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More info (#28)

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* boundary to exterior

* rename copy to cp, avoiding bugs

* add connectivity and sidewalk/cross for nuscenes

* update lane type

* add semantic renderer

* restore

* nuplan works

* format
This commit is contained in:
Quanyi Li
2023-09-22 00:40:08 +01:00
committed by GitHub
parent 403af36ba1
commit f1865048c7
7 changed files with 111 additions and 18 deletions
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2
documentation/example.rst
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@@ -130,7 +130,7 @@ More operations and details is available at :ref:`operations`.
The database can be loaded to MetaDrive simulator for scenario replay or closed-loop simulation.
First of all, let's replay scenarios in the ``exp_converted`` database::
python -m scenarionet.sim -d /path/to/exp_converted
python -m scenarionet.sim -d /path/to/exp_converted --render 2D
By adding ``--render 3D`` flag, we can use 3D renderer::

6
documentation/operations.rst
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@@ -267,7 +267,7 @@ When ``--remove_source`` is added, this ``copy`` command will be changed to ``mo
.. code-block:: text
python -m scenarionet.copy [-h] --from FROM --to TO [--remove_source] [--copy_raw_data]
python -m scenarionet.cp [-h] --from FROM --to TO [--remove_source] [--copy_raw_data]
[--exist_ok] [--overwrite]
Move or Copy an existing database
@@ -395,7 +395,7 @@ please check Section :ref:`simulation` or the `MetaDrive document <https://metad
.. code-block:: text
python -m scenarionet.sim [-h] --database_path DATABASE_PATH
[--render {none,2D,3D,advanced}]
[--render {none,2D,3D,advanced,semantic}]
[--scenario_index SCENARIO_INDEX]
Load a database to simulator and replay scenarios
@@ -404,7 +404,7 @@ please check Section :ref:`simulation` or the `MetaDrive document <https://metad
-h, --help show this help message and exit
--database_path DATABASE_PATH, -d DATABASE_PATH
The path of the database
--render {none,2D,3D,advanced}
--render {none,2D,3D,advanced,semantic}
--scenario_index SCENARIO_INDEX
Specifying a scenario to run

53
scenarionet/converter/nuplan/utils.py
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@@ -206,11 +206,12 @@ def extract_map_features(map_api, center, radius=500):
block_polygons = []
for layer in [SemanticMapLayer.ROADBLOCK, SemanticMapLayer.ROADBLOCK_CONNECTOR]:
for block in nearest_vector_map[layer]:
for lane_meta_data in block.interior_edges:
edges = sorted(block.interior_edges, key=lambda lane: lane.index) \
if layer == SemanticMapLayer.ROADBLOCK else block.interior_edges
for index, lane_meta_data in enumerate(edges):
if not hasattr(lane_meta_data, "baseline_path"):
continue
if isinstance(lane_meta_data.polygon.boundary, MultiLineString):
# logger.warning("Stop using boundaries! Use exterior instead!")
boundary = gpd.GeoSeries(lane_meta_data.polygon.boundary).explode(index_parts=True)
sizes = []
for idx, polygon in enumerate(boundary[0]):
@@ -220,9 +221,20 @@ def extract_map_features(map_api, center, radius=500):
points = lane_meta_data.polygon.boundary.xy
polygon = [[points[0][i], points[1][i]] for i in range(len(points[0]))]
polygon = nuplan_to_metadrive_vector(polygon, nuplan_center=[center[0], center[1]])
# According to the map attributes, lanes are numbered left to right with smaller indices being on the
# left and larger indices being on the right.
# @ See NuPlanLane.adjacent_edges()
ret[lane_meta_data.id] = {
SD.TYPE: MetaDriveType.LANE_SURFACE_STREET,
SD.TYPE: MetaDriveType.LANE_SURFACE_STREET \
if layer == SemanticMapLayer.ROADBLOCK else MetaDriveType.LANE_SURFACE_UNSTRUCTURE,
SD.POLYLINE: extract_centerline(lane_meta_data, center),
SD.ENTRY: [edge.id for edge in lane_meta_data.incoming_edges],
SD.EXIT: [edge.id for edge in lane_meta_data.outgoing_edges],
SD.LEFT_NEIGHBORS: [edge.id for edge in block.interior_edges[:index]] \
if layer == SemanticMapLayer.ROADBLOCK else [],
SD.RIGHT_NEIGHBORS: [edge.id for edge in block.interior_edges[index + 1:]] \
if layer == SemanticMapLayer.ROADBLOCK else [],
SD.POLYGON: polygon
}
if layer == SemanticMapLayer.ROADBLOCK_CONNECTOR:
@@ -238,8 +250,41 @@ def extract_map_features(map_api, center, radius=500):
if layer == SemanticMapLayer.ROADBLOCK:
block_polygons.append(block.polygon)
# walkway
for area in nearest_vector_map[SemanticMapLayer.WALKWAYS]:
if isinstance(area.polygon.exterior, MultiLineString):
boundary = gpd.GeoSeries(area.polygon.exterior).explode(index_parts=True)
sizes = []
for idx, polygon in enumerate(boundary[0]):
sizes.append(len(polygon.xy[1]))
points = boundary[0][np.argmax(sizes)].xy
elif isinstance(area.polygon.exterior, LineString):
points = area.polygon.exterior.xy
polygon = [[points[0][i], points[1][i]] for i in range(len(points[0]))]
polygon = nuplan_to_metadrive_vector(polygon, nuplan_center=[center[0], center[1]])
ret[area.id] = {
SD.TYPE: MetaDriveType.BOUNDARY_SIDEWALK,
SD.POLYGON: polygon,
}
# corsswalk
for area in nearest_vector_map[SemanticMapLayer.CROSSWALK]:
if isinstance(area.polygon.exterior, MultiLineString):
boundary = gpd.GeoSeries(area.polygon.exterior).explode(index_parts=True)
sizes = []
for idx, polygon in enumerate(boundary[0]):
sizes.append(len(polygon.xy[1]))
points = boundary[0][np.argmax(sizes)].xy
elif isinstance(area.polygon.exterior, LineString):
points = area.polygon.exterior.xy
polygon = [[points[0][i], points[1][i]] for i in range(len(points[0]))]
polygon = nuplan_to_metadrive_vector(polygon, nuplan_center=[center[0], center[1]])
ret[area.id] = {
SD.TYPE: MetaDriveType.CROSSWALK,
SD.POLYGON: polygon,
}
interpolygons = [block.polygon for block in nearest_vector_map[SemanticMapLayer.INTERSECTION]]
# logger.warning("Stop using boundaries! Use exterior instead!")
boundaries = gpd.GeoSeries(unary_union(interpolygons + block_polygons)).boundary.explode(index_parts=True)
# boundaries.plot()
# plt.show()

59
scenarionet/converter/nuscenes/utils.py
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@@ -219,7 +219,7 @@ def get_tracks_from_frames(nuscenes: NuScenes, scene_info, frames, num_to_interp
max_vel = np.max(np.linalg.norm(interpolate_tracks[id]["state"]["velocity"], axis=-1))
assert max_vel < 50, "Abnormal velocity!"
if max_vel > 30:
print("\nWARNING: Too large peed for {}: {}".format(id, max_vel))
print("\nWARNING: Too large speed for {}: {}".format(id, max_vel))
# heading
# then update position
@@ -273,8 +273,8 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
'road_segment',
'road_block',
'lane',
# 'ped_crossing',
# 'walkway',
'ped_crossing',
'walkway',
# 'stop_line',
# 'carpark_area',
'lane_connector',
@@ -282,6 +282,8 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
'lane_divider',
'traffic_light'
]
# road segment includes all roadblocks (a list of lanes in the same direction), intersection and unstructured road
map_objs = map_api.get_records_in_radius(map_center[0], map_center[1], radius, layer_names)
# build map boundary
@@ -303,7 +305,6 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
polygon = map_api.extract_polygon(seg_info["polygon_token"])
polygons.append(polygon)
polygons = [geom if geom.is_valid else geom.buffer(0) for geom in polygons]
# logger.warning("Stop using boundaries! Use exterior instead!")
boundaries = gpd.GeoSeries(unary_union(polygons)).boundary.explode(index_parts=True)
for idx, boundary in enumerate(boundaries[0]):
block_points = np.array(list(i for i in zip(boundary.coords.xy[0], boundary.coords.xy[1])))
@@ -313,6 +314,7 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
SD.POLYLINE: block_points - np.asarray(map_center)[:2]
}
# broken line
for id in map_objs["lane_divider"]:
line_info = map_api.get("lane_divider", id)
assert line_info["token"] == id
@@ -320,6 +322,7 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
line = np.asarray([[line[0][i], line[1][i]] for i in range(len(line[0]))])
ret[id] = {SD.TYPE: MetaDriveType.LINE_BROKEN_SINGLE_WHITE, SD.POLYLINE: line - np.asarray(map_center)[:2]}
# solid line
for id in map_objs["road_divider"]:
line_info = map_api.get("road_divider", id)
assert line_info["token"] == id
@@ -327,6 +330,7 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
line = np.asarray([[line[0][i], line[1][i]] for i in range(len(line[0]))])
ret[id] = {SD.TYPE: MetaDriveType.LINE_SOLID_SINGLE_YELLOW, SD.POLYLINE: line - np.asarray(map_center)[:2]}
# normal lane
for id in map_objs["lane"]:
lane_info = map_api.get("lane", id)
assert lane_info["token"] == id
@@ -338,8 +342,13 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
SD.POLYLINE: np.asarray(discretize_lane(map_api.arcline_path_3[id], resolution_meters=points_distance)) -
np.asarray(map_center),
SD.POLYGON: boundary_polygon - np.asarray(map_center)[:2],
SD.ENTRY: map_api.get_incoming_lane_ids(id),
SD.EXIT: map_api.get_outgoing_lane_ids(id),
SD.LEFT_NEIGHBORS: [],
SD.RIGHT_NEIGHBORS: [],
}
# intersection lane
for id in map_objs["lane_connector"]:
lane_info = map_api.get("lane_connector", id)
assert lane_info["token"] == id
@@ -347,13 +356,51 @@ def get_map_features(scene_info, nuscenes: NuScenes, map_center, radius=500, poi
# boundary_polygon = [[boundary[0][i], boundary[1][i], 0.1] for i in range(len(boundary[0]))]
# boundary_polygon += [[boundary[0][i], boundary[1][i], 0.] for i in range(len(boundary[0]))]
ret[id] = {
SD.TYPE: MetaDriveType.LANE_SURFACE_STREET,
SD.TYPE: MetaDriveType.LANE_SURFACE_UNSTRUCTURE,
SD.POLYLINE: np.asarray(discretize_lane(map_api.arcline_path_3[id], resolution_meters=points_distance)) -
np.asarray(map_center),
# SD.POLYGON: boundary_polygon,
"speed_limit_kmh": 100
"speed_limit_kmh": 100,
SD.ENTRY: map_api.get_incoming_lane_ids(id),
SD.EXIT: map_api.get_outgoing_lane_ids(id)
}
# crosswalk
for id in map_objs["ped_crossing"]:
info = map_api.get("ped_crossing", id)
assert info["token"] == id
boundary = map_api.extract_polygon(info["polygon_token"]).exterior.xy
boundary_polygon = np.asarray([[boundary[0][i], boundary[1][i]] for i in range(len(boundary[0]))])
ret[id] = {
SD.TYPE: MetaDriveType.CROSSWALK,
SD.POLYGON: boundary_polygon - np.asarray(map_center)[:2],
}
# walkway
for id in map_objs["walkway"]:
info = map_api.get("walkway", id)
assert info["token"] == id
boundary = map_api.extract_polygon(info["polygon_token"]).exterior.xy
boundary_polygon = np.asarray([[boundary[0][i], boundary[1][i]] for i in range(len(boundary[0]))])
ret[id] = {
SD.TYPE: MetaDriveType.BOUNDARY_SIDEWALK,
SD.POLYGON: boundary_polygon - np.asarray(map_center)[:2],
}
# # stop_line
# for id in map_objs["stop_line"]:
# info = map_api.get("stop_line", id)
# assert info["token"] == id
# boundary = map_api.extract_polygon(info["polygon_token"]).exterior.xy
# boundary_polygon = np.asarray([[boundary[0][i], boundary[1][i]] for i in range(len(boundary[0]))])
# ret[id] = {
# SD.TYPE: MetaDriveType.STOP_LINE,
# SD.POLYGON: boundary_polygon - np.asarray(map_center)[:2],
# }
# 'stop_line',
# 'carpark_area',
return ret

2
scenarionet/converter/waymo/type.py
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@@ -18,7 +18,7 @@ class WaymoLaneType:
LANE_BIKE_LANE = 3
ENUM_TO_STR = {
UNKNOWN: 'UNKNOWN',
UNKNOWN: 'LANE_UNKNOWN',
LANE_FREEWAY: 'LANE_FREEWAY',
LANE_SURFACE_STREET: 'LANE_SURFACE_STREET',
LANE_BIKE_LANE: 'LANE_BIKE_LANE'

0
scenarionet/copy.py → scenarionet/cp.py
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7
scenarionet/sim.py
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@@ -12,7 +12,7 @@ if __name__ == '__main__':
parser = argparse.ArgumentParser(description=desc)
parser.add_argument("--database_path", "-d", required=True, help="The path of the database")
parser.add_argument("--render", default="none", choices=["none", "2D", "3D", "advanced"])
parser.add_argument("--render", default="none", choices=["none", "2D", "3D", "advanced", "semantic"])
parser.add_argument("--scenario_index", default=None, type=int, help="Specifying a scenario to run")
args = parser.parse_args()
@@ -48,7 +48,7 @@ if __name__ == '__main__':
"data_directory": database_path,
}
)
for index in range(2, num_scenario if args.scenario_index is not None else 1000000):
for index in range(0, num_scenario if args.scenario_index is not None else 1000000):
env.reset(seed=index if args.scenario_index is None else args.scenario_index)
for t in range(10000):
env.step([0, 0])
@@ -62,9 +62,10 @@ if __name__ == '__main__':
}
)
if args.render == "2D":
if args.render == "2D" or args.render == "semantic":
env.render(
film_size=(3000, 3000),
semantic_map=args.render == "semantic",
target_vehicle_heading_up=False,
mode="top_down",
text={