)"
-6,traffic light,stuff,"(250, 170, 30)"
-7,traffic sign,stuff,"(220, 220, 0)"
-8,vegetation,stuff,"(107, 142, 35)"
-9,terrain,stuff,"(152, 251, 152)"
-10,sky,stuff,"(70, 130, 180)"
-11,person,thing,"(220, 20, 60)"
-12,rider,thing,"(255, 0, 0)"
-13,car,thing,"(0, 0, 142)"
-14,truck,thing,"(0, 0, 70)"
-15,bus,thing,"(0, 60, 100)"
-16,train,thing,"(0, 80, 100)"
-17,motorcycle,thing,"(0, 0, 230)"
-18,bicycle,thing,"(119, 11, 32)"