Introduction to the Lyft Level 5 dataset

Introduction to the dataset

The overall dataset and more importantly its data structure is very similar to NuScenes. It even uses a slightly modified version of the NuScenes Python API, which was adapted for this dataset but is still called nuscenes. This makes it extremly easy to test algorithms on both datasets and or combine them for development.

So what do we get with the Lyft level 5 dataset. The sensor suite consists of

3 LiDAR sensors
- 1 is placed on the roof of a car
- 2 LiDARs are placed at the front right and front left
7 cameras
- 1 long-range (long focal length) camera
- 6 wide field-of-view cameras for 360 degree view

We have make sure that we understand that this dataset was recorded using two different cars with a slightly different sensor setup. The differences between both cars sensors is described here. Relevant for a users perspective is that they require different calibration data.

Furthermore, the dataset contains HD maps, which I ignore since they are partically useless.

The dataset is released under the CC-BY-NC-SA-4.0 license. We explore it interactively without downloading it.

Tutorial walk-through

Let’s have a quick look at the dataset. After looking at NuScenes in more detail, we’ll have only a brief look at this one. Unfortunately, the “mini dataset” (v1.0-mini) is not available, so we have to deal with the training dataset.

%matplotlib inline
from nuscenes.nuscenes import NuScenes

level5data = NuScenes(version='v1.01-train', dataroot='../../data/', verbose=True)

======
Loading NuScenes tables for version v1.01-train...
9 category,
18 attribute,
4 visibility,
18421 instance,
10 sensor,
148 calibrated_sensor,
177789 ego_pose,
180 log,
180 scene,
22680 sample,
189504 sample_data,
638179 sample_annotation,
1 map,
Done loading in 15.3 seconds.
======
Reverse indexing ...
Done reverse indexing in 3.7 seconds.
======

level5data.list_scenes()

host-a007-lidar0-1230485630199365106-12304856550990... [19-01-02 17:33:50]   25s, Palo Alto, #anns:1559
host-a007-lidar0-1230672860198383106-12306728850991... [19-01-04 21:34:20]   25s, Palo Alto, #anns:2969
host-a007-lidar0-1230936221299185986-12309362461986... [19-01-07 22:43:41]   25s, Palo Alto, #anns:683
host-a007-lidar0-1231093036199514746-12310930610996... [19-01-09 18:17:16]   25s, Palo Alto, #anns:3117
host-a009-lidar0-1231200854198312986-12312008790984... [19-01-11 00:14:14]   25s, Palo Alto, #anns:681
host-a005-lidar0-1231201437298603426-12312014621988... [19-01-11 00:23:57]   25s, Palo Alto, #anns:3064
host-a011-lidar0-1232401360198078026-12324013850983... [19-01-24 21:42:40]   25s, Palo Alto, #anns:3842
host-a011-lidar0-1232412236198491106-12324122610982... [19-01-25 00:43:56]   25s, Palo Alto, #anns:372
host-a007-lidar0-1232470052198454586-12324700770988... [19-01-25 16:47:32]   25s, Palo Alto, #anns:1614
host-a011-lidar0-1232485958298280666-12324859832000... [19-01-25 21:12:38]   25s, Palo Alto, #anns:5119
host-a007-lidar0-1232490767197744146-12324907920986... [19-01-25 22:32:47]   25s, Palo Alto, #anns:3074
host-a011-lidar0-1232492192198952026-12324922170988... [19-01-25 22:56:32]   25s, Palo Alto, #anns:829
host-a011-lidar0-1232731591298977986-12327316161978... [19-01-28 17:26:31]   25s, Palo Alto, #anns:575
host-a011-lidar0-1232732468299489666-12327324931990... [19-01-28 17:41:08]   25s, Palo Alto, #anns:832
host-a007-lidar0-1232736726098319676-12327367509994... [19-01-28 18:52:06]   25s, Palo Alto, #anns:2586
host-a011-lidar0-1232738595197630316-12327386200984... [19-01-28 19:23:15]   25s, Palo Alto, #anns:4137
host-a011-lidar0-1232745770199275666-12327457950995... [19-01-28 21:22:50]   25s, Palo Alto, #anns:4667
host-a011-lidar0-1232752461198357666-12327524860997... [19-01-28 23:14:21]   25s, Palo Alto, #anns:1689
host-a011-lidar0-1232752543198025666-12327525680991... [19-01-28 23:15:43]   25s, Palo Alto, #anns:2177
host-a011-lidar0-1232752778198249666-12327528030994... [19-01-28 23:19:38]   25s, Palo Alto, #anns:6264
host-a011-lidar0-1232753667198514346-12327536920991... [19-01-28 23:34:27]   25s, Palo Alto, #anns:452
host-a011-lidar0-1232755934199060666-12327559590993... [19-01-29 00:12:14]   25s, Palo Alto, #anns:5892
host-a004-lidar0-1232815252198642176-12328152770993... [19-01-29 16:40:52]   25s, Palo Alto, #anns:3609
host-a011-lidar0-1232817034199342856-12328170590988... [19-01-29 17:10:34]   25s, Palo Alto, #anns:4953
host-a004-lidar0-1232817645198462196-12328176700981... [19-01-29 17:20:45]   25s, Palo Alto, #anns:5006
host-a004-lidar0-1232825386198046196-12328254110980... [19-01-29 19:29:46]   25s, Palo Alto, #anns:3918
host-a004-lidar0-1232833308197903226-12328333330991... [19-01-29 21:41:48]   25s, Palo Alto, #anns:6200
host-a011-lidar0-1232835293199223316-12328353180976... [19-01-29 22:14:53]   25s, Palo Alto, #anns:5112
host-a011-lidar0-1232837612197878316-12328376370997... [19-01-29 22:53:32]   25s, Palo Alto, #anns:2241
host-a004-lidar0-1232838138198668196-12328381630985... [19-01-29 23:02:18]   25s, Palo Alto, #anns:3050
host-a011-lidar0-1232839939198224316-12328399640990... [19-01-29 23:32:19]   25s, Palo Alto, #anns:4946
host-a011-lidar0-1232841333199326666-12328413580997... [19-01-29 23:55:33]   25s, Palo Alto, #anns:5036
host-a004-lidar0-1232842166198181226-12328421910973... [19-01-30 00:09:26]   25s, Palo Alto, #anns:6632
host-a004-lidar0-1232842367198056546-12328423920977... [19-01-30 00:12:47]   25s, Palo Alto, #anns:6228
host-a004-lidar0-1232905117299287546-12329051421982... [19-01-30 17:38:37]   25s, Palo Alto, #anns:2322
host-a004-lidar0-1232905197298264546-12329052221981... [19-01-30 17:39:57]   25s, Palo Alto, #anns:6037
host-a011-lidar0-1232905783299194316-12329058081996... [19-01-30 17:49:43]   25s, Palo Alto, #anns:5100
host-a011-lidar0-1232909940298708666-12329099651993... [19-01-30 18:59:00]   25s, Palo Alto, #anns:4859
host-a004-lidar0-1232923266198326856-12329232910987... [19-01-30 22:41:06]   25s, Palo Alto, #anns:5301
host-a004-lidar0-1232987652297797736-12329876771982... [19-01-31 16:34:12]   25s, Palo Alto, #anns:3991
host-a007-lidar0-1233007769198478676-12330077940980... [19-01-31 22:09:29]   25s, Palo Alto, #anns:4913
host-a004-lidar0-1233011743198634026-12330117680990... [19-01-31 23:15:43]   25s, Palo Alto, #anns:2714
host-a004-lidar0-1233014343198383656-12330143680982... [19-01-31 23:59:03]   25s, Palo Alto, #anns:3767
host-a004-lidar0-1233014843199117706-12330148680980... [19-02-01 00:07:23]   25s, Palo Alto, #anns:5884
host-a007-lidar0-1233079617197863906-12330796420985... [19-02-01 18:06:57]   25s, Palo Alto, #anns:5028
host-a004-lidar0-1233080749298771736-12330807741981... [19-02-01 18:25:49]   25s, Palo Alto, #anns:3875
host-a011-lidar0-1233081021198156856-12330810460981... [19-02-01 18:30:21]   25s, Palo Alto, #anns:4529
host-a011-lidar0-1233087918198597316-12330879430984... [19-02-01 20:25:18]   25s, Palo Alto, #anns:7564
host-a011-lidar0-1233090567199118316-12330905920989... [19-02-01 21:09:27]   25s, Palo Alto, #anns:7712
host-a011-lidar0-1233090630199206666-12330906550988... [19-02-01 21:10:30]   25s, Palo Alto, #anns:3419
host-a004-lidar0-1233421984198960226-12334220090989... [19-02-05 17:13:04]   25s, Palo Alto, #anns:4649
host-a004-lidar0-1233422539197434856-12334225640991... [19-02-05 17:22:19]   25s, Palo Alto, #anns:4375
host-a004-lidar0-1233427004198119856-12334270290989... [19-02-05 18:36:44]   25s, Palo Alto, #anns:4324
host-a004-lidar0-1233442991299115176-12334430161983... [19-02-05 23:03:11]   25s, Palo Alto, #anns:3295
host-a004-lidar0-1233444816298625546-12334448411983... [19-02-05 23:33:36]   25s, Palo Alto, #anns:3336
host-a007-lidar0-1233508020098603466-12335080449985... [19-02-06 17:07:00]   25s, Palo Alto, #anns:6135
host-a007-lidar0-1233510205099156466-12335102299985... [19-02-06 17:43:25]   25s, Palo Alto, #anns:4678
host-a007-lidar0-1233510590098435146-12335106149987... [19-02-06 17:49:50]   25s, Palo Alto, #anns:5472
host-a011-lidar0-1233512833198873346-12335128580988... [19-02-06 18:27:13]   25s, Palo Alto, #anns:3776
host-a007-lidar0-1233515286998507736-12335153118980... [19-02-06 19:08:07]   25s, Palo Alto, #anns:5263
host-a007-lidar0-1233515591998210666-12335156168986... [19-02-06 19:13:12]   25s, Palo Alto, #anns:3734
host-a004-lidar0-1233516150198382706-12335161750987... [19-02-06 19:22:30]   25s, Palo Alto, #anns:4797
host-a011-lidar0-1233522430198228856-12335224550983... [19-02-06 21:07:10]   25s, Palo Alto, #anns:4980
host-a007-lidar0-1233524852199250466-12335248770976... [19-02-06 21:47:32]   25s, Palo Alto, #anns:5545
host-a011-lidar0-1233524871199389346-12335248960985... [19-02-06 21:47:51]   25s, Palo Alto, #anns:3481
host-a007-lidar0-1233529706297796756-12335297311987... [19-02-06 23:08:26]   25s, Palo Alto, #anns:3739
host-a004-lidar0-1233535955298751556-12335359801981... [19-02-07 00:52:35]   25s, Palo Alto, #anns:7624
host-a004-lidar0-1233602012198802906-12336020370989... [19-02-07 19:13:32]   25s, Palo Alto, #anns:3062
host-a004-lidar0-1233615989298293586-12336160141988... [19-02-07 23:06:29]   25s, Palo Alto, #anns:5462
host-a004-lidar0-1233617933297688906-12336179581984... [19-02-07 23:38:53]   25s, Palo Alto, #anns:2952
host-a004-lidar0-1233618009298519906-12336180341981... [19-02-07 23:40:09]   25s, Palo Alto, #anns:6035
host-a004-lidar0-1233620260298411906-12336202851983... [19-02-08 00:17:40]   25s, Palo Alto, #anns:6797
host-a007-lidar0-1233621256298511876-12336212811979... [19-02-08 00:34:16]   25s, Palo Alto, #anns:4526
host-a004-lidar0-1233682997198306636-12336830220980... [19-02-08 17:43:17]   25s, Palo Alto, #anns:4329
host-a004-lidar0-1233685221298830296-12336852461984... [19-02-08 18:20:21]   25s, Palo Alto, #anns:4184
host-a004-lidar0-1233685315298191906-12336853401979... [19-02-08 18:21:55]   25s, Palo Alto, #anns:2606
host-a011-lidar0-1233688931299349876-12336889561997... [19-02-08 19:22:11]   25s, Palo Alto, #anns:5462
host-a007-lidar0-1233689791098884906-12336898159979... [19-02-08 19:36:31]   25s, Palo Alto, #anns:4745
host-a004-lidar0-1233693191297468536-12336932161987... [19-02-08 20:33:11]   25s, Palo Alto, #anns:3428
host-a004-lidar0-1233693263298064536-12336932881978... [19-02-08 20:34:23]   25s, Palo Alto, #anns:3690
host-a007-lidar0-1233946614199227636-12339466390982... [19-02-11 18:56:54]   25s, Palo Alto, #anns:5288
host-a004-lidar0-1233947108297817786-12339471331987... [19-02-11 19:05:08]   25s, Palo Alto, #anns:4121
host-a007-lidar0-1233954992197900986-12339550170979... [19-02-11 21:16:32]   25s, Palo Alto, #anns:4036
host-a007-lidar0-1233955131199105986-12339551560981... [19-02-11 21:18:51]   25s, Palo Alto, #anns:6034
host-a004-lidar0-1233955731199067146-12339557560986... [19-02-11 21:28:51]   25s, Palo Alto, #anns:3432
host-a007-lidar0-1233956183198377616-12339562080984... [19-02-11 21:36:23]   25s, Palo Alto, #anns:2731
host-a015-lidar0-1233957265198932906-12339572900977... [19-02-11 21:54:25]   25s, Palo Alto, #anns:5597
host-a007-lidar0-1233960442199212986-12339604670990... [19-02-11 22:47:22]   25s, Palo Alto, #anns:6743
host-a004-lidar0-1233961181197891466-12339612060977... [19-02-11 22:59:41]   25s, Palo Alto, #anns:3549
host-a011-lidar0-1233963416198495906-12339634410985... [19-02-11 23:36:56]   25s, Palo Alto, #anns:2074
host-a004-lidar0-1233963848198981116-12339638730986... [19-02-11 23:44:08]   25s, Palo Alto, #anns:2934
host-a011-lidar0-1233964282297830226-12339643071997... [19-02-11 23:51:22]   25s, Palo Alto, #anns:1802
host-a011-lidar0-1233964369297973906-12339643941991... [19-02-11 23:52:49]   25s, Palo Alto, #anns:4220
host-a011-lidar0-1233965312298542226-12339653371989... [19-02-12 00:08:32]   25s, Palo Alto, #anns:1853
host-a011-lidar0-1233965426299054906-12339654511991... [19-02-12 00:10:26]   25s, Palo Alto, #anns:1639
host-a011-lidar0-1234025165199395146-12340251900982... [19-02-12 16:46:05]   25s, Palo Alto, #anns:1985
host-a011-lidar0-1234031754199586656-12340317790982... [19-02-12 18:35:54]   25s, Palo Alto, #anns:526
host-a004-lidar0-1234047743298156466-12340477681992... [19-02-12 23:02:23]   25s, Palo Alto, #anns:725
host-a004-lidar0-1234051595199019546-12340516200991... [19-02-13 00:06:35]   25s, Palo Alto, #anns:2454
host-a011-lidar0-1234466278299425556-12344663031991... [19-02-17 19:17:58]   25s, Palo Alto, #anns:1887
host-a007-lidar0-1234551913098444106-12345519379987... [19-02-18 19:05:13]   25s, Palo Alto, #anns:1557
host-a011-lidar0-1234553365299813296-12345533901992... [19-02-18 19:29:25]   25s, Palo Alto, #anns:3797
host-a011-lidar0-1234639296198260986-12346393210994... [19-02-19 19:21:36]   25s, Palo Alto, #anns:5045
host-a007-lidar0-1234737958998212856-12347379838983... [19-02-20 22:45:59]   25s, Palo Alto, #anns:1557
host-a007-lidar0-1234740239998520226-12347402648993... [19-02-20 23:24:00]   25s, Palo Alto, #anns:1827
host-a015-lidar0-1235423635198474636-12354236600980... [19-02-28 21:13:55]   25s, Palo Alto, #anns:1615
host-a015-lidar0-1235423696198069636-12354237210985... [19-02-28 21:14:56]   25s, Palo Alto, #anns:583
host-a008-lidar0-1235776284099006226-12357763089982... [19-03-04 23:11:24]   25s, Palo Alto, #anns:2415
host-a008-lidar0-1235777217098625786-12357772419984... [19-03-04 23:26:57]   25s, Palo Alto, #anns:2214
host-a011-lidar0-1235866707299065096-12358667321989... [19-03-06 00:18:27]   25s, Palo Alto, #anns:2933
host-a011-lidar0-1235931114299585906-12359311391984... [19-03-06 18:11:54]   25s, Palo Alto, #anns:2782
host-a011-lidar0-1235933627299543026-12359336521985... [19-03-06 18:53:47]   25s, Palo Alto, #anns:3738
host-a011-lidar0-1235933781298838116-12359338061995... [19-03-06 18:56:21]   25s, Palo Alto, #anns:4096
host-a012-lidar0-1235937130198577346-12359371550980... [19-03-06 19:52:10]   25s, Palo Alto, #anns:5427
host-a004-lidar0-1235944794298214636-12359448191990... [19-03-06 21:59:54]   25s, Palo Alto, #anns:2311
host-a004-lidar0-1235947081298918616-12359471061983... [19-03-06 22:38:01]   25s, Palo Alto, #anns:5537
host-a011-lidar0-1235950297199142196-12359503220994... [19-03-06 23:31:37]   25s, Palo Alto, #anns:4861
host-a008-lidar0-1236013033198326026-12360130580978... [19-03-07 16:57:13]   25s, Palo Alto, #anns:697
host-a009-lidar0-1236013297198927176-12360133220986... [19-03-07 17:01:37]   25s, Palo Alto, #anns:4279
host-a009-lidar0-1236014648198307196-12360146730989... [19-03-07 17:24:08]   25s, Palo Alto, #anns:3249
host-a008-lidar0-1236015187198059026-12360152120986... [19-03-07 17:33:07]   25s, Palo Alto, #anns:1022
host-a009-lidar0-1236015606098226876-12360156309984... [19-03-07 17:40:06]   25s, Palo Alto, #anns:4763
host-a008-lidar0-1236016333197799906-12360163580990... [19-03-07 17:52:13]   25s, Palo Alto, #anns:809
host-a004-lidar0-1236018644297896466-12360186691982... [19-03-07 18:30:44]   25s, Palo Alto, #anns:753
host-a009-lidar0-1236020733098808906-12360207579978... [19-03-07 19:05:33]   25s, Palo Alto, #anns:997
host-a004-lidar0-1236021339298624436-12360213641984... [19-03-07 19:15:39]   25s, Palo Alto, #anns:434
host-a006-lidar0-1236037883198113706-12360379080988... [19-03-07 23:51:23]   25s, Palo Alto, #anns:3492
host-a011-lidar0-1236037921199248346-12360379460994... [19-03-07 23:52:01]   25s, Palo Alto, #anns:1313
host-a006-lidar0-1236038131197892706-12360381560985... [19-03-07 23:55:31]   25s, Palo Alto, #anns:1865
host-a011-lidar0-1236038911199051026-12360389360997... [19-03-08 00:08:31]   25s, Palo Alto, #anns:846
host-a011-lidar0-1236039783198411996-12360398080983... [19-03-08 00:23:03]   25s, Palo Alto, #anns:3659
host-a011-lidar0-1236093962299300416-12360939871993... [19-03-08 15:26:02]   25s, Palo Alto, #anns:1857
host-a015-lidar0-1236103725197932106-12361037500987... [19-03-08 18:08:45]   25s, Palo Alto, #anns:3050
host-a011-lidar0-1236104034298928316-12361040591989... [19-03-08 18:13:54]   25s, Palo Alto, #anns:4180
host-a015-lidar0-1236112516098396876-12361125409990... [19-03-08 20:35:16]   25s, Palo Alto, #anns:1498
host-a015-lidar0-1236112601097782876-12361126259983... [19-03-08 20:36:41]   25s, Palo Alto, #anns:2153
host-a009-lidar0-1236118456298488636-12361184811982... [19-03-08 22:14:16]   25s, Palo Alto, #anns:3399
host-a009-lidar0-1236118555299408756-12361185801980... [19-03-08 22:15:55]   25s, Palo Alto, #anns:7385
host-a017-lidar0-1236118873198607026-12361188980978... [19-03-08 22:21:13]   25s, Palo Alto, #anns:5994
host-a017-lidar0-1236118981198431906-12361190060975... [19-03-08 22:23:01]   25s, Palo Alto, #anns:1970
host-a017-lidar0-1236119797198435536-12361198220981... [19-03-08 22:36:37]   25s, Palo Alto, #anns:4901
host-a011-lidar0-1236119823299280856-12361198481993... [19-03-08 22:37:03]   25s, Palo Alto, #anns:2142
host-a011-lidar0-1236122349298071346-12361223741986... [19-03-08 23:19:09]   25s, Palo Alto, #anns:5051
host-a011-lidar0-1236123625299234316-12361236501979... [19-03-08 23:40:25]   25s, Palo Alto, #anns:1233
host-a009-lidar0-1236123717198611786-12361237420978... [19-03-08 23:41:57]   25s, Palo Alto, #anns:4664
host-a006-lidar0-1237322885198285226-12373229100985... [19-03-22 20:48:05]   25s, Palo Alto, #anns:4457
host-a012-lidar0-1237329862198269106-12373298870991... [19-03-22 22:44:22]   25s, Palo Alto, #anns:4199
host-a009-lidar0-1237581206198345466-12375812310985... [19-03-25 20:33:26]   25s, Palo Alto, #anns:6649
host-a101-lidar0-1240710366399037786-12407103912989... [19-05-01 01:46:06]   25s, Palo Alto, #anns:634
host-a101-lidar0-1240875136198305786-12408751610987... [19-05-02 23:32:16]   25s, Palo Alto, #anns:4269
host-a101-lidar0-1240877587199107226-12408776120994... [19-05-03 00:13:07]   25s, Palo Alto, #anns:5479
host-a101-lidar0-1241216089098610756-12412161139990... [19-05-06 22:14:49]   25s, Palo Alto, #anns:451
host-a101-lidar0-1241462203298815998-12414622281988... [19-05-09 18:36:43]   25s, Palo Alto, #anns:1072
host-a102-lidar0-1241468916398562586-12414689412987... [19-05-09 20:28:36]   25s, Palo Alto, #anns:7196
host-a101-lidar0-1241472407298206026-12414724321984... [19-05-09 21:26:47]   25s, Palo Alto, #anns:4480
host-a102-lidar0-1241548686398885894-12415487112983... [19-05-10 18:38:06]   25s, Palo Alto, #anns:7138
host-a101-lidar0-1241561147998866622-12415611728993... [19-05-10 22:05:48]   25s, Palo Alto, #anns:754
host-a102-lidar0-1241878200398362906-12418782252985... [19-05-14 14:10:00]   25s, Palo Alto, #anns:1808
host-a101-lidar0-1241886983298988182-12418870081989... [19-05-14 16:36:23]   25s, Palo Alto, #anns:4766
host-a101-lidar0-1241889710198571346-12418897350989... [19-05-14 17:21:50]   25s, Palo Alto, #anns:1860
host-a101-lidar0-1241893239199111666-12418932640980... [19-05-14 18:20:39]   25s, Palo Alto, #anns:7016
host-a102-lidar0-1241904536298706586-12419045611983... [19-05-14 21:28:56]   25s, Palo Alto, #anns:3756
host-a101-lidar0-1242144886399176654-12421449112990... [19-05-17 16:14:46]   25s, Palo Alto, #anns:6673
host-a102-lidar0-1242150795498255026-12421508203986... [19-05-17 17:53:15]   25s, Palo Alto, #anns:454
host-a101-lidar0-1242493624298705334-12424936491989... [19-05-21 17:07:04]   25s, Palo Alto, #anns:569
host-a102-lidar0-1242510597398871466-12425106222988... [19-05-21 21:49:57]   25s, Palo Alto, #anns:1710
host-a101-lidar0-1242580003398722214-12425800282994... [19-05-22 17:06:43]   25s, Palo Alto, #anns:1117
host-a101-lidar0-1242583745399163026-12425837702988... [19-05-22 18:09:05]   25s, Palo Alto, #anns:4147
host-a102-lidar0-1242662270298972894-12426622951983... [19-05-23 15:57:50]   25s, Palo Alto, #anns:471
host-a102-lidar0-1242684244198410786-12426842690988... [19-05-23 22:04:04]   25s, Palo Alto, #anns:726
host-a101-lidar0-1242748817298870302-12427488421986... [19-05-24 16:00:17]   25s, Palo Alto, #anns:2007
host-a101-lidar0-1242748985299274334-12427490101988... [19-05-24 16:03:05]   25s, Palo Alto, #anns:4930
host-a101-lidar0-1242749258298976334-12427492831992... [19-05-24 16:07:38]   25s, Palo Alto, #anns:4149
host-a102-lidar0-1242749461398477906-12427494862989... [19-05-24 16:11:01]   25s, Palo Alto, #anns:328
host-a101-lidar0-1242753236298794334-12427532611987... [19-05-24 17:13:56]   25s, Palo Alto, #anns:1129
host-a102-lidar0-1242754954298696742-12427549791981... [19-05-24 17:42:34]   25s, Palo Alto, #anns:1459
host-a102-lidar0-1242755350298764586-12427553751987... [19-05-24 17:49:10]   25s, Palo Alto, #anns:4794
host-a102-lidar0-1242755400298847586-12427554251985... [19-05-24 17:50:00]   25s, Palo Alto, #anns:4473
host-a101-lidar0-1243095610299140346-12430956351987... [19-05-28 16:20:10]   25s, Palo Alto, #anns:5552
host-a101-lidar0-1243102866399012786-12431028912989... [19-05-28 18:21:06]   25s, Palo Alto, #anns:2788

It looks like they drove in Palo Alto only.

Let’s have a look at an example:

my_scene = level5data.scene[0]
my_sample_token = my_scene["first_sample_token"]
level5data.render_sample(my_sample_token)

Similar to NuScenes and Argoverse, we can render the LiDAR point cloud and/or object bounding boxes on an image.