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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 continue
left = lane_meta_data.left_boundary left = lane_meta_data.left_boundary
if left.id not in ret: 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: if line_type != MetaDriveType.LINE_UNKNOWN:
ret[left.id] = {SD.TYPE: line_type, SD.POLYLINE: get_points_from_boundary(left, center)} ret[left.id] = {SD.TYPE: line_type, SD.POLYLINE: get_points_from_boundary(left, center)}

10
scenarionet/examples/convert_nuplan.py
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@@ -2,8 +2,9 @@
This script aims to convert nuplan scenarios to ScenarioDescription, so that we can load any nuplan scenarios into This script aims to convert nuplan scenarios to ScenarioDescription, so that we can load any nuplan scenarios into
MetaDrive. MetaDrive.
""" """
from scenarionet import SCENARIONET_DATASET_PATH
import os import os
from scenarionet import SCENARIONET_DATASET_PATH
from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario
from scenarionet.converter.utils import write_to_directory 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) "scenario_filter.timestamp_threshold_s=20", # minial scenario duration (s)
] ]
force_overwrite = True force_overwrite = True
output_path = os.path.join(SCENARIONET_DATASET_PATH, "nuplan") dataset_name = "nuplan"
version = 'v1.2' output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
version = 'v1.1'
scenarios = get_nuplan_scenarios(dataset_params) scenarios = get_nuplan_scenarios(dataset_params)
write_to_directory(convert_func=convert_nuplan_scenario, write_to_directory(convert_func=convert_nuplan_scenario,
scenarios=scenarios, scenarios=scenarios,
output_path=output_path, output_path=output_path,
dataset_version=version, dataset_version=version,
dataset_name="nuscenes", dataset_name=dataset_name,
force_overwrite=force_overwrite, 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 from scenarionet.converter.utils import write_to_directory
if __name__ == "__main__": 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' version = 'v1.0-mini'
dataroot = '/home/shady/data/nuscenes' dataroot = '/home/shady/data/nuscenes'
force_overwrite = True force_overwrite = True
@@ -24,6 +25,6 @@ if __name__ == "__main__":
scenarios=scenarios, scenarios=scenarios,
output_path=output_path, output_path=output_path,
dataset_version=version, dataset_version=version,
dataset_name="nuscenes", dataset_name=dataset_name,
force_overwrite=force_overwrite, force_overwrite=force_overwrite,
nuscenes=nusc) nuscenes=nusc)