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dataset_setup.md

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Dataset Setup

Download

To download nuPlan you need to go to the Download page, create an account and agree to the Terms of Use. After logging in you will see multiple archives. For the devkit to work you will need to download all archives. Please unpack the archives to the ~/nuplan/dataset folder.

Filesystem hierarchy

The final hierarchy should look as follows (depending on the splits downloaded above):

~/nuplan
├── exp
│   └── ${USER}
│       ├── cache
│       │   └── <cached_tokens>
│       └── exp
│           └── my_nuplan_experiment
└── dataset
    ├── maps
    │   ├── nuplan-maps-v1.0.json
    │   ├── sg-one-north
    │   │   └── 9.17.1964
    │   │       └── map.gpkg
    │   ├── us-ma-boston
    │   │   └── 9.12.1817
    │   │       └── map.gpkg
    │   ├── us-nv-las-vegas-strip
    │   │   └── 9.15.1915
    │   │       └── map.gpkg
    │   └── us-pa-pittsburgh-hazelwood
    │       └── 9.17.1937
    │           └── map.gpkg
    └── 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

If you want to use another folder, you can set the corresponding environment variable.