huangfu/scenarionet
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

all convert is ready now

Browse Source
This commit is contained in:
QuanyiLi
2023-05-06 21:06:51 +01:00
parent 2564764c17
commit 7501a04618
5 changed files with 8 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
scenarionet/converter/nuplan/utils.py
View File

@@ -415,6 +415,7 @@ def convert_nuplan_scenario(scenario: NuPlanScenario, version):
result[SD.METADATA]["coordinate"] = "right-handed"
result[SD.METADATA]["scenario_token"] = scenario.scenario_name
result[SD.METADATA]["scenario_id"] = scenario.scenario_name
result[SD.METADATA][SD.ID] = scenario.scenario_name
result[SD.METADATA]["scenario_type"] = scenario.scenario_type
result[SD.METADATA]["sample_rate"] = scenario_log_interval
result[SD.METADATA][SD.TIMESTEP] = np.asarray([i * scenario_log_interval for i in range(result[SD.LENGTH])])

1
scenarionet/converter/nuscenes/utils.py
View File

@@ -370,6 +370,7 @@ def convert_nuscenes_scenario(scene, version, nuscenes: NuScenes):
result[SD.METADATA]["date"] = nuscenes.get("log", scene_info["log_token"])["date_captured"]
result[SD.METADATA]["coordinate"] = "right-handed"
result[SD.METADATA]["scenario_token"] = scene_token
result[SD.METADATA][SD.ID] = scene_info["name"]
result[SD.METADATA]["scenario_id"] = scene_info["name"]
result[SD.METADATA]["sample_rate"] = scenario_log_interval
result[SD.METADATA][SD.TIMESTEP] = np.arange(0., (len(frames) - 1) * 0.5 + 0.1, 0.1)

2
scenarionet/converter/utils.py
View File

@@ -79,7 +79,7 @@ def write_to_directory(convert_func,
if not contains_explicit_return(convert_func):
raise RuntimeError("The convert function should return a metadata dict")
if "version" not in kwargs:
if "version" in kwargs:
kwargs.pop("version")
logger.info("the specified version in kwargs is replaced by argument: 'dataset_version'")

5
scenarionet/converter/waymo/utils.py
View File

@@ -382,13 +382,14 @@ def convert_waymo_scenario(scenario, version):
compute_width(md_scenario[SD.MAP_FEATURES])
md_scenario[SD.METADATA] = {}
md_scenario[SD.METADATA][SD.ID] = md_scenario[SD.ID]
md_scenario[SD.METADATA][SD.COORDINATE] = MetaDriveType.COORDINATE_WAYMO
md_scenario[SD.METADATA][SD.TIMESTEP] = np.asarray(list(scenario_pb2.timestamps_seconds), dtype=np.float32)
md_scenario[SD.METADATA][SD.METADRIVE_PROCESSED] = False
md_scenario[SD.METADATA][SD.SDC_ID] = str(sdc_id)
md_scenario[SD.METADATA]["dataset"] = "waymo"
md_scenario[SD.METADATA]["scenario_id"] = scenario_pb2.scenario_id
# TODO Can we infer it?
# TODO LQY Can we infer it?
# md_scenario[SD.METADATA]["source_file"] = str(file)
md_scenario[SD.METADATA]["track_length"] = track_length
@@ -425,5 +426,5 @@ def get_waymo_scenarios(waymo_data_direction):
file_path = os.path.join(waymo_data_direction, file)
if ("tfrecord" not in file_path) or (not os.path.isfile(file_path)):
continue
scenarios += [s for s in tf.data.TFRecordDataset(file_path, compression_type="")]
scenarios += [s for s in tf.data.TFRecordDataset(file_path, compression_type="").as_numpy_iterator()]
return scenarios

4
scenarionet/examples/convert_nuplan.py
View File

@@ -5,7 +5,7 @@ MetaDrive.
import os
from scenarionet import SCENARIONET_DATASET_PATH
from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario, example_scenario_types
from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario, example_dataset_params
from scenarionet.converter.utils import write_to_directory
if __name__ == "__main__":
@@ -14,7 +14,7 @@ if __name__ == "__main__":
output_path = os.path.join(SCENARIONET_DATASET_PATH, dataset_name)
version = 'v1.1'
scenarios = get_nuplan_scenarios(example_scenario_types)
scenarios = get_nuplan_scenarios(example_dataset_params)
write_to_directory(convert_func=convert_nuplan_scenario,
scenarios=scenarios,