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nuplan ok

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This commit is contained in:
QuanyiLi
2023-05-06 19:13:48 +01:00
parent 117c1aa987
commit 274ad2ddc2
3 changed files with 12 additions and 7 deletions
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4
scenarionet/converter/nuplan/utils.py
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@@ -191,7 +191,9 @@ def extract_map_features(map_api, center, radius=250):
continue
left = lane_meta_data.left_boundary
if left.id not in ret:
line_type = get_line_type(int(boundaries.loc[[str(left.id)]]["boundary_type_fid"]))
# only broken line in nuPlan data
# line_type = get_line_type(int(boundaries.loc[[str(left.id)]]["boundary_type_fid"]))
line_type = MetaDriveType.LINE_BROKEN_SINGLE_WHITE
if line_type != MetaDriveType.LINE_UNKNOWN:
ret[left.id] = {SD.TYPE: line_type, SD.POLYLINE: get_points_from_boundary(left, center)}

10
scenarionet/examples/convert_nuplan.py
View File

@@ -2,8 +2,9 @@
This script aims to convert nuplan scenarios to ScenarioDescription, so that we can load any nuplan scenarios into
MetaDrive.
"""
from scenarionet import SCENARIONET_DATASET_PATH
import os
from scenarionet import SCENARIONET_DATASET_PATH
from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario
from scenarionet.converter.utils import write_to_directory
@@ -45,14 +46,15 @@ if __name__ == "__main__":
"scenario_filter.timestamp_threshold_s=20", # minial scenario duration (s)
]
force_overwrite = True
output_path = os.path.join(SCENARIONET_DATASET_PATH, "nuplan")
version = 'v1.2'
dataset_name = "nuplan"
output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
version = 'v1.1'
scenarios = get_nuplan_scenarios(dataset_params)
write_to_directory(convert_func=convert_nuplan_scenario,
scenarios=scenarios,
output_path=output_path,
dataset_version=version,
dataset_name="nuscenes",
dataset_name=dataset_name,
force_overwrite=force_overwrite,
)

5
scenarionet/examples/convert_nuscenes.py
View File

@@ -13,7 +13,8 @@ from scenarionet.converter.nuscenes.utils import convert_nuscenes_scenario
from scenarionet.converter.utils import write_to_directory
if __name__ == "__main__":
output_path = os.path.join(SCENARIONET_DATASET_PATH, "nuscenes")
dataset_name = "nuscenes"
output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
version = 'v1.0-mini'
dataroot = '/home/shady/data/nuscenes'
force_overwrite = True
@@ -24,6 +25,6 @@ if __name__ == "__main__":
scenarios=scenarios,
output_path=output_path,
dataset_version=version,
dataset_name="nuscenes",
dataset_name=dataset_name,
force_overwrite=force_overwrite,
nuscenes=nusc)