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# OPV2V-H dataset

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.



1. Depth Data

   `OPV2V-H-depth.zip ` stores the depth camera data. You can directly uncompress them:

   ```
   unzip OPV2V-H-depth.zip
   ```

   

2. LiDAR Data

   `OPV2V-H-LiDAR-partxx`  is a volume-compressed slice. They store 16-line and 32-line LiDAR data. You can unzip them using

   ```
   cat OPV2V-H-LiDAR-part* > OPV2V-H-LiDAR.zip
   unzip OPV2V-H-LiDAR.zip
   ```

   

A desired output structure will be 

```
─ OPV2V_Hetero
 ├── test
 ├── train
 └── validate
```