clean example

scenarionet/converter/nuplan/utils.py

@@ -433,3 +433,41 @@ def convert_nuplan_scenario(scenario: NuPlanScenario):
     result[SD.MAP_FEATURES] = extract_map_features(scenario.map_api, scenario_center)
 
     return result, scenario.scenario_name
+
+
+# only for example using
+example_scenario_types = "[behind_pedestrian_on_pickup_dropoff,  \
+                        near_multiple_vehicles, \
+                        high_magnitude_jerk, \
+                        crossed_by_vehicle, \
+                        following_lane_with_lead, \
+                        changing_lane_to_left, \
+                        accelerating_at_traffic_light_without_lead, \
+                        stopping_at_stop_sign_with_lead, \
+                        traversing_narrow_lane, \
+                        waiting_for_pedestrian_to_cross, \
+                        starting_left_turn, \
+                        starting_high_speed_turn, \
+                        starting_unprotected_cross_turn, \
+                        starting_protected_noncross_turn, \
+                        on_pickup_dropoff]"
+
+example_dataset_params = [
+    # builder setting
+    "scenario_builder=nuplan_mini",
+    "scenario_builder.scenario_mapping.subsample_ratio_override=0.5",  # 10 hz
+
+    # filter
+    "scenario_filter=all_scenarios",  # simulate only one log
+    "scenario_filter.remove_invalid_goals=true",
+    "scenario_filter.shuffle=true",
+    "scenario_filter.log_names=['2021.07.16.20.45.29_veh-35_01095_01486']",
+    # "scenario_filter.scenario_types={}".format(all_scenario_types),
+    # "scenario_filter.scenario_tokens=[]",
+    # "scenario_filter.map_names=[]",
+    # "scenario_filter.num_scenarios_per_type=1",
+    # "scenario_filter.limit_total_scenarios=1000",
+    # "scenario_filter.expand_scenarios=true",
+    # "scenario_filter.limit_scenarios_per_type=10",  # use 10 scenarios per scenario type
+    "scenario_filter.timestamp_threshold_s=20",  # minial scenario duration (s)
+]

scenarionet/examples/convert_nuplan.py

@@ -5,52 +5,17 @@ MetaDrive.
 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, example_scenario_types
 from scenarionet.converter.utils import write_to_directory
 
 if __name__ == "__main__":
-    # 14 types
-    all_scenario_types = "[behind_pedestrian_on_pickup_dropoff,  \
-                            near_multiple_vehicles, \
-                            high_magnitude_jerk, \
-                            crossed_by_vehicle, \
-                            following_lane_with_lead, \
-                            changing_lane_to_left, \
-                            accelerating_at_traffic_light_without_lead, \
-                            stopping_at_stop_sign_with_lead, \
-                            traversing_narrow_lane, \
-                            waiting_for_pedestrian_to_cross, \
-                            starting_left_turn, \
-                            starting_high_speed_turn, \
-                            starting_unprotected_cross_turn, \
-                            starting_protected_noncross_turn, \
-                            on_pickup_dropoff]"
-
-    dataset_params = [
-        # builder setting
-        "scenario_builder=nuplan_mini",
-        "scenario_builder.scenario_mapping.subsample_ratio_override=0.5",  # 10 hz
-
-        # filter
-        "scenario_filter=all_scenarios",  # simulate only one log
-        "scenario_filter.remove_invalid_goals=true",
-        "scenario_filter.shuffle=true",
-        "scenario_filter.log_names=['2021.07.16.20.45.29_veh-35_01095_01486']",
-        # "scenario_filter.scenario_types={}".format(all_scenario_types),
-        # "scenario_filter.scenario_tokens=[]",
-        # "scenario_filter.map_names=[]",
-        # "scenario_filter.num_scenarios_per_type=1",
-        # "scenario_filter.limit_total_scenarios=1000",
-        # "scenario_filter.expand_scenarios=true",
-        # "scenario_filter.limit_scenarios_per_type=10",  # use 10 scenarios per scenario type
-        "scenario_filter.timestamp_threshold_s=20",  # minial scenario duration (s)
-    ]
     force_overwrite = True
     dataset_name = "nuplan"
     output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
     version = 'v1.1'
 
-    scenarios = get_nuplan_scenarios(dataset_params)
+    scenarios = get_nuplan_scenarios(example_scenario_types)
+
     write_to_directory(convert_func=convert_nuplan_scenario,
                        scenarios=scenarios,
                        output_path=output_path,

scenarionet/examples/convert_nuscenes.py

@@ -18,6 +18,7 @@ if __name__ == "__main__":
     version = 'v1.0-mini'
     dataroot = '/home/shady/data/nuscenes'
     force_overwrite = True
+
     nusc = NuScenes(version=version, dataroot=dataroot)
     scenarios = nusc.scene