The data comes from V2X-Sim full dataset. We keep vehicle onboard camera data, LiDAR data and infrastructure data in V2X-Sim. It encompasses a comprehensive and well-
synchronized collection of both infrastructure and vehicle sensor data. It also contains well-annotated ground truth data,which can support multiple perception tasks such as
detection, segmentation, and tracking. It includes six views of vehicle-side images and four views of infrastructure-side images. It collects 100 scenes in total, and every
scene includes 100 records.