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Toronto3D

The Toronto-3D dataset.

First page of Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways

2003.08284 · March 2020

Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways by Tan, Ma, Liu, Bobkov, Pukhalskaya, Eichenberger, Tatarchenko, Kosinka, et al.

The dataset contains four large-scale outdoor mobile LiDAR scans (L001.ply, L002.ply, L003.ply, L004.ply) covering ~1 km of Toronto roadways. The official benchmark uses L002.ply as the held-out test split.

Classes:

Functions:

Toronto3D 

Toronto3D(
    root: PathLike,
    *,
    split: Toronto3DSplit = "test",
    files: Optional[Sequence[str]] = None,
    utm_offset: Sequence[float] = TORONTO3D_UTM_OFFSET,
    transform: Optional[
        Callable[[Dict[str, Any]], Dict[str, Any]]
    ] = None,
)

Bases: PointCloudDataset

The Toronto-3D dataset.

Each sample is a single CloudCompare-exported PLY scan from the four-tile mobile LiDAR sweep, returned as a dictionary:

Key Shape Dtype Meaning
pos \((N, 3)\) float32 XYZ (UTM offset by utm_offset)
color \((N, 3)\) uint8 RGB (0-255)
intensity \((N, 1)\) float32 LiDAR intensity
gps_time \((N, 1)\) float32 GPS timestamp
segment \((N,)\) int64 Raw class id, 0-8 (0 = Unclassified, ignored)
name str Source file name without extension

Parameters:

  • root (PathLike) –

    Dataset root. Files are read from <root>/Toronto3D/raw/<file>.ply.

  • split (Toronto3DSplit, default: 'test' ) –

    One of "train" / "val" / "test" / "trainval" / "all". Test labels are publicly available so val and test are the same file (L002.ply).

  • files (Optional[Sequence[str]], default: None ) –

    Optional explicit list of file names. Overrides split.

  • utm_offset (Sequence[float], default: TORONTO3D_UTM_OFFSET ) –

    3-vector subtracted from raw UTM (x, y, z) to keep coordinates in a small numerical range. Defaults to TORONTO3D_UTM_OFFSET; pass (0, 0, 0) to keep raw UTM coordinates.

  • transform (Optional[Callable[[Dict[str, Any]], Dict[str, Any]]], default: None ) –

    Callable applied to each loaded sample dict at __getitem__ time.

Note

The raw dataset must be downloaded manually from WeikaiTan/Toronto-3D (a license must be accepted). The expected layout is <root>/Toronto3D/raw/L00{1,2,3,4}.ply.

Methods:

  • download –

    Toronto-3D must be downloaded manually (a license must be accepted).

Attributes:

  • name (str) –

    Name of the dataset directory.

  • data_dir (str) –

    Path to the dataset directory <root>/<name>.

  • raw_dir (str) –

    Path to the raw download directory.

  • processed_dir (str) –

    Path to the processed cache directory.

name property 

name: str

Name of the dataset directory.

data_dir property 

data_dir: str

Path to the dataset directory <root>/<name>.

raw_dir property 

raw_dir: str

Path to the raw download directory.

processed_dir property 

processed_dir: str

Path to the processed cache directory.

download 

download(force: bool = False) -> None

Toronto-3D must be downloaded manually (a license must be accepted).

Parameters:

  • force (bool, default: False ) –

    Unused; present to mirror the other datasets' download signature.

Raises: RuntimeError: Always; automatic download is not supported.

load_toronto3d_data 

load_toronto3d_data(
    path: PathLike,
    /,
    utm_offset: Sequence[float] = TORONTO3D_UTM_OFFSET,
) -> Dict[str, Tensor]

Parse a Toronto-3D PLY scan and return per-key tensors.

The PLY files are CloudCompare exports with these vertex properties (in order):

  • x, y, z (double),
  • red, green, blue (uchar),
  • scalar_Intensity, scalar_GPSTime, scalar_ScanAngleRank (float),
  • scalar_Label (float).

Coordinates are returned in float32 after the UTM offset is subtracted; colors are uint8 (0-255); intensity and gps_time stay float32; segment is int64 (raw class id, 0..8).

Key Shape Dtype
pos \((N, 3)\) float32
color \((N, 3)\) uint8
intensity \((N, 1)\) float32
gps_time \((N, 1)\) float32
segment \((N,)\) int64

Parameters:

  • path (PathLike) –

    Path to the .ply file.

  • utm_offset (Sequence[float], default: TORONTO3D_UTM_OFFSET ) –

    3-vector subtracted from (x, y, z) to keep coordinates in a small numerical range. Defaults to TORONTO3D_UTM_OFFSET; pass (0, 0, 0) to keep raw UTM coordinates.