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* disable using pip extra requirement installation * loose numpy * waymo * waymo version * add numpy hint * restore * Add to note * add hint
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6.1 KiB
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142 lines
6.1 KiB
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#############################
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nuPlan
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#############################
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| Website: https://www.nuplan.org/nuplan
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| Download: https://www.nuplan.org/nuplan (Registration required)
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| Paper: https://arxiv.org/pdf/2106.11810.pdf
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| Documentation: https://nuplan-devkit.readthedocs.io/en/latest/
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nuPlan is the world's first large-scale planning benchmark for autonomous driving.
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It provides a large-scale dataset with 1200h of human driving data from 4 cities across the US and Asia with widely varying traffic patterns (Boston, Pittsburgh, Las Vegas and Singapore).
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Our dataset is auto-labeled using a state-of-the-art Offline Perception system.
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Contrary to existing datasets of this size, it not only contains the 3d boxes of the objects detected in the dataset,
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but also provides 10% of the raw sensor data (120h).
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We hope this large-scale sensor data can be used to make further progress in the field of end-to-end planning.
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1. Install nuPlan Toolkit
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==========================
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First of all, we have to install the ``nuplan-devkit``.
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.. code-block:: bash
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# 1. install from github (Recommend)
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git clone git@github.com:nutonomy/nuplan-devkit.git
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cd nuplan-devkit
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pip install -r requirements.txt
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pip install -e .
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# 2. or install from PyPI
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pip install nuplan-devkit
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By installing from github, you can access examples and source code the toolkit.
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The examples are useful to verify whether the installation and dataset setup is correct or not.
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2. Download nuPlan Data
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===========================
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The official data setup page is at https://nuplan-devkit.readthedocs.io/en/latest/dataset_setup.html.
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Despite this, we provide a simplified download instruction for convenient.
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First of all, you need to register on the https://www.nuplan.org/nuplan and go to the Download section.
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There are three types of data: Sensor, Map, Split.
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We only use the last two kind of data, the sensor data is not required by ScenarioNet.
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Thus please download the following files:
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- nuPlan Maps
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- nuPlan Mini(Train/Test/Val) Split
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.. note::
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Please download the latest version (V1.1).
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We recommend to download the mini split to test and make yourself familiar with the setup process.
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All downloaded files are ``.tgz`` files and can be uncompressed by ``tar -zxf xyz.tgz``.
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All data should be placed to ``~/nuplan/dataset`` and the folder structure should comply `file hierarchy <https://nuplan-devkit.readthedocs.io/en/latest/dataset_setup.html#filesystem-hierarchy>`_.
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.. code-block:: text
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~/nuplan
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├── exp
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│ └── ${USER}
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│ ├── cache
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│ │ └── <cached_tokens>
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│ └── exp
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│ └── my_nuplan_experiment
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└── dataset
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├── maps
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│ ├── nuplan-maps-v1.0.json
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│ ├── sg-one-north
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│ │ └── 9.17.1964
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│ │ └── map.gpkg
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│ ├── us-ma-boston
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│ │ └── 9.12.1817
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│ │ └── map.gpkg
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│ ├── us-nv-las-vegas-strip
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│ │ └── 9.15.1915
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│ │ └── map.gpkg
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│ └── us-pa-pittsburgh-hazelwood
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│ └── 9.17.1937
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│ └── map.gpkg
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└── nuplan-v1.1
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├── splits
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│ ├── mini
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│ │ ├── 2021.05.12.22.00.38_veh-35_01008_01518.db
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│ │ ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
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│ │ ├── ...
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│ │ └── 2021.10.11.08.31.07_veh-50_01750_01948.db
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│ └── trainval
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│ ├── 2021.05.12.22.00.38_veh-35_01008_01518.db
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│ ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
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│ ├── ...
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│ └── 2021.10.11.08.31.07_veh-50_01750_01948.db
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└── sensor_blobs
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├── 2021.05.12.22.00.38_veh-35_01008_01518
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│ ├── CAM_F0
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│ │ ├── c082c104b7ac5a71.jpg
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│ │ ├── af380db4b4ca5d63.jpg
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│ │ ├── ...
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│ │ └── 2270fccfb44858b3.jpg
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│ ├── CAM_B0
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│ ├── CAM_L0
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│ ├── CAM_L1
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│ ├── CAM_L2
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│ ├── CAM_R0
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│ ├── CAM_R1
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│ ├── CAM_R2
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│ └──MergedPointCloud
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│ ├── 03fafcf2c0865668.pcd
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│ ├── 5aee37ce29665f1b.pcd
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│ ├── ...
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│ └── 5fe65ef6a97f5caf.pcd
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│
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├── 2021.06.09.17.23.18_veh-38_00773_01140
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├── ...
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└── 2021.10.11.08.31.07_veh-50_01750_01948
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After downloading the data, you should add the following variables to ``~/.bashrc`` to make sure the ``nuplan-devkit`` can find the data::
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export NUPLAN_DATA_ROOT="$HOME/nuplan/dataset"
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export NUPLAN_MAPS_ROOT="$HOME/nuplan/dataset/maps"
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export NUPLAN_EXP_ROOT="$HOME/nuplan/exp"
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After this step, the examples in ``nuplan-devkit`` is supposed to work well.
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Please try ``nuplan-devkit/tutorials/nuplan_scenario_visualization.ipynb`` and see if the demo code can successfully run.
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3. Build nuPlan Database
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============================
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With all aforementioned steps finished, the nuPlan data can be stored in our internal format and composes a database.
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Here we take converting raw data in ``nuplan-mini`` as an example::
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python -m scenarionet.convert_nuplan -d /path/to/your/database --raw_data_path ~/nuplan/dataset/nuplan-v1.1/splits/mini
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The ``raw_data_path`` is the place to store ``.db`` files. Other arguments is available by using `-h` flag.
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Now all converted scenarios will be placed at ``/path/to/your/database`` and are ready to be used in your work.
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Known Issues: nuPlan
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======================
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N/A
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