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Update nuScenes & Waymo Optimization (#47)

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* update can bus

* Create LICENSE

* update waymo doc

* protobuf requirement

* just warning

* Add warning for proto

* update PR template

* fix length bug

* try sharing nusc

* imu heading

* fix 161 168

* add badge

* fix doc

* update doc

* format

* update cp

* update nuscenes interface

* update doc

* prediction nuscenes

* use drivable aread for nuscenes

* allow converting prediction

* format

* fix bug

* optimize

* clean RAM

* delete more

* restore to

* add only lane

* use token

* add warning

* format

* fix bug
This commit is contained in:
Quanyi Li
2023-12-02 13:50:44 +00:00
committed by GitHub
parent 7ec01fc8c1
commit 2db22c74a8
18 changed files with 478 additions and 146 deletions
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documentation/example.rst
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@@ -28,18 +28,17 @@ After that, the scenarios will be loaded to MetaDrive simulator for closed-loop
First of all, please install `MetaDrive <https://github.com/metadriverse/metadrive>`_ and `ScenarioNet <https://github.com/metadriverse/scenarionet>`_ following these steps :ref:`installation`.
1. Setup Waymo toolkit
1. Setup Requirements
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
For any dataset, the first step after installing ScenarioNet is to install the corresponding official toolkit as we need to use it to parse the original data and convert to our internal scenario description. For Waymo data, please install the toolkit via::
For any dataset, the first step after installing ScenarioNet is to install the corresponding official toolkit as we need to use it to parse the original data and convert to our internal scenario description.
For Waymo data, we already have the parser in ScenarioNet so just install the TensorFlow and Protobuf via::
pip install waymo-open-dataset-tf-2-11-0
pip install tensorflow==2.11.0
conda install protobuf==3.20
.. note::
This package is only supported on Linux platform.
`waymo-open-dataset` may degrade numpy, causing conflicts with `cv2` (`opencv-python`).
A workaround is to ``pip install numpy==1.24.2``
You may fail to install ``protobuf`` if using ``pip install protobuf==3.20``.
For other datasets like nuPlan and nuScenes, you need to setup `nuplan-devkit <https://github.com/motional/nuplan-devkit>`_ and `nuscenes-devkit <https://github.com/nutonomy/nuscenes-devkit>`_ respectively.
Guidance on how to setup these datasets and connect them with ScenarioNet can be found at :ref:`datasets`.