| # Scripts for processing nuplan data. | |
| # export PYTHONPATH=/cpfs01/user/yangzetong/code/workshop_codes/nuplan-devkit:${PYTHONPATH} | |
| # export NUPLAN_DATA_ROOT="$HOME/nuplan/dataset/" | |
| # export NUPLAN_MAPS_ROOT="$HOME/nuplan/dataset/maps" | |
| # export NUPLAN_EXP_ROOT="$HOME/nuplan/exp" | |
| # export NUPLAN_DEVKIT_ROOT="$HOME/nuplan-devkit/" | |
| # 0. Design nuPlan data path, and output data path. | |
| NUPLAN_PATH=$HOME/nuplan/dataset/nuplan-v1.1/ | |
| NUPLAN_DB_PATH=$NUPLAN_PATH/splits/mini | |
| NUPLAN_SENSOR_PATH=${NUPLAN_PATH}/sensor_blobs | |
| NUPLAN_MAP_VERSION=nuplan-maps-v1.0 | |
| NUPLAN_MAPS_ROOT=${HOME}/nuplan/dataset/maps | |
| OUT_DIR=/home/daniel/navsim_logs/mini | |
| # 1. TODO: Generate train/val pickle. | |
| python $NAVSIM_DEVKIT_ROOT/navsim/common/extraction/create_nuplan_data_with_vis.py \ | |
| --nuplan-root-path ${NUPLAN_PATH} \ | |
| --nuplan-db-path ${NUPLAN_DB_PATH} \ | |
| --nuplan-sensor-path ${NUPLAN_SENSOR_PATH} \ | |
| --nuplan-map-version ${NUPLAN_MAP_VERSION} \ | |
| --nuplan-map-root ${NUPLAN_MAPS_ROOT} \ | |
| --out-dir ${OUT_DIR} \ | |
| --split mini \ | |
| --thread-num 16 | |
| # 2. TODO: Extract Data Files from the generated pickle file. | |
| # 3. TODO: Soft-link to some place similar to https://github.com/OpenDriveLab/OpenScene/blob/main/docs/dataset_stats.md#filesystem-hierarchy | |