{ "cells": [ { "cell_type": "markdown", "metadata": { "id": "J1w-zrxAUr4l", "pycharm": { "name": "#%% md\n" } }, "source": [ "# Read Established ScenarioNet Dataset\n", "\n", "Welcome to try out MetaDrive & ScenarioNet!\n", "\n", "For the researchers how focus on motion prediction, scenario generation, and more, you probably will not\n", "use the interactive environment provided by MetaDrive.\n", "\n", "In this tutorial, we will navigate you through how to read established ScenarioNet dataset and give you a sense of the data format." ] }, { "cell_type": "markdown", "metadata": { "id": "2efvTXdHVptN", "pycharm": { "name": "#%% md\n" } }, "source": [ "## Installation\n", "\n", "Note that even we only need to load the data, you still need to install MetaDrive. But no worry, it's quite easy!" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "colab": { "base_uri": "https://localhost:8080/", "height": 1000 }, "id": "65J2iQKpUQ1B", "outputId": "60411b22-c699-4db0-bf23-13b4c83c4d4f", "pycharm": { "name": "#%%\n" }, "scrolled": true }, "outputs": [], "source": [ "#@title Collect the MetaDrive & ScenarioNet\n", "# NOTE: If you are running this notebook locally with installtion finished, this step is not required.\n", "RunningInCOLAB = 'google.colab' in str(get_ipython()) # Detect if it is running in Colab\n", "if RunningInCOLAB:\n", " %pip install git+https://github.com/metadriverse/metadrive.git\n", " %pip install git+https://github.com/metadriverse/scenarionet.git" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Next, let's create a 2D visualization tool for recording the scenario in GIF." ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "pygame 2.5.2 (SDL 2.28.2, Python 3.9.18)\n", "Hello from the pygame community. https://www.pygame.org/contribute.html\n" ] } ], "source": [ "# visualization\n", "from IPython.display import Image as IImage\n", "import pygame\n", "import numpy as np\n", "from PIL import Image\n", "\n", "def make_GIF(frames, name=\"demo.gif\"):\n", " print(\"Generate gif...\")\n", " imgs = [frame for frame in frames]\n", " imgs = [Image.fromarray(img) for img in imgs]\n", " imgs[0].save(name, save_all=True, append_images=imgs[1:], duration=50, loop=0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Configuration\n", "\n", "Let's import some modules and specify the dataset directory." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "Fail to pull. Assets already exists, version: 0.4.1.2. Expected version: 0.4.1.2. To overwrite existing assets and update, add flag '--update' and rerun this script\n" ] } ], "source": [ "#@title Make some configurations and import some modules\n", "from metadrive.engine.engine_utils import close_engine\n", "close_engine()\n", "from metadrive.pull_asset import pull_asset\n", "pull_asset(False)\n", "# NOTE: usually you don't need the above lines. It is only for avoiding a potential bug when running on colab\n", "\n", "from metadrive.engine.asset_loader import AssetLoader\n", "from metadrive.policy.replay_policy import ReplayEgoCarPolicy\n", "from metadrive.envs.scenario_env import ScenarioEnv\n", "import os\n", "\n", "os.environ[\"SDL_VIDEODRIVER\"] = \"dummy\" # Hide the pygame window" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We prepare two demo datasets, splitting from Waymo Open Dataset and nuScenes Dataset. Here we demonstrate the files structure:" ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "['sd_training.tfrecord-00000-of-01000_c403d5992cab9e0.pkl',\n", " 'dataset_summary.pkl',\n", " 'sd_training.tfrecord-00000-of-01000_2a1e44d405a6833f.pkl',\n", " 'sd_training.tfrecord-00000-of-01000_8a346109094cd5aa.pkl']" ] }, "execution_count": 4, "metadata": {}, "output_type": "execute_result" } ], "source": [ "waymo_data = AssetLoader.file_path(AssetLoader.asset_path, \"waymo\", unix_style=False) # Use the built-in datasets with simulator\n", "os.listdir(waymo_data) # there are 3 waymo scenario file with a 'dataset_summary.pkl'" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "['dataset_summary.pkl',\n", " 'nuscenes_3',\n", " 'nuscenes_6',\n", " 'dataset_mapping.pkl',\n", " 'nuscenes_0',\n", " 'nuscenes_5',\n", " 'nuscenes_7',\n", " 'nuscenes_1',\n", " 'nuscenes_4',\n", " 'nuscenes_2']" ] }, "execution_count": 5, "metadata": {}, "output_type": "execute_result" } ], "source": [ "nuscenes_data = AssetLoader.file_path(AssetLoader.asset_path, \"nuscenes\", unix_style=False) # Use the built-in datasets with simulator\n", "os.listdir(nuscenes_data) # there are 10 nuscenes scenario file with a 'dataset_summary.pkl' and a 'dataset_summary.pkl'" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "\n", "## Read Data Easily with Scenario Description\n", "\n", "A established ScenarioNet dataset is a folder containing `dataset_mapping.pkl` and `dataset_summary.pkl`. `dataset_mapping.pkl` contains the mapping from the scenario ID to the relative path. `dataset_summary.pkl` summarizes the meta information for each scenario.\n", "\n", "You can find that for the Waymo dataset, as we put all scenarios in the same folder, we don't need the `dataset_mapping.pkl` that routes scenario ID to corresponding `.pkl` file. In the nuScenes dataset, we have both `dataset_mapping.pkl` and `dataset_summary.pkl` because we have a hierachy file structure to store the scenarios.\n", "\n", "In this section, we demonstrate how to use the utilities from MetaDrive to easily access scenarios.\n", "\n" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "from scenarionet import read_dataset_summary, read_scenario" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Read the dataset summary" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "\u001B[0;31mSignature:\u001B[0m \u001B[0mread_dataset_summary\u001B[0m\u001B[0;34m(\u001B[0m\u001B[0mdataset_path\u001B[0m\u001B[0;34m)\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n", "\u001B[0;31mDocstring:\u001B[0m\n", "Read the dataset and return the metadata of each scenario in this dataset.\n", "\n", "Args:\n", " dataset_path: the path to the root folder of your dataset.\n", "\n", "Returns:\n", " A tuple of three elements:\n", " 1) the summary dict mapping from scenario ID to its metadata,\n", " 2) the list of all scenarios IDs, and\n", " 3) a dict mapping from scenario IDs to the folder that hosts their files.\n", "\u001B[0;31mFile:\u001B[0m ~/scenarionet/scenarionet/common_utils.py\n", "\u001B[0;31mType:\u001B[0m function" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "read_dataset_summary?" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "dataset_summary, scenario_ids, mapping = read_dataset_summary(dataset_path=waymo_data)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "`dataset_summary` is the summary dict mapping from scenario ID to its metadata." ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "{'sd_training.tfrecord-00000-of-01000_2a1e44d405a6833f.pkl': {'coordinate': 'waymo',\n", " 'ts': [0.0,\n", " 0.09997999668121338,\n", " 0.19995999336242676,\n", " 0.2999500036239624,\n", " 0.39994001388549805,\n", " 0.49990999698638916,\n", " 0.5999400019645691,\n", " 0.6999300122261047,\n", " 0.7999500036239624,\n", " 0.8999699950218201,\n", " 0.9999899864196777,\n", " 1.0999799966812134,\n", " 1.2000000476837158,\n", " 1.3000199794769287,\n", " 1.4000099897384644,\n", " 1.5,\n", " 1.5999799966812134,\n", " 1.699970006942749,\n", " 1.7999399900436401,\n", " 1.899940013885498,\n", " 1.999959945678711,\n", " 2.099950075149536,\n", " 2.1999800205230713,\n", " 2.299999952316284,\n", " 2.4000298976898193,\n", " 2.5000200271606445,\n", " 2.600029945373535,\n", " 2.7000200748443604,\n", " 2.8000400066375732,\n", " 2.9000399112701416,\n", " 3.0000100135803223,\n", " 3.099950075149536,\n", " 3.199889898300171,\n", " 3.299799919128418,\n", " 3.3996999263763428,\n", " 3.49960994720459,\n", " 3.5995099544525146,\n", " 3.6994199752807617,\n", " 3.799370050430298,\n", " 3.899280071258545,\n", " 3.9991800785064697,\n", " 4.099140167236328,\n", " 4.199049949645996,\n", " 4.2989702224731445,\n", " 4.3988800048828125,\n", " 4.49875020980835,\n", " 4.598659992218018,\n", " 4.6985602378845215,\n", " 4.798439979553223,\n", " 4.898359775543213,\n", " 4.99822998046875,\n", " 5.098139762878418,\n", " 5.198019981384277,\n", " 5.297900199890137,\n", " 5.397799968719482,\n", " 5.497710227966309,\n", " 5.597620010375977,\n", " 5.6975297927856445,\n", " 5.79748010635376,\n", " 5.897429943084717,\n", " 5.997379779815674,\n", " 6.097360134124756,\n", " 6.197360038757324,\n", " 6.29734992980957,\n", " 6.397369861602783,\n", " 6.497399806976318,\n", " 6.59745979309082,\n", " 6.697490215301514,\n", " 6.7975897789001465,\n", " 6.89762020111084,\n", " 6.997680187225342,\n", " 7.0977301597595215,\n", " 7.197800159454346,\n", " 7.297900199890137,\n", " 7.3979902267456055,\n", " 7.498089790344238,\n", " 7.598219871520996,\n", " 7.698319911956787,\n", " 7.798389911651611,\n", " 7.898489952087402,\n", " 7.998549938201904,\n", " 8.098609924316406,\n", " 8.19867992401123,\n", " 8.29874038696289,\n", " 8.39879035949707,\n", " 8.498820304870605,\n", " 8.59887981414795,\n", " 8.69890022277832,\n", " 8.798930168151855,\n", " 8.89896011352539,\n", " 8.998979568481445],\n", " 'metadrive_processed': False,\n", " 'sdc_id': '1629',\n", " 'dataset': 'waymo',\n", " 'scenario_id': '2a1e44d405a6833f',\n", " 'source_file': 'training.tfrecord-00000-of-01000',\n", " 'track_length': 91,\n", " 'current_time_index': 10,\n", " 'sdc_track_index': 210,\n", " 'objects_of_interest': ['490', '333'],\n", " 'tracks_to_predict': {'333': {'track_index': 3,\n", " 'track_id': '333',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '490': {'track_index': 49,\n", " 'track_id': '490',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '752': {'track_index': 183,\n", " 'track_id': '752',\n", " 'difficulty': 0,\n", " 'object_type': 'PEDESTRIAN'},\n", " '1624': {'track_index': 208,\n", " 'track_id': '1624',\n", " 'difficulty': 0,\n", " 'object_type': 'CYCLIST'},\n", " '332': {'track_index': 2,\n", " 'track_id': '332',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '469': {'track_index': 41,\n", " 'track_id': '469',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '507': {'track_index': 60,\n", " 'track_id': '507',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'}},\n", " 'object_summary': {'sdc': {'type': 'VEHICLE',\n", " 'object_id': '1629',\n", " 'track_length': 91,\n", " 'distance': 84.20105910301208,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '325': {'type': 'VEHICLE',\n", " 'object_id': '325',\n", " 'track_length': 91,\n", " 'distance': 2.7487233877182007,\n", " 'valid_length': 3,\n", " 'continuous_valid_length': 2},\n", " '327': {'type': 'VEHICLE',\n", " 'object_id': '327',\n", " 'track_length': 91,\n", " 'distance': 5.598679721355438,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '332': {'type': 'VEHICLE',\n", " 'object_id': '332',\n", " 'track_length': 91,\n", " 'distance': 103.90164065361023,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '333': {'type': 'VEHICLE',\n", " 'object_id': '333',\n", " 'track_length': 91,\n", " 'distance': 111.29066771268845,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '336': {'type': 'VEHICLE',\n", " 'object_id': '336',\n", " 'track_length': 91,\n", " 'distance': 5.664326503872871,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 21},\n", " '337': {'type': 'VEHICLE',\n", " 'object_id': '337',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 43,\n", " 'continuous_valid_length': 43},\n", " '339': {'type': 'VEHICLE',\n", " 'object_id': '339',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 55,\n", " 'continuous_valid_length': 55},\n", " '341': {'type': 'VEHICLE',\n", " 'object_id': '341',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 34,\n", " 'continuous_valid_length': 34},\n", " '342': {'type': 'VEHICLE',\n", " 'object_id': '342',\n", " 'track_length': 91,\n", " 'distance': 113.51009303331375,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '349': {'type': 'VEHICLE',\n", " 'object_id': '349',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 2,\n", " 'continuous_valid_length': 2},\n", " '352': {'type': 'VEHICLE',\n", " 'object_id': '352',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 5},\n", " '353': {'type': 'VEHICLE',\n", " 'object_id': '353',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '354': {'type': 'VEHICLE',\n", " 'object_id': '354',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 66},\n", " '365': {'type': 'VEHICLE',\n", " 'object_id': '365',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 3,\n", " 'continuous_valid_length': 2},\n", " '368': {'type': 'VEHICLE',\n", " 'object_id': '368',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '371': {'type': 'VEHICLE',\n", " 'object_id': '371',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 2},\n", " '375': {'type': 'VEHICLE',\n", " 'object_id': '375',\n", " 'track_length': 91,\n", " 'distance': 1.276842713356018,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '376': {'type': 'VEHICLE',\n", " 'object_id': '376',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 3},\n", " '378': {'type': 'VEHICLE',\n", " 'object_id': '378',\n", " 'track_length': 91,\n", " 'distance': 0.8214730098843575,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 12},\n", " '381': {'type': 'VEHICLE',\n", " 'object_id': '381',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 14},\n", " '385': {'type': 'VEHICLE',\n", " 'object_id': '385',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '387': {'type': 'VEHICLE',\n", " 'object_id': '387',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 8},\n", " '396': {'type': 'VEHICLE',\n", " 'object_id': '396',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 76,\n", " 'continuous_valid_length': 76},\n", " '400': {'type': 'VEHICLE',\n", " 'object_id': '400',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 4},\n", " '417': {'type': 'VEHICLE',\n", " 'object_id': '417',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 1},\n", " '419': {'type': 'VEHICLE',\n", " 'object_id': '419',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '421': {'type': 'VEHICLE',\n", " 'object_id': '421',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '422': {'type': 'VEHICLE',\n", " 'object_id': '422',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '428': {'type': 'VEHICLE',\n", " 'object_id': '428',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 17},\n", " '431': {'type': 'VEHICLE',\n", " 'object_id': '431',\n", " 'track_length': 91,\n", " 'distance': 1.1140524987131357,\n", " 'valid_length': 55,\n", " 'continuous_valid_length': 55},\n", " '432': {'type': 'VEHICLE',\n", " 'object_id': '432',\n", " 'track_length': 91,\n", " 'distance': 0.7980888915481046,\n", " 'valid_length': 51,\n", " 'continuous_valid_length': 51},\n", " '437': {'type': 'VEHICLE',\n", " 'object_id': '437',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 3},\n", " '446': {'type': 'VEHICLE',\n", " 'object_id': '446',\n", " 'track_length': 91,\n", " 'distance': 0.6166307427920401,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 19},\n", " '451': {'type': 'VEHICLE',\n", " 'object_id': '451',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 60,\n", " 'continuous_valid_length': 59},\n", " '452': {'type': 'VEHICLE',\n", " 'object_id': '452',\n", " 'track_length': 91,\n", " 'distance': 6.6010882165282965,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 51},\n", " '455': {'type': 'VEHICLE',\n", " 'object_id': '455',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '457': {'type': 'VEHICLE',\n", " 'object_id': '457',\n", " 'track_length': 91,\n", " 'distance': 0.823718479485251,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '458': {'type': 'VEHICLE',\n", " 'object_id': '458',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 70,\n", " 'continuous_valid_length': 67},\n", " '460': {'type': 'VEHICLE',\n", " 'object_id': '460',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '464': {'type': 'VEHICLE',\n", " 'object_id': '464',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 3,\n", " 'continuous_valid_length': 2},\n", " '466': {'type': 'VEHICLE',\n", " 'object_id': '466',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '469': {'type': 'VEHICLE',\n", " 'object_id': '469',\n", " 'track_length': 91,\n", " 'distance': 7.551295776618645,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 67},\n", " '471': {'type': 'VEHICLE',\n", " 'object_id': '471',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 4},\n", " '472': {'type': 'VEHICLE',\n", " 'object_id': '472',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '475': {'type': 'VEHICLE',\n", " 'object_id': '475',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '480': {'type': 'VEHICLE',\n", " 'object_id': '480',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 2},\n", " '484': {'type': 'VEHICLE',\n", " 'object_id': '484',\n", " 'track_length': 91,\n", " 'distance': 9.533195000141859,\n", " 'valid_length': 39,\n", " 'continuous_valid_length': 1},\n", " '485': {'type': 'VEHICLE',\n", " 'object_id': '485',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '487': {'type': 'VEHICLE',\n", " 'object_id': '487',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 55,\n", " 'continuous_valid_length': 16},\n", " '490': {'type': 'VEHICLE',\n", " 'object_id': '490',\n", " 'track_length': 91,\n", " 'distance': 34.23079764936119,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '493': {'type': 'VEHICLE',\n", " 'object_id': '493',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 7},\n", " '495': {'type': 'VEHICLE',\n", " 'object_id': '495',\n", " 'track_length': 91,\n", " 'distance': 14.006807163357735,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 44},\n", " '496': {'type': 'VEHICLE',\n", " 'object_id': '496',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 33},\n", " '497': {'type': 'VEHICLE',\n", " 'object_id': '497',\n", " 'track_length': 91,\n", " 'distance': 15.832195341587067,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 22},\n", " '500': {'type': 'VEHICLE',\n", " 'object_id': '500',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 89,\n", " 'continuous_valid_length': 27},\n", " '501': {'type': 'VEHICLE',\n", " 'object_id': '501',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 9},\n", " '502': {'type': 'VEHICLE',\n", " 'object_id': '502',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '504': {'type': 'VEHICLE',\n", " 'object_id': '504',\n", " 'track_length': 91,\n", " 'distance': 6.018707137554884,\n", " 'valid_length': 80,\n", " 'continuous_valid_length': 80},\n", " '505': {'type': 'VEHICLE',\n", " 'object_id': '505',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 1},\n", " '506': {'type': 'VEHICLE',\n", " 'object_id': '506',\n", " 'track_length': 91,\n", " 'distance': 7.8919847551733255,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 49},\n", " '507': {'type': 'VEHICLE',\n", " 'object_id': '507',\n", " 'track_length': 91,\n", " 'distance': 13.17229554709047,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '508': {'type': 'VEHICLE',\n", " 'object_id': '508',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 8},\n", " '509': {'type': 'VEHICLE',\n", " 'object_id': '509',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 1},\n", " '511': {'type': 'VEHICLE',\n", " 'object_id': '511',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 1},\n", " '515': {'type': 'VEHICLE',\n", " 'object_id': '515',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 22},\n", " '516': {'type': 'VEHICLE',\n", " 'object_id': '516',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 21,\n", " 'continuous_valid_length': 8},\n", " '517': {'type': 'VEHICLE',\n", " 'object_id': '517',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 1},\n", " '518': {'type': 'VEHICLE',\n", " 'object_id': '518',\n", " 'track_length': 91,\n", " 'distance': 5.325449822470546,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '519': {'type': 'VEHICLE',\n", " 'object_id': '519',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 10},\n", " '526': {'type': 'VEHICLE',\n", " 'object_id': '526',\n", " 'track_length': 91,\n", " 'distance': 16.80795606970787,\n", " 'valid_length': 27,\n", " 'continuous_valid_length': 26},\n", " '527': {'type': 'VEHICLE',\n", " 'object_id': '527',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 2},\n", " '530': {'type': 'VEHICLE',\n", " 'object_id': '530',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 86,\n", " 'continuous_valid_length': 21},\n", " '531': {'type': 'VEHICLE',\n", " 'object_id': '531',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 88,\n", " 'continuous_valid_length': 88},\n", " '532': {'type': 'VEHICLE',\n", " 'object_id': '532',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '534': {'type': 'VEHICLE',\n", " 'object_id': '534',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 88,\n", " 'continuous_valid_length': 39},\n", " '536': {'type': 'VEHICLE',\n", " 'object_id': '536',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '537': {'type': 'VEHICLE',\n", " 'object_id': '537',\n", " 'track_length': 91,\n", " 'distance': 0.4888385673984885,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '540': {'type': 'VEHICLE',\n", " 'object_id': '540',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 85,\n", " 'continuous_valid_length': 85},\n", " '542': {'type': 'VEHICLE',\n", " 'object_id': '542',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 1},\n", " '543': {'type': 'VEHICLE',\n", " 'object_id': '543',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 1},\n", " '544': {'type': 'VEHICLE',\n", " 'object_id': '544',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 1},\n", " '545': {'type': 'VEHICLE',\n", " 'object_id': '545',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 1},\n", " '546': {'type': 'VEHICLE',\n", " 'object_id': '546',\n", " 'track_length': 91,\n", " 'distance': 0.6660598255693913,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '547': {'type': 'VEHICLE',\n", " 'object_id': '547',\n", " 'track_length': 91,\n", " 'distance': 1.0082283169031143,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '548': {'type': 'VEHICLE',\n", " 'object_id': '548',\n", " 'track_length': 91,\n", " 'distance': 1.9234367492608726,\n", " 'valid_length': 80,\n", " 'continuous_valid_length': 80},\n", " '549': {'type': 'VEHICLE',\n", " 'object_id': '549',\n", " 'track_length': 91,\n", " 'distance': 26.11587554216385,\n", " 'valid_length': 37,\n", " 'continuous_valid_length': 36},\n", " '550': {'type': 'VEHICLE',\n", " 'object_id': '550',\n", " 'track_length': 91,\n", " 'distance': 1.9516869257204235,\n", " 'valid_length': 78,\n", " 'continuous_valid_length': 1},\n", " '555': {'type': 'VEHICLE',\n", " 'object_id': '555',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 78,\n", " 'continuous_valid_length': 78},\n", " '556': {'type': 'VEHICLE',\n", " 'object_id': '556',\n", " 'track_length': 91,\n", " 'distance': 31.758361959829926,\n", " 'valid_length': 78,\n", " 'continuous_valid_length': 78},\n", " '557': {'type': 'VEHICLE',\n", " 'object_id': '557',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 41,\n", " 'continuous_valid_length': 1},\n", " '560': {'type': 'VEHICLE',\n", " 'object_id': '560',\n", " 'track_length': 91,\n", " 'distance': 0.7265744209289551,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '562': {'type': 'VEHICLE',\n", " 'object_id': '562',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 9},\n", " '566': {'type': 'VEHICLE',\n", " 'object_id': '566',\n", " 'track_length': 91,\n", " 'distance': 9.712436974048615,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 2},\n", " '568': {'type': 'VEHICLE',\n", " 'object_id': '568',\n", " 'track_length': 91,\n", " 'distance': 1.843812669860199,\n", " 'valid_length': 73,\n", " 'continuous_valid_length': 73},\n", " '569': {'type': 'VEHICLE',\n", " 'object_id': '569',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 73,\n", " 'continuous_valid_length': 73},\n", " '570': {'type': 'VEHICLE',\n", " 'object_id': '570',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 1},\n", " '571': {'type': 'VEHICLE',\n", " 'object_id': '571',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 1},\n", " '572': {'type': 'VEHICLE',\n", " 'object_id': '572',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 2},\n", " '574': {'type': 'VEHICLE',\n", " 'object_id': '574',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 9},\n", " '576': {'type': 'VEHICLE',\n", " 'object_id': '576',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '578': {'type': 'VEHICLE',\n", " 'object_id': '578',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 15},\n", " '579': {'type': 'VEHICLE',\n", " 'object_id': '579',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '580': {'type': 'VEHICLE',\n", " 'object_id': '580',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 21},\n", " '581': {'type': 'VEHICLE',\n", " 'object_id': '581',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 21},\n", " '582': {'type': 'VEHICLE',\n", " 'object_id': '582',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 73,\n", " 'continuous_valid_length': 73},\n", " '583': {'type': 'VEHICLE',\n", " 'object_id': '583',\n", " 'track_length': 91,\n", " 'distance': 5.7331065577454865,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 1},\n", " '584': {'type': 'VEHICLE',\n", " 'object_id': '584',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 18},\n", " '585': {'type': 'VEHICLE',\n", " 'object_id': '585',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 23},\n", " '587': {'type': 'VEHICLE',\n", " 'object_id': '587',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 67},\n", " '591': {'type': 'VEHICLE',\n", " 'object_id': '591',\n", " 'track_length': 91,\n", " 'distance': 37.11683337390423,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 66},\n", " '592': {'type': 'VEHICLE',\n", " 'object_id': '592',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 66},\n", " '593': {'type': 'VEHICLE',\n", " 'object_id': '593',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 19},\n", " '594': {'type': 'VEHICLE',\n", " 'object_id': '594',\n", " 'track_length': 91,\n", " 'distance': 15.813339234795421,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 66},\n", " '596': {'type': 'VEHICLE',\n", " 'object_id': '596',\n", " 'track_length': 91,\n", " 'distance': 11.588347688317299,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 66},\n", " '597': {'type': 'VEHICLE',\n", " 'object_id': '597',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 2},\n", " '598': {'type': 'VEHICLE',\n", " 'object_id': '598',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 23},\n", " '599': {'type': 'VEHICLE',\n", " 'object_id': '599',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 65,\n", " 'continuous_valid_length': 22},\n", " '601': {'type': 'VEHICLE',\n", " 'object_id': '601',\n", " 'track_length': 91,\n", " 'distance': 6.672057034331374,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 64},\n", " '602': {'type': 'VEHICLE',\n", " 'object_id': '602',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 4},\n", " '603': {'type': 'VEHICLE',\n", " 'object_id': '603',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 16},\n", " '604': {'type': 'VEHICLE',\n", " 'object_id': '604',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 64},\n", " '606': {'type': 'VEHICLE',\n", " 'object_id': '606',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 63,\n", " 'continuous_valid_length': 1},\n", " '607': {'type': 'VEHICLE',\n", " 'object_id': '607',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 62,\n", " 'continuous_valid_length': 62},\n", " '608': {'type': 'VEHICLE',\n", " 'object_id': '608',\n", " 'track_length': 91,\n", " 'distance': 1.405983716249466,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '610': {'type': 'VEHICLE',\n", " 'object_id': '610',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 62,\n", " 'continuous_valid_length': 1},\n", " '612': {'type': 'VEHICLE',\n", " 'object_id': '612',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 12},\n", " '613': {'type': 'VEHICLE',\n", " 'object_id': '613',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 60,\n", " 'continuous_valid_length': 60},\n", " '615': {'type': 'VEHICLE',\n", " 'object_id': '615',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 58,\n", " 'continuous_valid_length': 58},\n", " '616': {'type': 'VEHICLE',\n", " 'object_id': '616',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 60,\n", " 'continuous_valid_length': 60},\n", " '617': {'type': 'VEHICLE',\n", " 'object_id': '617',\n", " 'track_length': 91,\n", " 'distance': 6.042413581628352,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 1},\n", " '621': {'type': 'VEHICLE',\n", " 'object_id': '621',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 60,\n", " 'continuous_valid_length': 8},\n", " '622': {'type': 'VEHICLE',\n", " 'object_id': '622',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 57,\n", " 'continuous_valid_length': 57},\n", " '624': {'type': 'VEHICLE',\n", " 'object_id': '624',\n", " 'track_length': 91,\n", " 'distance': 2.07014262676239,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '627': {'type': 'VEHICLE',\n", " 'object_id': '627',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 53,\n", " 'continuous_valid_length': 53},\n", " '628': {'type': 'VEHICLE',\n", " 'object_id': '628',\n", " 'track_length': 91,\n", " 'distance': 0.25654466077685356,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '629': {'type': 'VEHICLE',\n", " 'object_id': '629',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 52},\n", " '631': {'type': 'VEHICLE',\n", " 'object_id': '631',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 51,\n", " 'continuous_valid_length': 51},\n", " '632': {'type': 'VEHICLE',\n", " 'object_id': '632',\n", " 'track_length': 91,\n", " 'distance': 15.686851650476456,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 4},\n", " '634': {'type': 'VEHICLE',\n", " 'object_id': '634',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 48},\n", " '635': {'type': 'VEHICLE',\n", " 'object_id': '635',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 3},\n", " '637': {'type': 'VEHICLE',\n", " 'object_id': '637',\n", " 'track_length': 91,\n", " 'distance': 5.095191866159439,\n", " 'valid_length': 46,\n", " 'continuous_valid_length': 46},\n", " '639': {'type': 'VEHICLE',\n", " 'object_id': '639',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 48},\n", " '640': {'type': 'VEHICLE',\n", " 'object_id': '640',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 4},\n", " '642': {'type': 'VEHICLE',\n", " 'object_id': '642',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 48},\n", " '644': {'type': 'VEHICLE',\n", " 'object_id': '644',\n", " 'track_length': 91,\n", " 'distance': 1.7224541562609375,\n", " 'valid_length': 39,\n", " 'continuous_valid_length': 2},\n", " '645': {'type': 'VEHICLE',\n", " 'object_id': '645',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 42,\n", " 'continuous_valid_length': 42},\n", " '646': {'type': 'VEHICLE',\n", " 'object_id': '646',\n", " 'track_length': 91,\n", " 'distance': 4.590390021679923,\n", " 'valid_length': 41,\n", " 'continuous_valid_length': 1},\n", " '647': {'type': 'VEHICLE',\n", " 'object_id': '647',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 6},\n", " '648': {'type': 'VEHICLE',\n", " 'object_id': '648',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 46,\n", " 'continuous_valid_length': 46},\n", " '649': {'type': 'VEHICLE',\n", " 'object_id': '649',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 41,\n", " 'continuous_valid_length': 41},\n", " '650': {'type': 'VEHICLE',\n", " 'object_id': '650',\n", " 'track_length': 91,\n", " 'distance': 1.6701414708513767,\n", " 'valid_length': 38,\n", " 'continuous_valid_length': 5},\n", " '651': {'type': 'VEHICLE',\n", " 'object_id': '651',\n", " 'track_length': 91,\n", " 'distance': 5.15161857008934,\n", " 'valid_length': 38,\n", " 'continuous_valid_length': 38},\n", " '652': {'type': 'VEHICLE',\n", " 'object_id': '652',\n", " 'track_length': 91,\n", " 'distance': 14.368283748626709,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '654': {'type': 'VEHICLE',\n", " 'object_id': '654',\n", " 'track_length': 91,\n", " 'distance': 46.69343686103821,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 35},\n", " '656': {'type': 'VEHICLE',\n", " 'object_id': '656',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 44},\n", " '657': {'type': 'VEHICLE',\n", " 'object_id': '657',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 43,\n", " 'continuous_valid_length': 43},\n", " '658': {'type': 'VEHICLE',\n", " 'object_id': '658',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 1},\n", " '660': {'type': 'VEHICLE',\n", " 'object_id': '660',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 36,\n", " 'continuous_valid_length': 23},\n", " '661': {'type': 'VEHICLE',\n", " 'object_id': '661',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 37,\n", " 'continuous_valid_length': 9},\n", " '662': {'type': 'VEHICLE',\n", " 'object_id': '662',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 35},\n", " '663': {'type': 'VEHICLE',\n", " 'object_id': '663',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 25,\n", " 'continuous_valid_length': 25},\n", " '664': {'type': 'VEHICLE',\n", " 'object_id': '664',\n", " 'track_length': 91,\n", " 'distance': 21.729984641075134,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 24},\n", " '665': {'type': 'VEHICLE',\n", " 'object_id': '665',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 31},\n", " '666': {'type': 'VEHICLE',\n", " 'object_id': '666',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 18},\n", " '667': {'type': 'VEHICLE',\n", " 'object_id': '667',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 1},\n", " '668': {'type': 'VEHICLE',\n", " 'object_id': '668',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 20,\n", " 'continuous_valid_length': 5},\n", " '669': {'type': 'VEHICLE',\n", " 'object_id': '669',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 29},\n", " '670': {'type': 'VEHICLE',\n", " 'object_id': '670',\n", " 'track_length': 91,\n", " 'distance': 12.148452699184418,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 13},\n", " '671': {'type': 'VEHICLE',\n", " 'object_id': '671',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 21,\n", " 'continuous_valid_length': 21},\n", " '673': {'type': 'VEHICLE',\n", " 'object_id': '673',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 26},\n", " '675': {'type': 'VEHICLE',\n", " 'object_id': '675',\n", " 'track_length': 91,\n", " 'distance': 1.6272050365805626,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '676': {'type': 'VEHICLE',\n", " 'object_id': '676',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 6},\n", " '677': {'type': 'VEHICLE',\n", " 'object_id': '677',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 24},\n", " '678': {'type': 'VEHICLE',\n", " 'object_id': '678',\n", " 'track_length': 91,\n", " 'distance': 13.123132586479187,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '679': {'type': 'VEHICLE',\n", " 'object_id': '679',\n", " 'track_length': 91,\n", " 'distance': 10.786753237247467,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '680': {'type': 'VEHICLE',\n", " 'object_id': '680',\n", " 'track_length': 91,\n", " 'distance': 7.589548408985138,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '683': {'type': 'VEHICLE',\n", " 'object_id': '683',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 1},\n", " '684': {'type': 'VEHICLE',\n", " 'object_id': '684',\n", " 'track_length': 91,\n", " 'distance': 12.004751324653625,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 8},\n", " '685': {'type': 'VEHICLE',\n", " 'object_id': '685',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 1},\n", " '687': {'type': 'VEHICLE',\n", " 'object_id': '687',\n", " 'track_length': 91,\n", " 'distance': 6.919632136821747,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '690': {'type': 'VEHICLE',\n", " 'object_id': '690',\n", " 'track_length': 91,\n", " 'distance': 1.319422960281372,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '691': {'type': 'VEHICLE',\n", " 'object_id': '691',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '692': {'type': 'VEHICLE',\n", " 'object_id': '692',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '752': {'type': 'PEDESTRIAN',\n", " 'object_id': '752',\n", " 'track_length': 91,\n", " 'distance': 9.990137495100498,\n", " 'valid_length': 70,\n", " 'continuous_valid_length': 70},\n", " '757': {'type': 'PEDESTRIAN',\n", " 'object_id': '757',\n", " 'track_length': 91,\n", " 'distance': 0.9828233160078526,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 1},\n", " '761': {'type': 'PEDESTRIAN',\n", " 'object_id': '761',\n", " 'track_length': 91,\n", " 'distance': 0.5501821283251047,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 1},\n", " '763': {'type': 'PEDESTRIAN',\n", " 'object_id': '763',\n", " 'track_length': 91,\n", " 'distance': 0.8864371012896299,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 5},\n", " '775': {'type': 'PEDESTRIAN',\n", " 'object_id': '775',\n", " 'track_length': 91,\n", " 'distance': 1.2418494001030922,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '778': {'type': 'PEDESTRIAN',\n", " 'object_id': '778',\n", " 'track_length': 91,\n", " 'distance': 4.065424693748355,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 2},\n", " '779': {'type': 'PEDESTRIAN',\n", " 'object_id': '779',\n", " 'track_length': 91,\n", " 'distance': 1.8515599071979523,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 16},\n", " '786': {'type': 'PEDESTRIAN',\n", " 'object_id': '786',\n", " 'track_length': 91,\n", " 'distance': 1.2681039795279503,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 1},\n", " '788': {'type': 'PEDESTRIAN',\n", " 'object_id': '788',\n", " 'track_length': 91,\n", " 'distance': 1.7190424352884293,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 12},\n", " '789': {'type': 'PEDESTRIAN',\n", " 'object_id': '789',\n", " 'track_length': 91,\n", " 'distance': 0.802222803235054,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 9},\n", " '795': {'type': 'PEDESTRIAN',\n", " 'object_id': '795',\n", " 'track_length': 91,\n", " 'distance': 3.484301283955574,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 26},\n", " '796': {'type': 'PEDESTRIAN',\n", " 'object_id': '796',\n", " 'track_length': 91,\n", " 'distance': 1.7422855999320745,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 24},\n", " '798': {'type': 'PEDESTRIAN',\n", " 'object_id': '798',\n", " 'track_length': 91,\n", " 'distance': 1.9151662737131119,\n", " 'valid_length': 20,\n", " 'continuous_valid_length': 20},\n", " '800': {'type': 'PEDESTRIAN',\n", " 'object_id': '800',\n", " 'track_length': 91,\n", " 'distance': 1.0499958880245686,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 10},\n", " '802': {'type': 'PEDESTRIAN',\n", " 'object_id': '802',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '803': {'type': 'PEDESTRIAN',\n", " 'object_id': '803',\n", " 'track_length': 91,\n", " 'distance': 1.7290306314826012,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 17},\n", " '807': {'type': 'PEDESTRIAN',\n", " 'object_id': '807',\n", " 'track_length': 91,\n", " 'distance': 1.7332774251699448,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '808': {'type': 'PEDESTRIAN',\n", " 'object_id': '808',\n", " 'track_length': 91,\n", " 'distance': 0.7331183645874262,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 7},\n", " '809': {'type': 'PEDESTRIAN',\n", " 'object_id': '809',\n", " 'track_length': 91,\n", " 'distance': 1.4187113791704178,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '810': {'type': 'PEDESTRIAN',\n", " 'object_id': '810',\n", " 'track_length': 91,\n", " 'distance': 4.130044959485531,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 5},\n", " '811': {'type': 'PEDESTRIAN',\n", " 'object_id': '811',\n", " 'track_length': 91,\n", " 'distance': 0.6255718544125557,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '812': {'type': 'PEDESTRIAN',\n", " 'object_id': '812',\n", " 'track_length': 91,\n", " 'distance': 1.3105508536100388,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 14},\n", " '818': {'type': 'PEDESTRIAN',\n", " 'object_id': '818',\n", " 'track_length': 91,\n", " 'distance': 0.37125103222206235,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 3},\n", " '825': {'type': 'PEDESTRIAN',\n", " 'object_id': '825',\n", " 'track_length': 91,\n", " 'distance': 0.36107008159160614,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '827': {'type': 'PEDESTRIAN',\n", " 'object_id': '827',\n", " 'track_length': 91,\n", " 'distance': 0.015506293624639511,\n", " 'valid_length': 2,\n", " 'continuous_valid_length': 2},\n", " '1624': {'type': 'CYCLIST',\n", " 'object_id': '1624',\n", " 'track_length': 91,\n", " 'distance': 19.005091778934002,\n", " 'valid_length': 80,\n", " 'continuous_valid_length': 61},\n", " '1625': {'type': 'CYCLIST',\n", " 'object_id': '1625',\n", " 'track_length': 91,\n", " 'distance': 2.818502277135849,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '1629': {'type': 'VEHICLE',\n", " 'object_id': '1629',\n", " 'track_length': 91,\n", " 'distance': 84.20105910301208,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91}},\n", " 'number_summary': {'object': 211,\n", " 'dynamic_object_states': 8,\n", " 'map_features': 358,\n", " 'object_types': {'CYCLIST', 'PEDESTRIAN', 'VEHICLE'},\n", " 'object_types_counter': {'VEHICLE': 184, 'PEDESTRIAN': 25, 'CYCLIST': 2},\n", " 'dynamic_object_states_types': {'LANE_STATE_STOP', 'LANE_STATE_UNKNOWN'},\n", " 'dynamic_object_states_counter': {'LANE_STATE_UNKNOWN': 164,\n", " 'LANE_STATE_STOP': 564}}},\n", " 'sd_training.tfrecord-00000-of-01000_c403d5992cab9e0.pkl': {'coordinate': 'waymo',\n", " 'ts': [0.0,\n", " 0.10006000101566315,\n", " 0.200080007314682,\n", " 0.3000899851322174,\n", " 0.40011999011039734,\n", " 0.5001299977302551,\n", " 0.6001700162887573,\n", " 0.7002000212669373,\n", " 0.8002200126647949,\n", " 0.9002000093460083,\n", " 1.000190019607544,\n", " 1.1001800298690796,\n", " 1.2001700401306152,\n", " 1.3001500368118286,\n", " 1.4001400470733643,\n", " 1.5000799894332886,\n", " 1.600059986114502,\n", " 1.7000099420547485,\n", " 1.7999600172042847,\n", " 1.899899959564209,\n", " 1.9998500347137451,\n", " 2.0998001098632812,\n", " 2.1997900009155273,\n", " 2.2997701168060303,\n", " 2.399790048599243,\n", " 2.499809980392456,\n", " 2.599829912185669,\n", " 2.6998000144958496,\n", " 2.7997500896453857,\n", " 2.8996999263763428,\n", " 2.999660015106201,\n", " 3.0996499061584473,\n", " 3.19963002204895,\n", " 3.2996199131011963,\n", " 3.399630069732666,\n", " 3.499660015106201,\n", " 3.5996899604797363,\n", " 3.699709892272949,\n", " 3.799730062484741,\n", " 3.899790048599243,\n", " 3.999809980392456,\n", " 4.099800109863281,\n", " 4.199820041656494,\n", " 4.299829959869385,\n", " 4.399849891662598,\n", " 4.499859809875488,\n", " 4.599890232086182,\n", " 4.699860095977783,\n", " 4.799849987030029,\n", " 4.899839878082275,\n", " 4.999800205230713,\n", " 5.0997700691223145,\n", " 5.199749946594238,\n", " 5.299729824066162,\n", " 5.399680137634277,\n", " 5.499670028686523,\n", " 5.5996198654174805,\n", " 5.6996002197265625,\n", " 5.799590110778809,\n", " 5.899569988250732,\n", " 5.999629974365234,\n", " 6.099689960479736,\n", " 6.19966983795166,\n", " 6.299610137939453,\n", " 6.399630069732666,\n", " 6.499619960784912,\n", " 6.599649906158447,\n", " 6.699629783630371,\n", " 6.799620151519775,\n", " 6.899569988250732,\n", " 6.9995198249816895,\n", " 7.0995001792907715,\n", " 7.1994500160217285,\n", " 7.299469947814941,\n", " 7.399499893188477,\n", " 7.4994797706604,\n", " 7.5995001792907715,\n", " 7.699490070343018,\n", " 7.799520015716553,\n", " 7.899529933929443,\n", " 7.999509811401367,\n", " 8.099539756774902,\n", " 8.199540138244629,\n", " 8.299590110778809,\n", " 8.399649620056152,\n", " 8.499710083007812,\n", " 8.599769592285156,\n", " 8.699749946594238,\n", " 8.799739837646484,\n", " 8.899720191955566,\n", " 8.999710083007812],\n", " 'metadrive_processed': False,\n", " 'sdc_id': '2598',\n", " 'dataset': 'waymo',\n", " 'scenario_id': 'c403d5992cab9e0',\n", " 'source_file': 'training.tfrecord-00000-of-01000',\n", " 'track_length': 91,\n", " 'current_time_index': 10,\n", " 'sdc_track_index': 137,\n", " 'objects_of_interest': [],\n", " 'tracks_to_predict': {'1237': {'track_index': 20,\n", " 'track_id': '1237',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1291': {'track_index': 50,\n", " 'track_id': '1291',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1227': {'track_index': 12,\n", " 'track_id': '1227',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1218': {'track_index': 4,\n", " 'track_id': '1218',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1220': {'track_index': 5,\n", " 'track_id': '1220',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1222': {'track_index': 7,\n", " 'track_id': '1222',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1253': {'track_index': 28,\n", " 'track_id': '1253',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1265': {'track_index': 31,\n", " 'track_id': '1265',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'}},\n", " 'object_summary': {'sdc': {'type': 'VEHICLE',\n", " 'object_id': '2598',\n", " 'track_length': 91,\n", " 'distance': 87.82377874851227,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '2597': {'type': 'CYCLIST',\n", " 'object_id': '2597',\n", " 'track_length': 91,\n", " 'distance': 19.422608241438866,\n", " 'valid_length': 39,\n", " 'continuous_valid_length': 1},\n", " '1214': {'type': 'VEHICLE',\n", " 'object_id': '1214',\n", " 'track_length': 91,\n", " 'distance': 95.4300137758255,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1215': {'type': 'VEHICLE',\n", " 'object_id': '1215',\n", " 'track_length': 91,\n", " 'distance': 65.02576625347137,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1217': {'type': 'VEHICLE',\n", " 'object_id': '1217',\n", " 'track_length': 91,\n", " 'distance': 86.97829705476761,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1218': {'type': 'VEHICLE',\n", " 'object_id': '1218',\n", " 'track_length': 91,\n", " 'distance': 87.96404638886452,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1220': {'type': 'VEHICLE',\n", " 'object_id': '1220',\n", " 'track_length': 91,\n", " 'distance': 90.80087488889694,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1221': {'type': 'VEHICLE',\n", " 'object_id': '1221',\n", " 'track_length': 91,\n", " 'distance': 84.7097362279892,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1222': {'type': 'VEHICLE',\n", " 'object_id': '1222',\n", " 'track_length': 91,\n", " 'distance': 105.28678387403488,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1223': {'type': 'VEHICLE',\n", " 'object_id': '1223',\n", " 'track_length': 91,\n", " 'distance': 85.33175677061081,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1224': {'type': 'VEHICLE',\n", " 'object_id': '1224',\n", " 'track_length': 91,\n", " 'distance': 94.17920249700546,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1225': {'type': 'VEHICLE',\n", " 'object_id': '1225',\n", " 'track_length': 91,\n", " 'distance': 100.79324805736542,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1226': {'type': 'VEHICLE',\n", " 'object_id': '1226',\n", " 'track_length': 91,\n", " 'distance': 63.79297003149986,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1227': {'type': 'VEHICLE',\n", " 'object_id': '1227',\n", " 'track_length': 91,\n", " 'distance': 72.77636754512787,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1228': {'type': 'VEHICLE',\n", " 'object_id': '1228',\n", " 'track_length': 91,\n", " 'distance': 39.030971348285675,\n", " 'valid_length': 34,\n", " 'continuous_valid_length': 28},\n", " '1229': {'type': 'VEHICLE',\n", " 'object_id': '1229',\n", " 'track_length': 91,\n", " 'distance': 21.115224450826645,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 49},\n", " '1230': {'type': 'VEHICLE',\n", " 'object_id': '1230',\n", " 'track_length': 91,\n", " 'distance': 104.44723045825958,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1231': {'type': 'VEHICLE',\n", " 'object_id': '1231',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 51},\n", " '1234': {'type': 'VEHICLE',\n", " 'object_id': '1234',\n", " 'track_length': 91,\n", " 'distance': 14.867855727672577,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '1235': {'type': 'VEHICLE',\n", " 'object_id': '1235',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 50},\n", " '1236': {'type': 'VEHICLE',\n", " 'object_id': '1236',\n", " 'track_length': 91,\n", " 'distance': 28.499743044376373,\n", " 'valid_length': 62,\n", " 'continuous_valid_length': 62},\n", " '1237': {'type': 'VEHICLE',\n", " 'object_id': '1237',\n", " 'track_length': 91,\n", " 'distance': 31.441967770457268,\n", " 'valid_length': 66,\n", " 'continuous_valid_length': 4},\n", " '1241': {'type': 'VEHICLE',\n", " 'object_id': '1241',\n", " 'track_length': 91,\n", " 'distance': 29.400549337267876,\n", " 'valid_length': 62,\n", " 'continuous_valid_length': 62},\n", " '1242': {'type': 'VEHICLE',\n", " 'object_id': '1242',\n", " 'track_length': 91,\n", " 'distance': 5.463862497359514,\n", " 'valid_length': 63,\n", " 'continuous_valid_length': 63},\n", " '1243': {'type': 'VEHICLE',\n", " 'object_id': '1243',\n", " 'track_length': 91,\n", " 'distance': 91.42621803283691,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1247': {'type': 'VEHICLE',\n", " 'object_id': '1247',\n", " 'track_length': 91,\n", " 'distance': 50.66574926674366,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1248': {'type': 'VEHICLE',\n", " 'object_id': '1248',\n", " 'track_length': 91,\n", " 'distance': 72.40280821919441,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1250': {'type': 'VEHICLE',\n", " 'object_id': '1250',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '1252': {'type': 'VEHICLE',\n", " 'object_id': '1252',\n", " 'track_length': 91,\n", " 'distance': 16.54107877612114,\n", " 'valid_length': 65,\n", " 'continuous_valid_length': 10},\n", " '1253': {'type': 'VEHICLE',\n", " 'object_id': '1253',\n", " 'track_length': 91,\n", " 'distance': 48.091065883636475,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1260': {'type': 'VEHICLE',\n", " 'object_id': '1260',\n", " 'track_length': 91,\n", " 'distance': 53.428133964538574,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 31},\n", " '1263': {'type': 'VEHICLE',\n", " 'object_id': '1263',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 9},\n", " '1265': {'type': 'VEHICLE',\n", " 'object_id': '1265',\n", " 'track_length': 91,\n", " 'distance': 100.11267822980881,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1268': {'type': 'VEHICLE',\n", " 'object_id': '1268',\n", " 'track_length': 91,\n", " 'distance': 41.54348695278168,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 22},\n", " '1269': {'type': 'VEHICLE',\n", " 'object_id': '1269',\n", " 'track_length': 91,\n", " 'distance': 76.1319785118103,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1270': {'type': 'VEHICLE',\n", " 'object_id': '1270',\n", " 'track_length': 91,\n", " 'distance': 52.40373682975769,\n", " 'valid_length': 27,\n", " 'continuous_valid_length': 27},\n", " '1271': {'type': 'VEHICLE',\n", " 'object_id': '1271',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 3},\n", " '1273': {'type': 'VEHICLE',\n", " 'object_id': '1273',\n", " 'track_length': 91,\n", " 'distance': 1.7583104372024536,\n", " 'valid_length': 2,\n", " 'continuous_valid_length': 1},\n", " '1275': {'type': 'VEHICLE',\n", " 'object_id': '1275',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 33},\n", " '1276': {'type': 'VEHICLE',\n", " 'object_id': '1276',\n", " 'track_length': 91,\n", " 'distance': 71.0501058101654,\n", " 'valid_length': 36,\n", " 'continuous_valid_length': 12},\n", " '1277': {'type': 'VEHICLE',\n", " 'object_id': '1277',\n", " 'track_length': 91,\n", " 'distance': 57.17885971069336,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 30},\n", " '1278': {'type': 'VEHICLE',\n", " 'object_id': '1278',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 71,\n", " 'continuous_valid_length': 3},\n", " '1279': {'type': 'VEHICLE',\n", " 'object_id': '1279',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 23},\n", " '1282': {'type': 'VEHICLE',\n", " 'object_id': '1282',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 2},\n", " '1283': {'type': 'VEHICLE',\n", " 'object_id': '1283',\n", " 'track_length': 91,\n", " 'distance': 6.380410931073129,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1285': {'type': 'VEHICLE',\n", " 'object_id': '1285',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 13},\n", " '1286': {'type': 'VEHICLE',\n", " 'object_id': '1286',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 4},\n", " '1287': {'type': 'VEHICLE',\n", " 'object_id': '1287',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 45,\n", " 'continuous_valid_length': 7},\n", " '1288': {'type': 'VEHICLE',\n", " 'object_id': '1288',\n", " 'track_length': 91,\n", " 'distance': 73.76324367523193,\n", " 'valid_length': 40,\n", " 'continuous_valid_length': 40},\n", " '1289': {'type': 'VEHICLE',\n", " 'object_id': '1289',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 65,\n", " 'continuous_valid_length': 65},\n", " '1290': {'type': 'VEHICLE',\n", " 'object_id': '1290',\n", " 'track_length': 91,\n", " 'distance': 95.91793358325958,\n", " 'valid_length': 87,\n", " 'continuous_valid_length': 3},\n", " '1291': {'type': 'VEHICLE',\n", " 'object_id': '1291',\n", " 'track_length': 91,\n", " 'distance': 36.57883393764496,\n", " 'valid_length': 68,\n", " 'continuous_valid_length': 3},\n", " '1292': {'type': 'VEHICLE',\n", " 'object_id': '1292',\n", " 'track_length': 91,\n", " 'distance': 78.53501605987549,\n", " 'valid_length': 42,\n", " 'continuous_valid_length': 42},\n", " '1293': {'type': 'VEHICLE',\n", " 'object_id': '1293',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 18},\n", " '1294': {'type': 'VEHICLE',\n", " 'object_id': '1294',\n", " 'track_length': 91,\n", " 'distance': 32.968475200235844,\n", " 'valid_length': 50,\n", " 'continuous_valid_length': 24},\n", " '1296': {'type': 'VEHICLE',\n", " 'object_id': '1296',\n", " 'track_length': 91,\n", " 'distance': 79.13819074630737,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 48},\n", " '1297': {'type': 'VEHICLE',\n", " 'object_id': '1297',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 2},\n", " '1298': {'type': 'VEHICLE',\n", " 'object_id': '1298',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 82,\n", " 'continuous_valid_length': 1},\n", " '1301': {'type': 'VEHICLE',\n", " 'object_id': '1301',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 20,\n", " 'continuous_valid_length': 8},\n", " '1302': {'type': 'VEHICLE',\n", " 'object_id': '1302',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 6},\n", " '1303': {'type': 'VEHICLE',\n", " 'object_id': '1303',\n", " 'track_length': 91,\n", " 'distance': 96.30204486846924,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 59},\n", " '1304': {'type': 'VEHICLE',\n", " 'object_id': '1304',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 25},\n", " '1305': {'type': 'VEHICLE',\n", " 'object_id': '1305',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 2},\n", " '1307': {'type': 'VEHICLE',\n", " 'object_id': '1307',\n", " 'track_length': 91,\n", " 'distance': 95.65283453464508,\n", " 'valid_length': 57,\n", " 'continuous_valid_length': 57},\n", " '1308': {'type': 'VEHICLE',\n", " 'object_id': '1308',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 13},\n", " '1309': {'type': 'VEHICLE',\n", " 'object_id': '1309',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 38,\n", " 'continuous_valid_length': 1},\n", " '1313': {'type': 'VEHICLE',\n", " 'object_id': '1313',\n", " 'track_length': 91,\n", " 'distance': 52.15755379199982,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 32},\n", " '1314': {'type': 'VEHICLE',\n", " 'object_id': '1314',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 14},\n", " '1316': {'type': 'VEHICLE',\n", " 'object_id': '1316',\n", " 'track_length': 91,\n", " 'distance': 31.985167384147644,\n", " 'valid_length': 20,\n", " 'continuous_valid_length': 20},\n", " '1317': {'type': 'VEHICLE',\n", " 'object_id': '1317',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 2},\n", " '1318': {'type': 'VEHICLE',\n", " 'object_id': '1318',\n", " 'track_length': 91,\n", " 'distance': 83.12868297100067,\n", " 'valid_length': 57,\n", " 'continuous_valid_length': 57},\n", " '1319': {'type': 'VEHICLE',\n", " 'object_id': '1319',\n", " 'track_length': 91,\n", " 'distance': 54.420005321502686,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 30},\n", " '1320': {'type': 'VEHICLE',\n", " 'object_id': '1320',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 13},\n", " '1321': {'type': 'VEHICLE',\n", " 'object_id': '1321',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 33,\n", " 'continuous_valid_length': 5},\n", " '1322': {'type': 'VEHICLE',\n", " 'object_id': '1322',\n", " 'track_length': 91,\n", " 'distance': 46.28187148272991,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 26},\n", " '1323': {'type': 'VEHICLE',\n", " 'object_id': '1323',\n", " 'track_length': 91,\n", " 'distance': 86.94498825073242,\n", " 'valid_length': 54,\n", " 'continuous_valid_length': 53},\n", " '1324': {'type': 'VEHICLE',\n", " 'object_id': '1324',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 19},\n", " '1328': {'type': 'VEHICLE',\n", " 'object_id': '1328',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 58,\n", " 'continuous_valid_length': 50},\n", " '1329': {'type': 'VEHICLE',\n", " 'object_id': '1329',\n", " 'track_length': 91,\n", " 'distance': 0.33421724662184715,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 1},\n", " '1330': {'type': 'VEHICLE',\n", " 'object_id': '1330',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 50,\n", " 'continuous_valid_length': 34},\n", " '1333': {'type': 'VEHICLE',\n", " 'object_id': '1333',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 4},\n", " '1334': {'type': 'VEHICLE',\n", " 'object_id': '1334',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 49},\n", " '1336': {'type': 'VEHICLE',\n", " 'object_id': '1336',\n", " 'track_length': 91,\n", " 'distance': 43.218641459941864,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 17},\n", " '1340': {'type': 'VEHICLE',\n", " 'object_id': '1340',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 47,\n", " 'continuous_valid_length': 31},\n", " '1341': {'type': 'VEHICLE',\n", " 'object_id': '1341',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 26,\n", " 'continuous_valid_length': 17},\n", " '1342': {'type': 'VEHICLE',\n", " 'object_id': '1342',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 39,\n", " 'continuous_valid_length': 6},\n", " '1343': {'type': 'VEHICLE',\n", " 'object_id': '1343',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 46,\n", " 'continuous_valid_length': 46},\n", " '1344': {'type': 'VEHICLE',\n", " 'object_id': '1344',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 25,\n", " 'continuous_valid_length': 1},\n", " '1345': {'type': 'VEHICLE',\n", " 'object_id': '1345',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 16},\n", " '1347': {'type': 'VEHICLE',\n", " 'object_id': '1347',\n", " 'track_length': 91,\n", " 'distance': 62.98618245124817,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 44},\n", " '1348': {'type': 'VEHICLE',\n", " 'object_id': '1348',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 43,\n", " 'continuous_valid_length': 43},\n", " '1349': {'type': 'VEHICLE',\n", " 'object_id': '1349',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 12},\n", " '1350': {'type': 'VEHICLE',\n", " 'object_id': '1350',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 5},\n", " '1351': {'type': 'VEHICLE',\n", " 'object_id': '1351',\n", " 'track_length': 91,\n", " 'distance': 9.257302701473236,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '1352': {'type': 'VEHICLE',\n", " 'object_id': '1352',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 12},\n", " '1353': {'type': 'VEHICLE',\n", " 'object_id': '1353',\n", " 'track_length': 91,\n", " 'distance': 14.692552208900452,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 9},\n", " '1355': {'type': 'VEHICLE',\n", " 'object_id': '1355',\n", " 'track_length': 91,\n", " 'distance': 2.251300647854805,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '1356': {'type': 'VEHICLE',\n", " 'object_id': '1356',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 2},\n", " '1357': {'type': 'VEHICLE',\n", " 'object_id': '1357',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 7},\n", " '1358': {'type': 'VEHICLE',\n", " 'object_id': '1358',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '1359': {'type': 'VEHICLE',\n", " 'object_id': '1359',\n", " 'track_length': 91,\n", " 'distance': 56.70941114425659,\n", " 'valid_length': 36,\n", " 'continuous_valid_length': 36},\n", " '1362': {'type': 'VEHICLE',\n", " 'object_id': '1362',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 1},\n", " '1363': {'type': 'VEHICLE',\n", " 'object_id': '1363',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 2},\n", " '1364': {'type': 'VEHICLE',\n", " 'object_id': '1364',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 12},\n", " '1365': {'type': 'VEHICLE',\n", " 'object_id': '1365',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 1},\n", " '1366': {'type': 'VEHICLE',\n", " 'object_id': '1366',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 36,\n", " 'continuous_valid_length': 1},\n", " '1369': {'type': 'VEHICLE',\n", " 'object_id': '1369',\n", " 'track_length': 91,\n", " 'distance': 3.708642393350601,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 9},\n", " '1371': {'type': 'VEHICLE',\n", " 'object_id': '1371',\n", " 'track_length': 91,\n", " 'distance': 26.28937864303589,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 1},\n", " '1373': {'type': 'VEHICLE',\n", " 'object_id': '1373',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 31,\n", " 'continuous_valid_length': 31},\n", " '1374': {'type': 'VEHICLE',\n", " 'object_id': '1374',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 25,\n", " 'continuous_valid_length': 11},\n", " '1375': {'type': 'VEHICLE',\n", " 'object_id': '1375',\n", " 'track_length': 91,\n", " 'distance': 17.731433033943176,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 7},\n", " '1376': {'type': 'VEHICLE',\n", " 'object_id': '1376',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 8},\n", " '1377': {'type': 'VEHICLE',\n", " 'object_id': '1377',\n", " 'track_length': 91,\n", " 'distance': 15.446531981229782,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '1378': {'type': 'VEHICLE',\n", " 'object_id': '1378',\n", " 'track_length': 91,\n", " 'distance': 29.286632299423218,\n", " 'valid_length': 27,\n", " 'continuous_valid_length': 27},\n", " '1380': {'type': 'VEHICLE',\n", " 'object_id': '1380',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 8},\n", " '1381': {'type': 'VEHICLE',\n", " 'object_id': '1381',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 9,\n", " 'continuous_valid_length': 1},\n", " '1383': {'type': 'VEHICLE',\n", " 'object_id': '1383',\n", " 'track_length': 91,\n", " 'distance': 4.2747403010725975,\n", " 'valid_length': 20,\n", " 'continuous_valid_length': 4},\n", " '1384': {'type': 'VEHICLE',\n", " 'object_id': '1384',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 1},\n", " '1385': {'type': 'VEHICLE',\n", " 'object_id': '1385',\n", " 'track_length': 91,\n", " 'distance': 1.6140819936990738,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '1387': {'type': 'VEHICLE',\n", " 'object_id': '1387',\n", " 'track_length': 91,\n", " 'distance': 22.68112200498581,\n", " 'valid_length': 19,\n", " 'continuous_valid_length': 1},\n", " '1390': {'type': 'VEHICLE',\n", " 'object_id': '1390',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 17},\n", " '1392': {'type': 'VEHICLE',\n", " 'object_id': '1392',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 3},\n", " '1393': {'type': 'VEHICLE',\n", " 'object_id': '1393',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 1},\n", " '1394': {'type': 'VEHICLE',\n", " 'object_id': '1394',\n", " 'track_length': 91,\n", " 'distance': 3.2920728027820587,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '1395': {'type': 'VEHICLE',\n", " 'object_id': '1395',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 16},\n", " '1396': {'type': 'VEHICLE',\n", " 'object_id': '1396',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 10},\n", " '1398': {'type': 'VEHICLE',\n", " 'object_id': '1398',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '1399': {'type': 'VEHICLE',\n", " 'object_id': '1399',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 1},\n", " '1400': {'type': 'VEHICLE',\n", " 'object_id': '1400',\n", " 'track_length': 91,\n", " 'distance': 9.308314561843872,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '1401': {'type': 'VEHICLE',\n", " 'object_id': '1401',\n", " 'track_length': 91,\n", " 'distance': 11.692797064781189,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '1402': {'type': 'VEHICLE',\n", " 'object_id': '1402',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '1403': {'type': 'VEHICLE',\n", " 'object_id': '1403',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 2},\n", " '1405': {'type': 'VEHICLE',\n", " 'object_id': '1405',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '1406': {'type': 'VEHICLE',\n", " 'object_id': '1406',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '1408': {'type': 'VEHICLE',\n", " 'object_id': '1408',\n", " 'track_length': 91,\n", " 'distance': 1.416461169719696,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '1500': {'type': 'PEDESTRIAN',\n", " 'object_id': '1500',\n", " 'track_length': 91,\n", " 'distance': 4.96656234562397,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 11},\n", " '1501': {'type': 'PEDESTRIAN',\n", " 'object_id': '1501',\n", " 'track_length': 91,\n", " 'distance': 6.989344105124474,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 1},\n", " '1504': {'type': 'PEDESTRIAN',\n", " 'object_id': '1504',\n", " 'track_length': 91,\n", " 'distance': 1.29410819709301,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '2598': {'type': 'VEHICLE',\n", " 'object_id': '2598',\n", " 'track_length': 91,\n", " 'distance': 87.82377874851227,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91}},\n", " 'number_summary': {'object': 138,\n", " 'dynamic_object_states': 8,\n", " 'map_features': 378,\n", " 'object_types': {'CYCLIST', 'PEDESTRIAN', 'VEHICLE'},\n", " 'object_types_counter': {'CYCLIST': 1, 'VEHICLE': 134, 'PEDESTRIAN': 3},\n", " 'dynamic_object_states_types': {'LANE_STATE_GO'},\n", " 'dynamic_object_states_counter': {'LANE_STATE_GO': 728}}},\n", " 'sd_training.tfrecord-00000-of-01000_8a346109094cd5aa.pkl': {'coordinate': 'waymo',\n", " 'ts': [0.0,\n", " 0.10002999752759933,\n", " 0.2000100016593933,\n", " 0.300029993057251,\n", " 0.40005001425743103,\n", " 0.5000699758529663,\n", " 0.6000699996948242,\n", " 0.7000600099563599,\n", " 0.8000900149345398,\n", " 0.9001399874687195,\n", " 1.0001599788665771,\n", " 1.1001800298690796,\n", " 1.2001700401306152,\n", " 1.3001899719238281,\n", " 1.4002100229263306,\n", " 1.5002299547195435,\n", " 1.6002899408340454,\n", " 1.700279951095581,\n", " 1.8003100156784058,\n", " 1.9003000259399414,\n", " 2.000309944152832,\n", " 2.1003000736236572,\n", " 2.200239896774292,\n", " 2.300220012664795,\n", " 2.400209903717041,\n", " 2.500200033187866,\n", " 2.6001501083374023,\n", " 2.7001099586486816,\n", " 2.8000500202178955,\n", " 2.9000298976898193,\n", " 3.0000100135803223,\n", " 3.0999999046325684,\n", " 3.200000047683716,\n", " 3.3000199794769287,\n", " 3.400010108947754,\n", " 3.5000600814819336,\n", " 3.6000800132751465,\n", " 3.7000999450683594,\n", " 3.8001201152801514,\n", " 3.9001100063323975,\n", " 4.000100135803223,\n", " 4.1001200675964355,\n", " 4.200109958648682,\n", " 4.3000898361206055,\n", " 4.400109767913818,\n", " 4.5001301765441895,\n", " 4.6001200675964355,\n", " 4.700109958648682,\n", " 4.8000898361206055,\n", " 4.9000701904296875,\n", " 5.000050067901611,\n", " 5.100039958953857,\n", " 5.1999897956848145,\n", " 5.2999701499938965,\n", " 5.3999199867248535,\n", " 5.4999098777771,\n", " 5.599860191345215,\n", " 5.69980001449585,\n", " 5.799789905548096,\n", " 5.8997697830200195,\n", " 5.999760150909424,\n", " 6.09975004196167,\n", " 6.199739933013916,\n", " 6.29971981048584,\n", " 6.399740219116211,\n", " 6.499730110168457,\n", " 6.599709987640381,\n", " 6.699689865112305,\n", " 6.799680233001709,\n", " 6.899660110473633,\n", " 6.999639987945557,\n", " 7.099589824676514,\n", " 7.199580192565918,\n", " 7.299560070037842,\n", " 7.399549961090088,\n", " 7.499529838562012,\n", " 7.599520206451416,\n", " 7.699540138244629,\n", " 7.799560070037842,\n", " 7.899580001831055,\n", " 7.99960994720459,\n", " 8.099630355834961,\n", " 8.199609756469727,\n", " 8.299630165100098,\n", " 8.399660110473633,\n", " 8.499640464782715,\n", " 8.599630355834961,\n", " 8.699649810791016,\n", " 8.799670219421387,\n", " 8.899720191955566,\n", " 8.999739646911621],\n", " 'metadrive_processed': False,\n", " 'sdc_id': '1101',\n", " 'dataset': 'waymo',\n", " 'scenario_id': '8a346109094cd5aa',\n", " 'source_file': 'training.tfrecord-00000-of-01000',\n", " 'track_length': 91,\n", " 'current_time_index': 10,\n", " 'sdc_track_index': 114,\n", " 'objects_of_interest': ['741', '745'],\n", " 'tracks_to_predict': {'741': {'track_index': 9,\n", " 'track_id': '741',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '745': {'track_index': 12,\n", " 'track_id': '745',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '1050': {'track_index': 0,\n", " 'track_id': '1050',\n", " 'difficulty': 0,\n", " 'object_type': 'PEDESTRIAN'},\n", " '750': {'track_index': 14,\n", " 'track_id': '750',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '842': {'track_index': 54,\n", " 'track_id': '842',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '831': {'track_index': 46,\n", " 'track_id': '831',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '738': {'track_index': 6,\n", " 'track_id': '738',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'},\n", " '746': {'track_index': 13,\n", " 'track_id': '746',\n", " 'difficulty': 0,\n", " 'object_type': 'VEHICLE'}},\n", " 'object_summary': {'sdc': {'type': 'VEHICLE',\n", " 'object_id': '1101',\n", " 'track_length': 91,\n", " 'distance': 122.12530386447906,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '1050': {'type': 'PEDESTRIAN',\n", " 'object_id': '1050',\n", " 'track_length': 91,\n", " 'distance': 9.790450505912304,\n", " 'valid_length': 71,\n", " 'continuous_valid_length': 71},\n", " '1081': {'type': 'PEDESTRIAN',\n", " 'object_id': '1081',\n", " 'track_length': 91,\n", " 'distance': 1.2733226278796792,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 1},\n", " '1083': {'type': 'PEDESTRIAN',\n", " 'object_id': '1083',\n", " 'track_length': 91,\n", " 'distance': 4.794791121967137,\n", " 'valid_length': 41,\n", " 'continuous_valid_length': 31},\n", " '1089': {'type': 'PEDESTRIAN',\n", " 'object_id': '1089',\n", " 'track_length': 91,\n", " 'distance': 0.7878000712953508,\n", " 'valid_length': 34,\n", " 'continuous_valid_length': 3},\n", " '1100': {'type': 'CYCLIST',\n", " 'object_id': '1100',\n", " 'track_length': 91,\n", " 'distance': 26.46271361783147,\n", " 'valid_length': 38,\n", " 'continuous_valid_length': 26},\n", " '737': {'type': 'VEHICLE',\n", " 'object_id': '737',\n", " 'track_length': 91,\n", " 'distance': 122.45794355869293,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '738': {'type': 'VEHICLE',\n", " 'object_id': '738',\n", " 'track_length': 91,\n", " 'distance': 134.9375034570694,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '739': {'type': 'VEHICLE',\n", " 'object_id': '739',\n", " 'track_length': 91,\n", " 'distance': 112.44656717777252,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '740': {'type': 'VEHICLE',\n", " 'object_id': '740',\n", " 'track_length': 91,\n", " 'distance': 150.05923771858215,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '741': {'type': 'VEHICLE',\n", " 'object_id': '741',\n", " 'track_length': 91,\n", " 'distance': 128.73374009132385,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '742': {'type': 'VEHICLE',\n", " 'object_id': '742',\n", " 'track_length': 91,\n", " 'distance': 124.16180717945099,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '743': {'type': 'VEHICLE',\n", " 'object_id': '743',\n", " 'track_length': 91,\n", " 'distance': 47.489983677864075,\n", " 'valid_length': 33,\n", " 'continuous_valid_length': 33},\n", " '745': {'type': 'VEHICLE',\n", " 'object_id': '745',\n", " 'track_length': 91,\n", " 'distance': 126.6462013721466,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '746': {'type': 'VEHICLE',\n", " 'object_id': '746',\n", " 'track_length': 91,\n", " 'distance': 127.79229056835175,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '750': {'type': 'VEHICLE',\n", " 'object_id': '750',\n", " 'track_length': 91,\n", " 'distance': 112.30372673273087,\n", " 'valid_length': 79,\n", " 'continuous_valid_length': 43},\n", " '751': {'type': 'VEHICLE',\n", " 'object_id': '751',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 7},\n", " '754': {'type': 'VEHICLE',\n", " 'object_id': '754',\n", " 'track_length': 91,\n", " 'distance': 117.75635361671448,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '756': {'type': 'VEHICLE',\n", " 'object_id': '756',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 16},\n", " '757': {'type': 'VEHICLE',\n", " 'object_id': '757',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 23},\n", " '758': {'type': 'VEHICLE',\n", " 'object_id': '758',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 2,\n", " 'continuous_valid_length': 1},\n", " '759': {'type': 'VEHICLE',\n", " 'object_id': '759',\n", " 'track_length': 91,\n", " 'distance': 6.071752667427063,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '760': {'type': 'VEHICLE',\n", " 'object_id': '760',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 55,\n", " 'continuous_valid_length': 54},\n", " '761': {'type': 'VEHICLE',\n", " 'object_id': '761',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 14},\n", " '763': {'type': 'VEHICLE',\n", " 'object_id': '763',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 14,\n", " 'continuous_valid_length': 9},\n", " '765': {'type': 'VEHICLE',\n", " 'object_id': '765',\n", " 'track_length': 91,\n", " 'distance': 117.67978709936142,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '766': {'type': 'VEHICLE',\n", " 'object_id': '766',\n", " 'track_length': 91,\n", " 'distance': 9.094105064868927,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 1},\n", " '767': {'type': 'VEHICLE',\n", " 'object_id': '767',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 17},\n", " '781': {'type': 'VEHICLE',\n", " 'object_id': '781',\n", " 'track_length': 91,\n", " 'distance': 121.01804101467133,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '792': {'type': 'VEHICLE',\n", " 'object_id': '792',\n", " 'track_length': 91,\n", " 'distance': 46.89462369680405,\n", " 'valid_length': 41,\n", " 'continuous_valid_length': 41},\n", " '794': {'type': 'VEHICLE',\n", " 'object_id': '794',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 84,\n", " 'continuous_valid_length': 84},\n", " '795': {'type': 'VEHICLE',\n", " 'object_id': '795',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 42},\n", " '796': {'type': 'VEHICLE',\n", " 'object_id': '796',\n", " 'track_length': 91,\n", " 'distance': 43.73955598473549,\n", " 'valid_length': 48,\n", " 'continuous_valid_length': 36},\n", " '797': {'type': 'VEHICLE',\n", " 'object_id': '797',\n", " 'track_length': 91,\n", " 'distance': 19.307358741760254,\n", " 'valid_length': 16,\n", " 'continuous_valid_length': 16},\n", " '805': {'type': 'VEHICLE',\n", " 'object_id': '805',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 79,\n", " 'continuous_valid_length': 78},\n", " '806': {'type': 'VEHICLE',\n", " 'object_id': '806',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 90,\n", " 'continuous_valid_length': 90},\n", " '808': {'type': 'VEHICLE',\n", " 'object_id': '808',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '809': {'type': 'VEHICLE',\n", " 'object_id': '809',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 13},\n", " '812': {'type': 'VEHICLE',\n", " 'object_id': '812',\n", " 'track_length': 91,\n", " 'distance': 52.61800414323807,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 49},\n", " '814': {'type': 'VEHICLE',\n", " 'object_id': '814',\n", " 'track_length': 91,\n", " 'distance': 10.006099774269387,\n", " 'valid_length': 74,\n", " 'continuous_valid_length': 74},\n", " '816': {'type': 'VEHICLE',\n", " 'object_id': '816',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 81,\n", " 'continuous_valid_length': 80},\n", " '818': {'type': 'VEHICLE',\n", " 'object_id': '818',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '823': {'type': 'VEHICLE',\n", " 'object_id': '823',\n", " 'track_length': 91,\n", " 'distance': 54.742457926273346,\n", " 'valid_length': 54,\n", " 'continuous_valid_length': 54},\n", " '825': {'type': 'VEHICLE',\n", " 'object_id': '825',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '826': {'type': 'VEHICLE',\n", " 'object_id': '826',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '827': {'type': 'VEHICLE',\n", " 'object_id': '827',\n", " 'track_length': 91,\n", " 'distance': 45.39897038042545,\n", " 'valid_length': 64,\n", " 'continuous_valid_length': 64},\n", " '828': {'type': 'VEHICLE',\n", " 'object_id': '828',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 90,\n", " 'continuous_valid_length': 88},\n", " '831': {'type': 'VEHICLE',\n", " 'object_id': '831',\n", " 'track_length': 91,\n", " 'distance': 34.15754503197968,\n", " 'valid_length': 67,\n", " 'continuous_valid_length': 67},\n", " '832': {'type': 'VEHICLE',\n", " 'object_id': '832',\n", " 'track_length': 91,\n", " 'distance': 49.80105346441269,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 52},\n", " '833': {'type': 'VEHICLE',\n", " 'object_id': '833',\n", " 'track_length': 91,\n", " 'distance': 5.0127023458480835,\n", " 'valid_length': 12,\n", " 'continuous_valid_length': 12},\n", " '834': {'type': 'VEHICLE',\n", " 'object_id': '834',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '838': {'type': 'VEHICLE',\n", " 'object_id': '838',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '839': {'type': 'VEHICLE',\n", " 'object_id': '839',\n", " 'track_length': 91,\n", " 'distance': 38.64023446571082,\n", " 'valid_length': 82,\n", " 'continuous_valid_length': 82},\n", " '840': {'type': 'VEHICLE',\n", " 'object_id': '840',\n", " 'track_length': 91,\n", " 'distance': 0.043552935123443604,\n", " 'valid_length': 2,\n", " 'continuous_valid_length': 2},\n", " '841': {'type': 'VEHICLE',\n", " 'object_id': '841',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '842': {'type': 'VEHICLE',\n", " 'object_id': '842',\n", " 'track_length': 91,\n", " 'distance': 43.47445898782462,\n", " 'valid_length': 79,\n", " 'continuous_valid_length': 79},\n", " '843': {'type': 'VEHICLE',\n", " 'object_id': '843',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '844': {'type': 'VEHICLE',\n", " 'object_id': '844',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91},\n", " '845': {'type': 'VEHICLE',\n", " 'object_id': '845',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 15,\n", " 'continuous_valid_length': 15},\n", " '847': {'type': 'VEHICLE',\n", " 'object_id': '847',\n", " 'track_length': 91,\n", " 'distance': 24.376048356294632,\n", " 'valid_length': 44,\n", " 'continuous_valid_length': 10},\n", " '849': {'type': 'VEHICLE',\n", " 'object_id': '849',\n", " 'track_length': 91,\n", " 'distance': 41.39833474159241,\n", " 'valid_length': 54,\n", " 'continuous_valid_length': 54},\n", " '851': {'type': 'VEHICLE',\n", " 'object_id': '851',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 9},\n", " '853': {'type': 'VEHICLE',\n", " 'object_id': '853',\n", " 'track_length': 91,\n", " 'distance': 49.54816070199013,\n", " 'valid_length': 54,\n", " 'continuous_valid_length': 2},\n", " '854': {'type': 'VEHICLE',\n", " 'object_id': '854',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 81,\n", " 'continuous_valid_length': 6},\n", " '856': {'type': 'VEHICLE',\n", " 'object_id': '856',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '859': {'type': 'VEHICLE',\n", " 'object_id': '859',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 77,\n", " 'continuous_valid_length': 77},\n", " '860': {'type': 'VEHICLE',\n", " 'object_id': '860',\n", " 'track_length': 91,\n", " 'distance': 0.5522801652550697,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 1},\n", " '861': {'type': 'VEHICLE',\n", " 'object_id': '861',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 65,\n", " 'continuous_valid_length': 1},\n", " '862': {'type': 'VEHICLE',\n", " 'object_id': '862',\n", " 'track_length': 91,\n", " 'distance': 36.15771186351776,\n", " 'valid_length': 35,\n", " 'continuous_valid_length': 28},\n", " '863': {'type': 'VEHICLE',\n", " 'object_id': '863',\n", " 'track_length': 91,\n", " 'distance': 0.9843477308750153,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '864': {'type': 'VEHICLE',\n", " 'object_id': '864',\n", " 'track_length': 91,\n", " 'distance': 17.221552340779454,\n", " 'valid_length': 71,\n", " 'continuous_valid_length': 36},\n", " '865': {'type': 'VEHICLE',\n", " 'object_id': '865',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 69,\n", " 'continuous_valid_length': 6},\n", " '866': {'type': 'VEHICLE',\n", " 'object_id': '866',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 82,\n", " 'continuous_valid_length': 5},\n", " '867': {'type': 'VEHICLE',\n", " 'object_id': '867',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 37,\n", " 'continuous_valid_length': 3},\n", " '868': {'type': 'VEHICLE',\n", " 'object_id': '868',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 29,\n", " 'continuous_valid_length': 2},\n", " '869': {'type': 'VEHICLE',\n", " 'object_id': '869',\n", " 'track_length': 91,\n", " 'distance': 30.463066234253347,\n", " 'valid_length': 69,\n", " 'continuous_valid_length': 42},\n", " '870': {'type': 'VEHICLE',\n", " 'object_id': '870',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 54,\n", " 'continuous_valid_length': 5},\n", " '871': {'type': 'VEHICLE',\n", " 'object_id': '871',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 7},\n", " '872': {'type': 'VEHICLE',\n", " 'object_id': '872',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 4},\n", " '874': {'type': 'VEHICLE',\n", " 'object_id': '874',\n", " 'track_length': 91,\n", " 'distance': 16.413522362709045,\n", " 'valid_length': 10,\n", " 'continuous_valid_length': 10},\n", " '877': {'type': 'VEHICLE',\n", " 'object_id': '877',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 1},\n", " '878': {'type': 'VEHICLE',\n", " 'object_id': '878',\n", " 'track_length': 91,\n", " 'distance': 10.622371017932892,\n", " 'valid_length': 21,\n", " 'continuous_valid_length': 5},\n", " '879': {'type': 'VEHICLE',\n", " 'object_id': '879',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 13,\n", " 'continuous_valid_length': 5},\n", " '880': {'type': 'VEHICLE',\n", " 'object_id': '880',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 57,\n", " 'continuous_valid_length': 57},\n", " '881': {'type': 'VEHICLE',\n", " 'object_id': '881',\n", " 'track_length': 91,\n", " 'distance': 83.66396069526672,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 59},\n", " '882': {'type': 'VEHICLE',\n", " 'object_id': '882',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 52,\n", " 'continuous_valid_length': 1},\n", " '883': {'type': 'VEHICLE',\n", " 'object_id': '883',\n", " 'track_length': 91,\n", " 'distance': 26.821755178272724,\n", " 'valid_length': 56,\n", " 'continuous_valid_length': 23},\n", " '884': {'type': 'VEHICLE',\n", " 'object_id': '884',\n", " 'track_length': 91,\n", " 'distance': 35.09420407534344,\n", " 'valid_length': 47,\n", " 'continuous_valid_length': 7},\n", " '886': {'type': 'VEHICLE',\n", " 'object_id': '886',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 59,\n", " 'continuous_valid_length': 2},\n", " '887': {'type': 'VEHICLE',\n", " 'object_id': '887',\n", " 'track_length': 91,\n", " 'distance': 11.77469289302826,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '888': {'type': 'VEHICLE',\n", " 'object_id': '888',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 23,\n", " 'continuous_valid_length': 1},\n", " '889': {'type': 'VEHICLE',\n", " 'object_id': '889',\n", " 'track_length': 91,\n", " 'distance': 21.950896739959717,\n", " 'valid_length': 37,\n", " 'continuous_valid_length': 23},\n", " '891': {'type': 'VEHICLE',\n", " 'object_id': '891',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 1},\n", " '892': {'type': 'VEHICLE',\n", " 'object_id': '892',\n", " 'track_length': 91,\n", " 'distance': 69.73329615592957,\n", " 'valid_length': 49,\n", " 'continuous_valid_length': 49},\n", " '893': {'type': 'VEHICLE',\n", " 'object_id': '893',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 17},\n", " '895': {'type': 'VEHICLE',\n", " 'object_id': '895',\n", " 'track_length': 91,\n", " 'distance': 49.012829542160034,\n", " 'valid_length': 43,\n", " 'continuous_valid_length': 38},\n", " '896': {'type': 'VEHICLE',\n", " 'object_id': '896',\n", " 'track_length': 91,\n", " 'distance': 16.33118897676468,\n", " 'valid_length': 42,\n", " 'continuous_valid_length': 42},\n", " '897': {'type': 'VEHICLE',\n", " 'object_id': '897',\n", " 'track_length': 91,\n", " 'distance': 2.5570742785930634,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '899': {'type': 'VEHICLE',\n", " 'object_id': '899',\n", " 'track_length': 91,\n", " 'distance': 39.58753824234009,\n", " 'valid_length': 34,\n", " 'continuous_valid_length': 34},\n", " '900': {'type': 'VEHICLE',\n", " 'object_id': '900',\n", " 'track_length': 91,\n", " 'distance': 36.107217669487,\n", " 'valid_length': 34,\n", " 'continuous_valid_length': 34},\n", " '902': {'type': 'VEHICLE',\n", " 'object_id': '902',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 32,\n", " 'continuous_valid_length': 32},\n", " '903': {'type': 'VEHICLE',\n", " 'object_id': '903',\n", " 'track_length': 91,\n", " 'distance': 23.143770575523376,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 30},\n", " '904': {'type': 'VEHICLE',\n", " 'object_id': '904',\n", " 'track_length': 91,\n", " 'distance': 31.82175576686859,\n", " 'valid_length': 30,\n", " 'continuous_valid_length': 30},\n", " '909': {'type': 'VEHICLE',\n", " 'object_id': '909',\n", " 'track_length': 91,\n", " 'distance': 14.256664991378784,\n", " 'valid_length': 24,\n", " 'continuous_valid_length': 24},\n", " '910': {'type': 'VEHICLE',\n", " 'object_id': '910',\n", " 'track_length': 91,\n", " 'distance': 22.127152025699615,\n", " 'valid_length': 22,\n", " 'continuous_valid_length': 22},\n", " '911': {'type': 'VEHICLE',\n", " 'object_id': '911',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 18,\n", " 'continuous_valid_length': 18},\n", " '912': {'type': 'VEHICLE',\n", " 'object_id': '912',\n", " 'track_length': 91,\n", " 'distance': 5.028733313083649,\n", " 'valid_length': 6,\n", " 'continuous_valid_length': 6},\n", " '913': {'type': 'VEHICLE',\n", " 'object_id': '913',\n", " 'track_length': 91,\n", " 'distance': 21.128061771392822,\n", " 'valid_length': 17,\n", " 'continuous_valid_length': 17},\n", " '914': {'type': 'VEHICLE',\n", " 'object_id': '914',\n", " 'track_length': 91,\n", " 'distance': 19.261213660240173,\n", " 'valid_length': 11,\n", " 'continuous_valid_length': 11},\n", " '915': {'type': 'VEHICLE',\n", " 'object_id': '915',\n", " 'track_length': 91,\n", " 'distance': 3.597263425588608,\n", " 'valid_length': 7,\n", " 'continuous_valid_length': 6},\n", " '916': {'type': 'VEHICLE',\n", " 'object_id': '916',\n", " 'track_length': 91,\n", " 'distance': 6.829868257045746,\n", " 'valid_length': 8,\n", " 'continuous_valid_length': 8},\n", " '917': {'type': 'VEHICLE',\n", " 'object_id': '917',\n", " 'track_length': 91,\n", " 'distance': 2.040453091263771,\n", " 'valid_length': 4,\n", " 'continuous_valid_length': 4},\n", " '918': {'type': 'VEHICLE',\n", " 'object_id': '918',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '919': {'type': 'VEHICLE',\n", " 'object_id': '919',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 1,\n", " 'continuous_valid_length': 1},\n", " '924': {'type': 'VEHICLE',\n", " 'object_id': '924',\n", " 'track_length': 91,\n", " 'distance': 0.0,\n", " 'valid_length': 5,\n", " 'continuous_valid_length': 5},\n", " '1101': {'type': 'VEHICLE',\n", " 'object_id': '1101',\n", " 'track_length': 91,\n", " 'distance': 122.12530386447906,\n", " 'valid_length': 91,\n", " 'continuous_valid_length': 91}},\n", " 'number_summary': {'object': 115,\n", " 'dynamic_object_states': 19,\n", " 'map_features': 640,\n", " 'object_types': {'CYCLIST', 'PEDESTRIAN', 'VEHICLE'},\n", " 'object_types_counter': {'PEDESTRIAN': 4, 'CYCLIST': 1, 'VEHICLE': 110},\n", " 'dynamic_object_states_types': {'LANE_STATE_ARROW_CAUTION',\n", " 'LANE_STATE_ARROW_STOP',\n", " 'LANE_STATE_GO',\n", " 'LANE_STATE_STOP',\n", " 'LANE_STATE_UNKNOWN'},\n", " 'dynamic_object_states_counter': {'LANE_STATE_GO': 420,\n", " 'LANE_STATE_ARROW_CAUTION': 24,\n", " 'LANE_STATE_ARROW_STOP': 402,\n", " 'LANE_STATE_UNKNOWN': 63,\n", " 'LANE_STATE_STOP': 84}}}}" ] }, "execution_count": 9, "metadata": {}, "output_type": "execute_result" } ], "source": [ "dataset_summary" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "`scenario_ids` is the list of all scenarios IDs." ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "['sd_training.tfrecord-00000-of-01000_2a1e44d405a6833f.pkl',\n", " 'sd_training.tfrecord-00000-of-01000_c403d5992cab9e0.pkl',\n", " 'sd_training.tfrecord-00000-of-01000_8a346109094cd5aa.pkl']" ] }, "execution_count": 10, "metadata": {}, "output_type": "execute_result" } ], "source": [ "scenario_ids" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "`mapping` is a dict mapping from scenario IDs to the folder that hosts their files." ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "{'sd_training.tfrecord-00000-of-01000_2a1e44d405a6833f.pkl': '',\n", " 'sd_training.tfrecord-00000-of-01000_c403d5992cab9e0.pkl': '',\n", " 'sd_training.tfrecord-00000-of-01000_8a346109094cd5aa.pkl': ''}" ] }, "execution_count": 11, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mapping" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Read specified scenario\n", "\n", "`read_scenario` will return the ScenarioNet instance. Please refer to the ScenarioDescription class in MetaDrive for more information." ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "\u001B[0;31mSignature:\u001B[0m \u001B[0mread_scenario\u001B[0m\u001B[0;34m(\u001B[0m\u001B[0mdataset_path\u001B[0m\u001B[0;34m,\u001B[0m \u001B[0mmapping\u001B[0m\u001B[0;34m,\u001B[0m \u001B[0mscenario_file_name\u001B[0m\u001B[0;34m)\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n", "\u001B[0;31mDocstring:\u001B[0m\n", "Read a scenario pkl file and return the Scenario Description instance.\n", "\n", "Args:\n", " dataset_path: the path to the root folder of your dataset.\n", " mapping: the dict mapping return from read_dataset_summary.\n", " scenario_file_name: the file name to a scenario file, should end with `.pkl`.\n", "\n", "Returns:\n", " The Scenario Description instance of that scenario.\n", "\u001B[0;31mFile:\u001B[0m ~/scenarionet/scenarionet/common_utils.py\n", "\u001B[0;31mType:\u001B[0m function" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "read_scenario?" ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [], "source": [ "scenario_file_name = scenario_ids[0]\n", "\n", "scenario = read_scenario(dataset_path=waymo_data, mapping=mapping, scenario_file_name=scenario_file_name)" ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "metadrive.scenario.scenario_description.ScenarioDescription" ] }, "execution_count": 14, "metadata": {}, "output_type": "execute_result" } ], "source": [ "type(scenario)" ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "dict_keys(['id', 'version', 'length', 'tracks', 'dynamic_map_states', 'map_features', 'metadata'])" ] }, "execution_count": 15, "metadata": {}, "output_type": "execute_result" } ], "source": [ "scenario.keys()" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [], "source": [ "scenario.sanity_check(scenario) # Pass check if no error is raised." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "scenario.to_dict()" ] } ], "metadata": { "colab": { "collapsed_sections": [], "provenance": [] }, "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.9.18" } }, "nbformat": 4, "nbformat_minor": 4 }