---

name: data-preparation description: "Prepare and troubleshoot OpenPCDet dataset layouts, info pickle files, ground-truth databases, splits, and DATA_CONFIG settings." metadata: disco-role: operating disable-model-invocation: true license: Apache 2.0

OpenPCDet Data Preparation

Use this sub-skill for dataset root layouts, DATA_CONFIG, info/database generation, split files, class lists, and dataloader/data-prep failures.

Fast route

1. Read references/dataset-workflows.md for the dataset-specific map.
2. Use scripts/check_openpcdet_dataset_layout.py on the target dataset root before launching converters.
3. Use the root helper ../../scripts/plan_openpcdet_command.py --mode <dataset>-infos to print dataset-prep commands for an OpenPCDet checkout.
4. Return to ../training-and-evaluation/SKILL.md only after dataset info/database products and config paths are aligned.

Required checks

• DATA_CONFIG.DATASET must match the intended dataset registry name.
• DATA_CONFIG.DATA_PATH must point at the dataset root expected by that dataset's implementation.
• CLASS_NAMES must match both generated infos and any checkpoint/config being reused.
• Database-sampling configs require DB_INFO_PATH and database object files generated from the same training split.

Common ownership boundaries

• Dataset folder schemas and conversion: this sub-skill.
• Train/test CLI after data exists: ../training-and-evaluation/SKILL.md.
• Custom .bin/.npy inference samples: ../inference-and-custom-data/SKILL.md.
• Model-family assumptions in configs: ../models-and-configs/SKILL.md.