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