# ScenarioNet

ScenarioNet: Scalable Traffic Scenario Management System for Autonomous Driving

## Installation

```
git clone git@github.com:metadriverse/scenarionet.git
cd scenarionet
pip install -e .
```

## Usage

We provide some explanation and demo for all scripts here.
**You are encouraged to try them on your own, add ```-h``` or ```--help``` argument to know more details about these scripts.**

### Convert

**Waymo**: the following script can convert Waymo tfrecord to Metadrive scenario description and
store them at directory ./waymo

```
python -m scenarionet.convert_waymo -d waymo --raw_data_path /path/to/tfrecords --num_workers=16
```

**nuPlan**: the following script will convert nuPlan split containing .db files to Metadrive scenario description and
store them at directory ./nuplan

```
python -m scenarionet.convert_nuplan -d nuplan -raw_data_path /path/to/dir/containing/.db files --num_workers=16
```

**nuScenes**: as nuScenes split can be read by specifying version like v1.0-mini and v1.0-training, the following script
will convert all scenarios in that split

```
python -m scenarionet.convert_nuscenes -d nuscenes --version v1.0-mini --num_workers=16
```

**PG**: the following script can generate 10000 scenarios stored at directory ./pg

```
python -m scenarionet.scripts.convert_pg -d pg --num_workers=16 --num_scenarios=10000
```

### Merge & move
For merging two or more database, use
```
python -m scenarionet.merge_database -d /destination/path --from_databases /database/path1 /database/path2 ... 
```
As a database contains a path mapping, one should move database folder with the following script instead of ```cp```
command
```
python -m scenarionet.move_database --to /destination/path --from /source/path
```

### Verify
The following scripts will check whether all scenarios exist or can be loaded into simulator.
The missing or broken scenarios will be recorded and stored into the error file. Otherwise, no error file will be 
generated. 
With teh error file, one can build a new database excluding or including the broken or missing scenarios.
**Existence check**
```
python -m scenarionet.verify_completeness -d /database/to/check --result_save_dir /where/to/save/test/result
```
**Runnable check**
```
python -m scenarionet.verify_simulation -d /database/to/check --result_save_dir /where/to/save/test/result
```
**Generating new database**
```
python -m scenarionet.generate_from_error_file -d /where/to/create/the/new/database --file /error/file/path --broken
```

### visualization

Visualizing the simulated scenario
```
python -m scenarionet.run_simulation -d /path/to/database --render --scenario_index
```