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Merged
DanielDauner merged 4 commits into from
Oct 31, 2025
Merged

add nuscenes dataset #60

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d4bff4b
add nuscenes dataset
sephyli Oct 30, 2025
8e1fbf6
add nuscenes sensor io.
szpk Oct 30, 2025
c42b738
Add some minor changes and refactorings.
DanielDauner Oct 30, 2025
b733b82
Refactor nuScenes map conversion (lanelet currently missing).
DanielDauner Oct 31, 2025
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67 changes: 38 additions & 29 deletions notebooks/bev_matplotlib.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
"from py123d.datatypes.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
"from py123d.datatypes.scene.scene_filter import SceneFilter\n",
"\n",
"\n",
"from py123d.common.multithreading.worker_sequential import Sequential\n",
"# from py123d.datatypes.sensors.camera.pinhole_camera import PinholeCameraType "
]
Expand All @@ -24,7 +25,7 @@
"\n",
"# splits = [\"wopd_val\"]\n",
"# splits = [\"carla_test\"]\n",
"splits = [\"nuplan-mini_test\"]\n",
"splits = [\"nuscenes-mini_val\", \"nuscenes-mini_train\"]\n",
"# splits = [\"av2-sensor-mini_train\"]\n",
"# splits = [\"pandaset_train\"]\n",
"# log_names = None\n",
Expand All @@ -38,7 +39,7 @@
" split_names=splits,\n",
" log_names=log_names,\n",
" scene_uuids=scene_uuids,\n",
" duration_s=6.0,\n",
" duration_s=None,\n",
" history_s=0.0,\n",
" timestamp_threshold_s=20,\n",
" shuffle=True,\n",
Expand Down Expand Up @@ -145,61 +146,67 @@
") -> None:\n",
" layers: List[MapLayer] = [\n",
" # MapLayer.LANE,\n",
" # MapLayer.LANE_GROUP,\n",
" # MapLayer.GENERIC_DRIVABLE,\n",
" MapLayer.LANE_GROUP,\n",
" MapLayer.GENERIC_DRIVABLE,\n",
" # MapLayer.CARPARK,\n",
" # MapLayer.CROSSWALK,\n",
" MapLayer.INTERSECTION,\n",
" # MapLayer.INTERSECTION,\n",
" # MapLayer.WALKWAY,\n",
" MapLayer.ROAD_EDGE,\n",
" # MapLayer.ROAD_LINE,\n",
" MapLayer.ROAD_LINE,\n",
" ]\n",
" x_min, x_max = point_2d.x - radius, point_2d.x + radius\n",
" y_min, y_max = point_2d.y - radius, point_2d.y + radius\n",
" patch = geom.box(x_min, y_min, x_max, y_max)\n",
" map_objects_dict = map_api.query(geometry=patch, layers=layers, predicate=\"intersects\")\n",
" # print(map_objects_dict[MapLayer.ROAD_EDGE])\n",
"\n",
" done = False\n",
" for layer, map_objects in map_objects_dict.items():\n",
" for map_object in map_objects:\n",
" try:\n",
" if layer in [\n",
" MapLayer.GENERIC_DRIVABLE,\n",
" MapLayer.CARPARK,\n",
" MapLayer.CROSSWALK,\n",
" MapLayer.INTERSECTION,\n",
" # MapLayer.INTERSECTION,\n",
" MapLayer.WALKWAY,\n",
" ]:\n",
" add_shapely_polygon_to_ax(ax, map_object.shapely_polygon, MAP_SURFACE_CONFIG[layer])\n",
" print(f\"Added {layer.name} with id {map_object.object_id}\")\n",
"\n",
" if layer in [MapLayer.LANE_GROUP]:\n",
" map_object: AbstractLaneGroup\n",
" add_shapely_polygon_to_ax(ax, map_object.shapely_polygon, MAP_SURFACE_CONFIG[layer])\n",
"\n",
" if layer in [MapLayer.LANE]:\n",
" add_shapely_linestring_to_ax(ax, map_object.centerline.linestring, CENTERLINE_CONFIG)\n",
" if map_object.intersection is not None:\n",
" add_shapely_polygon_to_ax(ax, map_object.intersection.shapely_polygon, ROUTE_CONFIG)\n",
"\n",
" for lane in map_object.lanes:\n",
" add_shapely_linestring_to_ax(ax, lane.centerline.linestring, CENTERLINE_CONFIG)\n",
"\n",
" # if layer in [MapLayer.LANE]:\n",
" # add_shapely_linestring_to_ax(ax, map_object.centerline.linestring, CENTERLINE_CONFIG)\n",
" # add_shapely_polygon_to_ax(ax, map_object.shapely_polygon, MAP_SURFACE_CONFIG[layer])\n",
"\n",
" if layer in [MapLayer.ROAD_EDGE]:\n",
" add_shapely_linestring_to_ax(ax, map_object.polyline_3d.linestring, ROAD_EDGE_CONFIG)\n",
"\n",
" # if layer in [MapLayer.ROAD_LINE]:\n",
" # # line_type = int(map_object.road_line_type)\n",
" # # plt_config = PlotConfig(\n",
" # # fill_color=NEW_TAB_10[line_type % (len(NEW_TAB_10) - 1)],\n",
" # # fill_color_alpha=1.0,\n",
" # # line_color=NEW_TAB_10[line_type % (len(NEW_TAB_10) - 1)],\n",
" # # line_color_alpha=1.0,\n",
" # # line_width=1.5,\n",
" # # line_style=\"-\",\n",
" # # zorder=10,\n",
" # # )\n",
" # add_shapely_linestring_to_ax(ax, map_object.polyline_3d.linestring, ROAD_LINE_CONFIG)\n",
" if layer in [MapLayer.ROAD_LINE]:\n",
" # line_type = int(map_object.road_line_type)\n",
" # plt_config = PlotConfig(\n",
" # fill_color=NEW_TAB_10[line_type % (len(NEW_TAB_10) - 1)],\n",
" # fill_color_alpha=1.0,\n",
" # line_color=NEW_TAB_10[line_type % (len(NEW_TAB_10) - 1)],\n",
" # line_color_alpha=1.0,\n",
" # line_width=1.5,\n",
" # line_style=\"-\",\n",
" # zorder=10,\n",
" # )\n",
" add_shapely_linestring_to_ax(ax, map_object.polyline_3d.linestring, ROAD_LINE_CONFIG)\n",
"\n",
" except Exception:\n",
" import traceback\n",
"\n",
" print(f\"Error adding map object of type {layer.name} and id {map_object.id}\")\n",
" print(f\"Error adding map object of type {layer.name} and id {map_object.object_id}\")\n",
" traceback.print_exc()\n",
"\n",
" # ax.set_title(f\"Map: {map_api.map_name}\")\n",
Expand All @@ -213,12 +220,14 @@
"\n",
" point_2d = ego_vehicle_state.bounding_box.center.state_se2.point_2d\n",
" if map_api is not None:\n",
" add_debug_map_on_ax(ax, scene.get_map_api(), point_2d, radius=radius, route_lane_group_ids=None)\n",
" # add_debug_map_on_ax(ax, scene.get_map_api(), point_2d, radius=radius, route_lane_group_ids=None)\n",
"\n",
"\n",
" add_default_map_on_ax(ax, map_api, point_2d, radius=radius, route_lane_group_ids=None)\n",
" # add_traffic_lights_to_ax(ax, traffic_light_detections, scene.get_map_api())\n",
"\n",
" # add_box_detections_to_ax(ax, box_detections)\n",
" # add_ego_vehicle_to_ax(ax, ego_vehicle_state)\n",
" add_box_detections_to_ax(ax, box_detections)\n",
" add_ego_vehicle_to_ax(ax, ego_vehicle_state)\n",
"\n",
" zoom = 1.0\n",
" ax.set_xlim(point_2d.x - radius * zoom, point_2d.x + radius * zoom)\n",
Expand All @@ -239,7 +248,7 @@
" return fig, ax\n",
"\n",
"\n",
"# scene_index = \n",
"# scene_index =\n",
"iteration = 1\n",
"\n",
"scale = 10\n",
Expand All @@ -249,7 +258,7 @@
"# _plot_scene_on_ax(ax[1], scene, iteration, radius=50)\n",
"# _plot_scene_on_ax(ax[2], scene, iteration, radius=100)\n",
"\n",
"plt.show()\n"
"plt.show()"
]
},
{
Expand Down
15 changes: 15 additions & 0 deletions pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,21 @@ nuplan = [
"guppy3",
"retry",
]
nuscenes = [
"lanelet2",
"nuscenes-devkit==1.2.0",
]
nuscenes_expanded = [
"nuscenes-devkit==1.2.0",
"pycocotools==2.0.10",
"laspy==2.6.1",
"embreex==2.17.7.post6",
"lanelet2==1.2.2",
"protobuf==4.25.3",
"pycollada==0.9.2",
"vhacdx==0.0.8.post2",
"yourdfpy==0.0.58",
]
waymo = [
"protobuf==6.30.2",
"tensorflow==2.13.0",
Expand Down
3 changes: 3 additions & 0 deletions scripts/conversion/nuscenes_mini_conversion.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
export NUSCENES_DATA_ROOT="/home/daniel/nuscenes_mini/"

py123d-conversion datasets=["nuscenes_mini_dataset"] map_writer.remap_ids=true
Empty file removed src/py123d/conversion/datasets/nuscenes/.gitkeep
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