42 lines
1.7 KiB
Python
42 lines
1.7 KiB
Python
"""
|
|
This script aims to convert nuplan scenarios to ScenarioDescription, so that we can load any nuplan scenarios into
|
|
MetaDrive.
|
|
"""
|
|
import argparse
|
|
import os
|
|
|
|
from scenarionet import SCENARIONET_DATASET_PATH
|
|
from scenarionet.converter.nuplan.utils import get_nuplan_scenarios, convert_nuplan_scenario
|
|
from scenarionet.converter.utils import write_to_directory
|
|
|
|
if __name__ == '__main__':
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument("--dataset_name", "-n", default="nuplan",
|
|
help="Dataset name, will be used to generate scenario files")
|
|
parser.add_argument("--dataset_path", "-d", default=os.path.join(SCENARIONET_DATASET_PATH, "nuplan"),
|
|
help="The path of the dataset")
|
|
parser.add_argument("--version", "-v", default='v1.1', help="version")
|
|
parser.add_argument("--overwrite", action="store_true", help="If the dataset_path exists, overwrite it")
|
|
parser.add_argument("--num_workers", type=int, default=8, help="number of workers to use")
|
|
args = parser.parse_args()
|
|
|
|
force_overwrite = args.overwrite
|
|
dataset_name = args.dataset_name
|
|
output_path = args.dataset_path
|
|
version = args.version
|
|
|
|
data_root = os.path.join(os.getenv("NUPLAN_DATA_ROOT"), "nuplan-v1.1/splits/mini")
|
|
map_root = os.getenv("NUPLAN_MAPS_ROOT")
|
|
scenarios = get_nuplan_scenarios(data_root, map_root, logs=["2021.07.16.20.45.29_veh-35_01095_01486"])
|
|
# scenarios = get_nuplan_scenarios(data_root, map_root)
|
|
|
|
write_to_directory(
|
|
convert_func=convert_nuplan_scenario,
|
|
scenarios=scenarios,
|
|
output_path=output_path,
|
|
dataset_version=version,
|
|
dataset_name=dataset_name,
|
|
force_overwrite=force_overwrite,
|
|
num_workers=args.num_workers
|
|
)
|