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Data Converter for Nuplan Dataset

Overview

This repo is to convert raw nuplan data to the format needed by VAD to train end-2-end autonomous driving algorithms.

Main contribution includes:

  • convert raw .db to .pkl, see vad_nuplan_converter.py for details

  • convert raw .gpkg to .json, including necessary layer mapping. see gpkg2json.py for details

  • Visualizer to verify the format of converted data. see viz_tools

Env Setup

python 3.10 is recommended

python3 -m pip install -e . && pip install -r requirements.txt
cd nuplan-devkit && python3 -m pip install -e . && pip install -r requirements.txt