ScenarioNet

ScenarioNet: Scalable Traffic Scenario Management System for Autonomous Driving

Installation

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

Usage

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

Convert

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

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

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

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

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

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

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

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

Merge & move

For merging two or more database, use

python -m scenarionet.merge_database -d /destination/path --from_databases /database1 /2 ... 

As a database contains a path mapping, one should move database folder with the following script instead of cp command

python -m scenarionet.move_database --to /destination/path --from /source/path

Verify

The following scripts will check whether all scenarios exist or can be loaded into simulator. The missing or broken scenarios will be recorded and stored into the error file. Otherwise, no error file will be generated. With teh error file, one can build a new database excluding or including the broken or missing scenarios.

Existence check

python -m scenarionet.verify_completeness -d /database/to/check --result_save_dir /error/file/path

Runnable check

python -m scenarionet.verify_simulation -d /database/to/check --result_save_dir /error/file/path

Generating new database

python -m scenarionet.generate_from_error_file -d /new/database/path --file /error/file/path --broken

visualization

Visualizing the simulated scenario

python -m scenarionet.run_simulation -d /path/to/database --render --scenario_index