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README.MD
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# OPV2V-H dataset
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Based on the original OPV2V dataset, we supplemented 16-line, 32-line lidar data for each agent, as well as 4 depth cameras. Annotations will be shared with the original OPV2V, so please download the original OPV2V dataset as well.
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1. Depth Data
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`OPV2V-H-depth.zip ` stores the depth camera data. You can directly uncompress them:
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```
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unzip OPV2V-H-depth.zip
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```
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2. LiDAR Data
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`OPV2V-H-LiDAR-partxx` is a volume-compressed slice. They store 16-line and 32-line LiDAR data. You can unzip them using
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```
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cat OPV2V-H-LiDAR-part* > OPV2V-H-LiDAR.zip
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unzip OPV2V-H-LiDAR.zip
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```
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A desired output structure will be
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```
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─ OPV2V_Hetero
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├── test
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├── train
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└── validate
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```
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