Front lidar only available for 1/5th of scenes

[Dawars]

Front lidar data is missing for 4/5th of the scenes. There are 148 scenes out of the 180 without front lidars.

The specs at https://level5.lyft.com/dataset/ say that there are 3 lidars: 'One 40-beam roof LiDAR and two 40-beam bumper LiDARs.'

There is no mention of scenes with only partial lidar data.

You can check these scenes with the following code snippet:

for scene in level5data.scene:
    sample_token = scene['first_sample_token']
    sample = level5data.get('sample', sample_token)
    if 'LIDAR_FRONT_LEFT' not in sample['data'].keys():
       print(scene['name'])

[Dawars]

Upon further inspection I came to the conclusion that the BETA_PLUS_PLUS vehicles have a 64-beam lidar, but no front lidars.

This was not clearly articulated.

I think, out of these vehicles a101 and a102 are BETA_V0 having front lidars:

{'a004',
 'a005',
 'a006',
 'a007',
 'a008',
 'a009',
 'a011',
 'a012',
 'a015',
 'a017',
 'a101',
 'a102'}

[cattaneod]

In the v1.02 of the dataset, there are only 148 total scenes, none of which has front lidars, and all images have shape 1224x1024 (so they should be BETA V0 cars according to the dataset description).

This is confusing.