format

scenarionet/builder/select_demo_pickles.py

@@ -1,6 +1,5 @@
 import pickle
 
-
 if __name__ == '__main__':
 
     with open("waymo120/0408_output_final/dataset_summary.pkl", "rb") as f:

scenarionet/converter/nuplan/utils.py

@@ -356,9 +356,9 @@ def extract_traffic(scenario: NuPlanScenario, center):
             type=MetaDriveType.UNSET,
             state=dict(
                 position=np.zeros(shape=(episode_len, 3)),
-                heading=np.zeros(shape=(episode_len,)),
+                heading=np.zeros(shape=(episode_len, )),
                 velocity=np.zeros(shape=(episode_len, 2)),
-                valid=np.zeros(shape=(episode_len,)),
+                valid=np.zeros(shape=(episode_len, )),
                 length=np.zeros(shape=(episode_len, 1)),
                 width=np.zeros(shape=(episode_len, 1)),
                 height=np.zeros(shape=(episode_len, 1))

scenarionet/converter/nuscenes/utils.py

@@ -128,9 +128,9 @@ def get_tracks_from_frames(nuscenes: NuScenes, scene_info, frames, num_to_interp
             type=MetaDriveType.UNSET,
             state=dict(
                 position=np.zeros(shape=(episode_len, 3)),
-                heading=np.zeros(shape=(episode_len,)),
+                heading=np.zeros(shape=(episode_len, )),
                 velocity=np.zeros(shape=(episode_len, 2)),
-                valid=np.zeros(shape=(episode_len,)),
+                valid=np.zeros(shape=(episode_len, )),
                 length=np.zeros(shape=(episode_len, 1)),
                 width=np.zeros(shape=(episode_len, 1)),
                 height=np.zeros(shape=(episode_len, 1))
@@ -183,7 +183,7 @@ def get_tracks_from_frames(nuscenes: NuScenes, scene_info, frames, num_to_interp
         interpolate_tracks[id]["metadata"]["track_length"] = new_episode_len
 
         # valid first
-        new_valid = np.zeros(shape=(new_episode_len,))
+        new_valid = np.zeros(shape=(new_episode_len, ))
         if track["state"]["valid"][0]:
             new_valid[0] = 1
         for k, valid in enumerate(track["state"]["valid"][1:], start=1):

scenarionet/converter/utils.py

@@ -66,13 +66,9 @@ def contains_explicit_return(f):
     return any(isinstance(node, ast.Return) for node in ast.walk(ast.parse(inspect.getsource(f))))
 
 
-def write_to_directory(convert_func,
-                       scenarios,
-                       output_path,
-                       dataset_version,
-                       dataset_name,
-                       force_overwrite=False,
-                       **kwargs):
+def write_to_directory(
+    convert_func, scenarios, output_path, dataset_version, dataset_name, force_overwrite=False, **kwargs
+):
     """
     Convert a batch of scenarios.
     """

scenarionet/examples/convert_nuplan.py

@@ -19,10 +19,11 @@ if __name__ == "__main__":
     # scenarios = get_nuplan_scenarios(data_root, map_root, logs=["2021.07.16.20.45.29_veh-35_01095_01486"])
     scenarios = get_nuplan_scenarios(data_root, map_root)
 
-    write_to_directory(convert_func=convert_nuplan_scenario,
-                       scenarios=scenarios,
-                       output_path=output_path,
-                       dataset_version=version,
-                       dataset_name=dataset_name,
-                       force_overwrite=force_overwrite,
-                       )
+    write_to_directory(
+        convert_func=convert_nuplan_scenario,
+        scenarios=scenarios,
+        output_path=output_path,
+        dataset_version=version,
+        dataset_name=dataset_name,
+        force_overwrite=force_overwrite,
+    )

scenarionet/examples/convert_nuscenes.py

@@ -17,10 +17,12 @@ if __name__ == "__main__":
     dataroot = '/home/shady/data/nuscenes'
     scenarios, nusc = get_nuscenes_scenarios(dataroot, version)
 
-    write_to_directory(convert_func=convert_nuscenes_scenario,
-                       scenarios=scenarios,
-                       output_path=output_path,
-                       dataset_version=version,
-                       dataset_name=dataset_name,
-                       force_overwrite=force_overwrite,
-                       nuscenes=nusc)
+    write_to_directory(
+        convert_func=convert_nuscenes_scenario,
+        scenarios=scenarios,
+        output_path=output_path,
+        dataset_version=version,
+        dataset_name=dataset_name,
+        force_overwrite=force_overwrite,
+        nuscenes=nusc
+    )

scenarionet/examples/convert_waymo.py

@@ -17,9 +17,11 @@ if __name__ == '__main__':
     waymo_data_direction = os.path.join(SCENARIONET_DATASET_PATH, "waymo_origin")
     scenarios = get_waymo_scenarios(waymo_data_direction)
 
-    write_to_directory(convert_func=convert_waymo_scenario,
-                       scenarios=scenarios,
-                       output_path=output_path,
-                       dataset_version=version,
-                       dataset_name=dataset_name,
-                       force_overwrite=force_overwrite)
+    write_to_directory(
+        convert_func=convert_waymo_scenario,
+        scenarios=scenarios,
+        output_path=output_path,
+        dataset_version=version,
+        dataset_name=dataset_name,
+        force_overwrite=force_overwrite
+    )