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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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40
documentation/operations.rst
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@@ -113,8 +113,12 @@ Convert nuScenes (Lyft)
.. code-block:: text
python -m scenarionet.convert_nuscenes [-h] [--database_path DATABASE_PATH]
[--dataset_name DATASET_NAME] [--version VERSION]
[--overwrite] [--num_workers NUM_WORKERS]
[--dataset_name DATASET_NAME]
[--split
{v1.0-mini,mini_val,v1.0-test,train,train_val,val,mini_train,v1.0-trainval}]
[--dataroot DATAROOT] [--map_radius MAP_RADIUS]
[--future FUTURE] [--past PAST] [--overwrite]
[--num_workers NUM_WORKERS]
Build database from nuScenes/Lyft scenarios
@@ -124,13 +128,31 @@ Convert nuScenes (Lyft)
directory, The path to place the data
--dataset_name DATASET_NAME, -n DATASET_NAME
Dataset name, will be used to generate scenario files
--version VERSION, -v VERSION
version of nuscenes data, scenario of this version
will be converted
--split
{v1.0-mini,mini_val,v1.0-test,train,train_val,val,mini_train,v1.0-trainval}
Which splits of nuScenes data should be sued. If set
to ['v1.0-mini', 'v1.0-trainval', 'v1.0-test'], it
will convert the full log into scenarios with 20
second episode length. If set to ['mini_train',
'mini_val', 'train', 'train_val', 'val'], it will
convert segments used for nuScenes prediction
challenge to scenarios, resulting in more converted
scenarios. Generally, you should choose this parameter
from ['v1.0-mini', 'v1.0-trainval', 'v1.0-test'] to
get complete scenarios for planning unless you want to
use the converted scenario files for prediction task.
--dataroot DATAROOT The path of nuscenes data
--map_radius MAP_RADIUS The size of map
--future FUTURE 6 seconds by default. How many future seconds to
predict. Only available if split is chosen from
['mini_train', 'mini_val', 'train', 'train_val',
'val']
--past PAST 2 seconds by default. How many past seconds are used
for prediction. Only available if split is chosen from
['mini_train', 'mini_val', 'train', 'train_val',
'val']
--overwrite If the database_path exists, whether to overwrite it
--num_workers NUM_WORKERS
number of workers to use
This script converted the recorded nuScenes scenario into our scenario descriptions.
@@ -187,7 +209,7 @@ we can aggregate them freely and enlarge the database.
.. code-block:: text
python -m scenarionet.merge [-h] --database_path DATABASE_PATH --from FROM [FROM ...]
python -m scenarionet.merge [-h] --to DATABASE_PATH --from FROM [FROM ...]
[--exist_ok] [--overwrite] [--filter_moving_dist]
[--sdc_moving_dist_min SDC_MOVING_DIST_MIN]
@@ -196,7 +218,7 @@ we can aggregate them freely and enlarge the database.
optional arguments:
-h, --help show this help message and exit
--database_path DATABASE_PATH, -d DATABASE_PATH
--database_path DATABASE_PATH, -d DATABASE_PATH, --to DATABASE_PATH
The name of the new combined database. It will create
a new directory to store dataset_summary.pkl and
dataset_mapping.pkl. If exists_ok=True, those two .pkl