Data Preparation

Nuplan

We use NuPlan for training and testing. We organize our training and testing datasets as follows.

Download

Please download all the splits in NuPlan. We follow NuPlan-Download-CLI to download all the splits. Once you download all the files, please unzip them first.

Reorganize

Please move your files and make sure that they are organized like this:

nuplan-v1.1
├── splits
│     ├── mini
│     │    ├── 2021.05.12.22.00.38_veh-35_01008_01518.db
│     │    ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
│     │    ├── ...
│     │    └── 2021.10.11.08.31.07_veh-50_01750_01948.db
│     └── trainval
│          ├── 2021.05.12.22.00.38_veh-35_01008_01518.db
│          ├── 2021.06.09.17.23.18_veh-38_00773_01140.db
│          ├── ...
│          └── 2021.10.11.08.31.07_veh-50_01750_01948.db
└── sensor_blobs
        ├── 2021.05.12.22.00.38_veh-35_01008_01518
        │    ├── CAM_F0
        │    │     ├── c082c104b7ac5a71.jpg
        │    │     ├── af380db4b4ca5d63.jpg
        │    │     ├── ...
        │    │     └── 2270fccfb44858b3.jpg
        │    ├── CAM_B0
        │    ├── CAM_L0
        │    ├── CAM_L1
        │    ├── CAM_L2
        │    ├── CAM_R0
        │    ├── CAM_R1
        │    ├── CAM_R2
        │    └──MergedPointCloud
        │         ├── 03fafcf2c0865668.pcd
        │         ├── 5aee37ce29665f1b.pcd
        │         ├── ...
        │         └── 5fe65ef6a97f5caf.pcd
        │
        ├── 2021.06.09.17.23.18_veh-38_00773_01140
        ├── ...
        └── 2021.10.11.08.31.07_veh-50_01750_01948

Create

In this part, we create a json file to read the data easily.

python3 create_nuplan_json.py

Please remember to change the path in create_nuplan_json.py.

Demo Data Preparation

In this section, we will explain how to compose our demo data and your own data. For our demo data, please directly download from here.

The final data folder DrivingWorld/data/ should be organized like this:

data
├── video-1
│   ├── 000000.png
│   ├── 000001.png
│   ├── ...
│   ├── 000015.png
│   ├── pose.npy
│   └── yaw.npy
├── video-2
│   ├── 000000.png
│   ├── 000001.png
│   ├── ...
│   ├── 000015.png
│   ├── pose.npy
│   └── yaw.npy
├── ...
├── video-n
│   ├── 000000.png
│   ├── 000001.png
│   ├── ...
│   ├── 000015.png
│   ├── pose.npy
│   └── yaw.npy