Dataset Visualization¶
This notebook records the codes that reproduce the demos in documentation/dataset-overview. The first section is executable because it calls the data from the sample dataset folder. The second section needs the users to download the corresponding datasets to display results.
%%capture
!pip install tactics2d
# This following typo is made intentionally. Please fix it by yourself and then run the tutorial.
# We are still working on embedding gif in the mkdocs-based documentation.
!tqdm
import tactics2d
print(tactics2d.__version__)
0.1.6
%matplotlib notebook
import os
import requests
import warnings
warnings.filterwarnings("ignore")
import json
import xml.etree.ElementTree as ET
from tqdm import tqdm
import numpy as np
import matplotlib as mpl
from tactics2d.dataset_parser import (
ArgoverseParser,
DLPParser,
InteractionParser,
LevelXParser,
NuPlanParser,
WOMDParser,
)
from tactics2d.map.parser import OSMParser
from tactics2d.traffic.scenario_display import ScenarioDisplay
--------------------------------------------------------------------------- ModuleNotFoundError Traceback (most recent call last) Cell In[3], line 12 9 import json 10 import xml.etree.ElementTree as ET ---> 12 from tqdm import tqdm 13 import numpy as np 14 import matplotlib as mpl ModuleNotFoundError: No module named 'tqdm'
mpl.rcParams.update(
{
"figure.dpi": 300,
"figure.frameon": False,
"font.family": "Dejavu Serif",
"font.size": 10,
"font.stretch": "semi-expanded",
"animation.html": "jshtml",
"animation.embed_limit": 5000,
}
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[4], line 1 ----> 1 mpl.rcParams.update( 2 { 3 "figure.dpi": 300, 4 "figure.frameon": False, 5 "font.family": "Dejavu Serif", 6 "font.size": 10, 7 "font.stretch": "semi-expanded", 8 "animation.html": "jshtml", 9 "animation.embed_limit": 5000, 10 } 11 ) NameError: name 'mpl' is not defined
def download_file(url, filename):
if not os.path.exists(filename):
r = requests.get(url)
if r.status_code == 200:
total_size = int(r.headers.get("content-length", 0))
block_size = 1024
progress_bar = tqdm(total=total_size, unit="iB", unit_scale=True)
with open(filename, "wb") as f:
for data in r.iter_content(block_size):
progress_bar.update(len(data))
f.write(data)
progress_bar.close()
config_path = "./map.config"
download_file(
"https://raw.githubusercontent.com/WoodOxen/tactics2d/master/tactics2d/dataset_parser/map.config",
config_path,
)
with open(config_path, "r") as f:
configs = json.load(f)
scenario_display = ScenarioDisplay()
lanelet2_parser = OSMParser(lanelet2=True)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[6], line 3 1 config_path = "./map.config" ----> 3 download_file( 4 "https://raw.githubusercontent.com/WoodOxen/tactics2d/master/tactics2d/dataset_parser/map.config", 5 config_path, 6 ) 8 with open(config_path, "r") as f: 9 configs = json.load(f) Cell In[5], line 8, in download_file(url, filename) 5 total_size = int(r.headers.get("content-length", 0)) 6 block_size = 1024 ----> 8 progress_bar = tqdm(total=total_size, unit="iB", unit_scale=True) 9 with open(filename, "wb") as f: 10 for data in r.iter_content(block_size): NameError: name 'tqdm' is not defined
1. Sample scenario demostration¶
Argoverse 2¶
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/Argoverse/train/0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca/log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json",
"log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json",
)
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/Argoverse/train/0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca/scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet",
"scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[7], line 1 ----> 1 download_file( 2 "https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/Argoverse/train/0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca/log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json", 3 "log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json", 4 ) 6 download_file( 7 "https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/Argoverse/train/0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca/scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet", 8 "scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet", 9 ) Cell In[5], line 8, in download_file(url, filename) 5 total_size = int(r.headers.get("content-length", 0)) 6 block_size = 1024 ----> 8 progress_bar = tqdm(total=total_size, unit="iB", unit_scale=True) 9 with open(filename, "wb") as f: 10 for data in r.iter_content(block_size): NameError: name 'tqdm' is not defined
def demo_argoverse(
file, map_file, folder, xlim=None, ylim=None, fps=10, interval=100, export_to=None
):
dataset_parser = ArgoverseParser()
trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder)
frames = np.arange(actual_time_range[0], actual_time_range[1], interval)
map_ = dataset_parser.parse_map(map_file, folder)
scenario_display = ScenarioDisplay()
scenario_display.reset()
if xlim is None or ylim is None:
ax_settings = {"aspect": "equal"}
fig_size = (4, 3)
else:
ax_settings = {"aspect": "equal", "xlim": xlim, "ylim": ylim}
fig_size = (4, round((ylim[1] - ylim[0]) / (xlim[1] - xlim[0]) * 4, 1))
animation = scenario_display.display(
trajectories, map_, interval, frames, fig_size, **ax_settings
)
if export_to is None:
return animation
else:
animation.save(filename=export_to, writer="ffmpeg", fps=fps, dpi=300)
# plot Argoverse 2 sample scenario
demo_argoverse(
"scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet",
"log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json",
"./",
xlim=[1800, 2100],
ylim=[500, 750],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[9], line 2 1 # plot Argoverse 2 sample scenario ----> 2 demo_argoverse( 3 "scenario_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.parquet", 4 "log_map_archive_0a0a2bb7-c4f4-44cd-958a-9ee15cb34aca.json", 5 "./", 6 xlim=[1800, 2100], 7 ylim=[500, 750], 8 ) Cell In[8], line 4, in demo_argoverse(file, map_file, folder, xlim, ylim, fps, interval, export_to) 1 def demo_argoverse( 2 file, map_file, folder, xlim=None, ylim=None, fps=10, interval=100, export_to=None 3 ): ----> 4 dataset_parser = ArgoverseParser() 5 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder) 7 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'ArgoverseParser' is not defined
DLP¶
download_file(
"https://datadryad.org/stash/downloads/file_stream/2654062",
"DJI_0012_agents.json"
)
download_file(
"https://datadryad.org/stash/downloads/file_stream/2654066",
"DJI_0012_frames.json"
)
download_file(
"https://datadryad.org/stash/downloads/file_stream/2654081",
"DJI_0012_instances.json"
)
download_file(
"https://datadryad.org/stash/downloads/file_stream/2654064",
"DJI_0012_obstacles.json"
)
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/map/DLP/DLP.osm",
"DLP.osm"
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[10], line 1 ----> 1 download_file( 2 "https://datadryad.org/stash/downloads/file_stream/2654062", 3 "DJI_0012_agents.json" 4 ) 5 download_file( 6 "https://datadryad.org/stash/downloads/file_stream/2654066", 7 "DJI_0012_frames.json" 8 ) 9 download_file( 10 "https://datadryad.org/stash/downloads/file_stream/2654081", 11 "DJI_0012_instances.json" 12 ) Cell In[5], line 8, in download_file(url, filename) 5 total_size = int(r.headers.get("content-length", 0)) 6 block_size = 1024 ----> 8 progress_bar = tqdm(total=total_size, unit="iB", unit_scale=True) 9 with open(filename, "wb") as f: 10 for data in r.iter_content(block_size): NameError: name 'tqdm' is not defined
# plot DLP sample scenario
dlp_time_range = (0, 20000)
dlp_fps = 25
dlp_interval = int(1000 / dlp_fps)
dataset_parser = DLPParser()
trajectories, actual_time_range = dataset_parser.parse_trajectory(
"DJI_0012_agents.json", "./", dlp_time_range
)
frames = np.arange(actual_time_range[0], actual_time_range[1], dlp_interval)
map_config = configs["DLP"]
map_path = "./DLP.osm"
map_root = ET.parse(map_path).getroot()
map_ = lanelet2_parser.parse(map_root, map_config["project_rule"], map_config["gps_origin"], map_config)
scenario_display.reset()
ax_settings = {"aspect": "equal", "xlim": [-5, 145], "ylim": [0, 80]}
scenario_display.display(trajectories, map_, dlp_interval, frames, (5, 2.7))
# animation.save(filename="./samples/imgs/dlp_sample.gif", writer="ffmpeg", fps=dlp_fps, dpi=300)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[11], line 6 3 dlp_fps = 25 4 dlp_interval = int(1000 / dlp_fps) ----> 6 dataset_parser = DLPParser() 7 trajectories, actual_time_range = dataset_parser.parse_trajectory( 8 "DJI_0012_agents.json", "./", dlp_time_range 9 ) 11 frames = np.arange(actual_time_range[0], actual_time_range[1], dlp_interval) NameError: name 'DLPParser' is not defined
INTERACTION¶
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/map/INTERACTION/DR_USA_Intersection_EP0.osm",
"DR_USA_Intersection_EP0.osm"
)
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0/pedestrian_tracks_000.csv",
"pedestrian_tracks_000.csv"
)
download_file(
"https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0/vehicle_tracks_000.csv",
"vehicle_tracks_000.csv"
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[12], line 1 ----> 1 download_file( 2 "https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/map/INTERACTION/DR_USA_Intersection_EP0.osm", 3 "DR_USA_Intersection_EP0.osm" 4 ) 5 download_file( 6 "https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0/pedestrian_tracks_000.csv", 7 "pedestrian_tracks_000.csv" 8 ) 9 download_file( 10 "https://raw.githubusercontent.com/SCP-CN-001/trajectory_dataset_support/main/trajectory_sample/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0/vehicle_tracks_000.csv", 11 "vehicle_tracks_000.csv" 12 ) Cell In[5], line 8, in download_file(url, filename) 5 total_size = int(r.headers.get("content-length", 0)) 6 block_size = 1024 ----> 8 progress_bar = tqdm(total=total_size, unit="iB", unit_scale=True) 9 with open(filename, "wb") as f: 10 for data in r.iter_content(block_size): NameError: name 'tqdm' is not defined
def demo_interaction(
file,
folder,
map_name,
xlim=None,
ylim=None,
time_range=(0, 10000),
fps=10,
interval=100,
export_to=None,
):
dataset_parser = InteractionParser()
trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range)
frames = np.arange(actual_time_range[0], actual_time_range[1], interval)
map_config = configs[map_name]
map_path = map_config["osm_path"].split("/")[-1]
map_root = ET.parse(map_path).getroot()
map_ = lanelet2_parser.parse(map_root, map_config["project_rule"], map_config["gps_origin"], map_config)
scenario_display = ScenarioDisplay()
scenario_display.reset()
if xlim is None or ylim is None:
ax_settings = {"aspect": "equal"}
fig_size = (4, 3)
else:
ax_settings = {"aspect": "equal", "xlim": xlim, "ylim": ylim}
fig_size = (4, round((ylim[1] - ylim[0]) / (xlim[1] - xlim[0]) * 4, 1))
animation = scenario_display.display(
trajectories, map_, interval, frames, fig_size, **ax_settings
)
if export_to is None:
return animation
else:
animation.save(filename=export_to, writer="ffmpeg", fps=fps, dpi=300)
# plot INTERACTION sample scenario
demo_interaction(
"vehicle_tracks_000.csv",
"./",
"DR_USA_Intersection_EP0",
xlim=[945, 1050],
ylim=[965, 1025],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[14], line 2 1 # plot INTERACTION sample scenario ----> 2 demo_interaction( 3 "vehicle_tracks_000.csv", 4 "./", 5 "DR_USA_Intersection_EP0", 6 xlim=[945, 1050], 7 ylim=[965, 1025], 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
WOMD¶
# plot WOMD sample scenario
womd_fps = 20
womd_interval = int(1000 / womd_fps)
dataset_parser = WOMDParser()
trajectories, actual_time_range = dataset_parser.parse_trajectory(
file="motion_data_one_scenario.tfrecord", folder="./tactics2d/data/trajectory_sample/WOMD"
)
map_ = dataset_parser.parse_map(
file="motion_data_one_scenario.tfrecord", folder="./tactics2d/data/trajectory_sample/WOMD"
)
scenario_display.reset()
ax_settings = {"aspect": "equal", "xlim": [-7890, -7710], "ylim": [-6775, -6600]}
animation = scenario_display.display(
trajectories, map_, womd_interval, actual_time_range, (5, 5.5), **ax_settings
)
animation
animation.save(filename="./samples/imgs/womd_sample.gif", writer="ffmpeg", fps=womd_fps, dpi=300)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[15], line 5 2 womd_fps = 20 3 womd_interval = int(1000 / womd_fps) ----> 5 dataset_parser = WOMDParser() 6 trajectories, actual_time_range = dataset_parser.parse_trajectory( 7 file="motion_data_one_scenario.tfrecord", folder="./tactics2d/data/trajectory_sample/WOMD" 8 ) 10 map_ = dataset_parser.parse_map( 11 file="motion_data_one_scenario.tfrecord", folder="./tactics2d/data/trajectory_sample/WOMD" 12 ) NameError: name 'WOMDParser' is not defined
Plot of the datasets¶
This section provides the full code to plot all demos in the documentation. To run this section, the users need to download the corresponding datasets and put them in the data
folder.
LevelX¶
According to the request from the official data provider, the data is not allowed to be shared. The users can download the data from the official website and put it in the data
folder. The data is available at HighD website.
def demo_levelx(
dataset,
file,
folder,
xlim=None,
ylim=None,
time_range=(0, 10000),
fps=25,
interval=40,
export_to=None,
):
dataset_parser = LevelXParser(dataset)
trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range)
frames = np.arange(actual_time_range[0], actual_time_range[1], interval)
location = dataset_parser.get_location(file, folder)
map_name = f"{dataset}_{location}"
map_config = configs[map_name]
map_path = os.path.join(map_folder, map_config["osm_path"])
map_root = ET.parse(map_path).getroot()
lanelet2_parser = OSMParser(lanelet2=True)
map_ = lanelet2_parser.parse(
map_root, map_config["project_rule"], map_config["gps_origin"], map_config
)
scenario_display = ScenarioDisplay()
scenario_display.reset()
if xlim is None or ylim is None:
ax_settings = {"aspect": "equal"}
fig_size = (4, 3)
else:
ax_settings = {"aspect": "equal", "xlim": xlim, "ylim": ylim}
fig_size = (4, round((ylim[1] - ylim[0]) / (xlim[1] - xlim[0]) * 4, 1))
animation = scenario_display.display(
trajectories, map_, interval, frames, fig_size, **ax_settings
)
if export_to is None:
return animation
else:
animation.save(filename=export_to, writer="ffmpeg", fps=fps, dpi=300)
HighD¶
Plot sample data from the HighD dataset.
demo_levelx(
"highD",
"01_tracks.csv",
"./tactics2d/data/trajectory_sample/highD/data",
xlim=[0, 300],
ylim=[-25, 5],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[17], line 1 ----> 1 demo_levelx( 2 "highD", 3 "01_tracks.csv", 4 "./tactics2d/data/trajectory_sample/highD/data", 5 xlim=[0, 300], 6 ylim=[-25, 5], 7 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"11_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-35, 5],
export_to="./samples/imgs/highD_loc_1.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[18], line 1 ----> 1 demo_levelx( 2 "highD", 3 "11_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-35, 5], 7 export_to="./samples/imgs/highD_loc_1.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"01_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-25, 5],
export_to="./samples/imgs/highD_loc_2.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[19], line 1 ----> 1 demo_levelx( 2 "highD", 3 "01_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-25, 5], 7 export_to="./samples/imgs/highD_loc_2.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"04_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-30, 5],
export_to="./samples/imgs/highD_loc_3.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[20], line 1 ----> 1 demo_levelx( 2 "highD", 3 "04_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-30, 5], 7 export_to="./samples/imgs/highD_loc_3.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"07_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-30, 5],
export_to="./samples/imgs/highD_loc_4.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[21], line 1 ----> 1 demo_levelx( 2 "highD", 3 "07_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-30, 5], 7 export_to="./samples/imgs/highD_loc_4.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"15_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-25, 5],
time_range=(10000, 20000),
export_to="./samples/imgs/highD_loc_5.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[22], line 1 ----> 1 demo_levelx( 2 "highD", 3 "15_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-25, 5], 7 time_range=(10000, 20000), 8 export_to="./samples/imgs/highD_loc_5.gif", 9 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"highD",
"58_tracks.csv",
"./tactics2d/data/trajectory/highD/data",
xlim=[0, 300],
ylim=[-30, 10],
time_range=(10000, 20000),
export_to="./samples/imgs/highD_loc_6.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[23], line 1 ----> 1 demo_levelx( 2 "highD", 3 "58_tracks.csv", 4 "./tactics2d/data/trajectory/highD/data", 5 xlim=[0, 300], 6 ylim=[-30, 10], 7 time_range=(10000, 20000), 8 export_to="./samples/imgs/highD_loc_6.gif", 9 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
InD¶
Plot sample data from the InD dataset.
demo_levelx(
"inD",
"00_tracks.csv",
"./tactics2d/data/trajectory_sample/inD/data",
xlim=[50, 200],
ylim=[-125, -25],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[24], line 1 ----> 1 demo_levelx( 2 "inD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory_sample/inD/data", 5 xlim=[50, 200], 6 ylim=[-125, -25], 7 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"inD",
"07_tracks.csv",
"./tactics2d/data/trajectory/inD/data",
xlim=[0, 120],
ylim=[-75, 20],
export_to="./samples/imgs/inD_loc_1.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[25], line 1 ----> 1 demo_levelx( 2 "inD", 3 "07_tracks.csv", 4 "./tactics2d/data/trajectory/inD/data", 5 xlim=[0, 120], 6 ylim=[-75, 20], 7 export_to="./samples/imgs/inD_loc_1.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"inD",
"18_tracks.csv",
"./tactics2d/data/trajectory/inD/data",
xlim=[0, 150],
ylim=[-60, 0],
export_to="./samples/imgs/inD_loc_2.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[26], line 1 ----> 1 demo_levelx( 2 "inD", 3 "18_tracks.csv", 4 "./tactics2d/data/trajectory/inD/data", 5 xlim=[0, 150], 6 ylim=[-60, 0], 7 export_to="./samples/imgs/inD_loc_2.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"inD",
"30_tracks.csv",
"./tactics2d/data/trajectory/inD/data",
xlim=[-25, 100],
ylim=[-75, 0],
export_to="./samples/imgs/inD_loc_3.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[27], line 1 ----> 1 demo_levelx( 2 "inD", 3 "30_tracks.csv", 4 "./tactics2d/data/trajectory/inD/data", 5 xlim=[-25, 100], 6 ylim=[-75, 0], 7 export_to="./samples/imgs/inD_loc_3.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"inD",
"00_tracks.csv",
"./tactics2d/data/trajectory/inD/data",
xlim=[50, 240],
ylim=[-125, 0],
export_to="./samples/imgs/inD_loc_4.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[28], line 1 ----> 1 demo_levelx( 2 "inD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory/inD/data", 5 xlim=[50, 240], 6 ylim=[-125, 0], 7 export_to="./samples/imgs/inD_loc_4.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
RounD¶
Plot sample data from the RounD dataset.
demo_levelx(
"rounD",
"00_tracks.csv",
"./tactics2d/data/trajectory_sample/rounD/data",
xlim=[50, 200],
ylim=[-145, -25],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[29], line 1 ----> 1 demo_levelx( 2 "rounD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory_sample/rounD/data", 5 xlim=[50, 200], 6 ylim=[-145, -25], 7 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"rounD",
"02_tracks.csv",
"./tactics2d/data/trajectory/rounD/data",
xlim=[0, 150],
ylim=[-100, 5],
export_to="./samples/imgs/rounD_loc_0.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[30], line 1 ----> 1 demo_levelx( 2 "rounD", 3 "02_tracks.csv", 4 "./tactics2d/data/trajectory/rounD/data", 5 xlim=[0, 150], 6 ylim=[-100, 5], 7 export_to="./samples/imgs/rounD_loc_0.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"rounD",
"00_tracks.csv",
"./tactics2d/data/trajectory/rounD/data",
xlim=[50, 200],
ylim=[-150, -25],
export_to="./samples/imgs/rounD_loc_1.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[31], line 1 ----> 1 demo_levelx( 2 "rounD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory/rounD/data", 5 xlim=[50, 200], 6 ylim=[-150, -25], 7 export_to="./samples/imgs/rounD_loc_1.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"rounD",
"01_tracks.csv",
"./tactics2d/data/trajectory/rounD/data",
xlim=[100, 175],
ylim=[-125, -25],
export_to="./samples/imgs/rounD_loc_2.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[32], line 1 ----> 1 demo_levelx( 2 "rounD", 3 "01_tracks.csv", 4 "./tactics2d/data/trajectory/rounD/data", 5 xlim=[100, 175], 6 ylim=[-125, -25], 7 export_to="./samples/imgs/rounD_loc_2.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
ExiD¶
Plot sample data from the ExiD dataset.
demo_levelx(
"exiD",
"00_tracks.csv",
"./tactics2d/data/trajectory_sample/rounD/data",
xlim=[300, 600],
ylim=[-500, -100],
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[33], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory_sample/rounD/data", 5 xlim=[300, 600], 6 ylim=[-500, -100], 7 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"00_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[300, 600],
ylim=[-500, -100],
export_to="./samples/imgs/exiD_loc_0.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[34], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "00_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[300, 600], 6 ylim=[-500, -100], 7 export_to="./samples/imgs/exiD_loc_0.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"19_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[310, 600],
ylim=[-390, -90],
export_to="./samples/imgs/exiD_loc_1.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[35], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "19_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[310, 600], 6 ylim=[-390, -90], 7 export_to="./samples/imgs/exiD_loc_1.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"39_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[550, 880],
ylim=[-600, -200],
export_to="./samples/imgs/exiD_loc_2.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[36], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "39_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[550, 880], 6 ylim=[-600, -200], 7 export_to="./samples/imgs/exiD_loc_2.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"53_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[150, 550],
ylim=[-340, -50],
export_to="./samples/imgs/exiD_loc_3.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[37], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "53_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[150, 550], 6 ylim=[-340, -50], 7 export_to="./samples/imgs/exiD_loc_3.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"61_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[200, 600],
ylim=[-350, -50],
export_to="./samples/imgs/exiD_loc_4.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[38], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "61_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[200, 600], 6 ylim=[-350, -50], 7 export_to="./samples/imgs/exiD_loc_4.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"73_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[150, 650],
ylim=[-300, -140],
export_to="./samples/imgs/exiD_loc_5.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[39], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "73_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[150, 650], 6 ylim=[-300, -140], 7 export_to="./samples/imgs/exiD_loc_5.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
demo_levelx(
"exiD",
"78_tracks.csv",
"./tactics2d/data/trajectory/exiD/data",
xlim=[150, 600],
ylim=[-240, -130],
export_to="./samples/imgs/exiD_loc_6.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[40], line 1 ----> 1 demo_levelx( 2 "exiD", 3 "78_tracks.csv", 4 "./tactics2d/data/trajectory/exiD/data", 5 xlim=[150, 600], 6 ylim=[-240, -130], 7 export_to="./samples/imgs/exiD_loc_6.gif", 8 ) Cell In[16], line 12, in demo_levelx(dataset, file, folder, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_levelx( 2 dataset, 3 file, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = LevelXParser(dataset) 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'LevelXParser' is not defined
Argoverse¶
demo_argoverse(
"scenario_0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce.parquet",
"log_map_archive_0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce.json",
"./tactics2d/data/trajectory/Argoverse/test/0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce",
xlim=[3400, 3700],
ylim=[-2000, -1800],
export_to="./samples/imgs/argoverse_sample.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[41], line 1 ----> 1 demo_argoverse( 2 "scenario_0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce.parquet", 3 "log_map_archive_0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce.json", 4 "./tactics2d/data/trajectory/Argoverse/test/0a51f8f5-3e8a-4d40-87e6-cb325c9c44ce", 5 xlim=[3400, 3700], 6 ylim=[-2000, -1800], 7 export_to="./samples/imgs/argoverse_sample.gif", 8 ) Cell In[8], line 4, in demo_argoverse(file, map_file, folder, xlim, ylim, fps, interval, export_to) 1 def demo_argoverse( 2 file, map_file, folder, xlim=None, ylim=None, fps=10, interval=100, export_to=None 3 ): ----> 4 dataset_parser = ArgoverseParser() 5 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder) 7 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'ArgoverseParser' is not defined
INTERACTION¶
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_CHN_Merging_ZS",
"DR_CHN_Merging_ZS",
xlim=[1000, 1140],
ylim=[925, 975],
export_to="./samples/imgs/DR_CHN_Merging_ZS.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[42], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_CHN_Merging_ZS", 4 "DR_CHN_Merging_ZS", 5 xlim=[1000, 1140], 6 ylim=[925, 975], 7 export_to="./samples/imgs/DR_CHN_Merging_ZS.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_CHN_Roundabout_LN",
"DR_CHN_Roundabout_LN",
xlim=[920, 1070],
ylim=[960, 1050],
export_to="./samples/imgs/DR_CHN_Roundabout_LN.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[43], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_CHN_Roundabout_LN", 4 "DR_CHN_Roundabout_LN", 5 xlim=[920, 1070], 6 ylim=[960, 1050], 7 export_to="./samples/imgs/DR_CHN_Roundabout_LN.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_DEU_Merging_MT",
"DR_DEU_Merging_MT",
xlim=[890, 1005],
ylim=[1000, 1015],
export_to="./samples/imgs/DR_DEU_Merging_MT.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[44], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_DEU_Merging_MT", 4 "DR_DEU_Merging_MT", 5 xlim=[890, 1005], 6 ylim=[1000, 1015], 7 export_to="./samples/imgs/DR_DEU_Merging_MT.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_DEU_Roundabout_OF",
"DR_DEU_Roundabout_OF",
xlim=[950, 1050],
ylim=[960, 1030],
export_to="./samples/imgs/DR_DEU_Roundabout_OF.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[45], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_DEU_Roundabout_OF", 4 "DR_DEU_Roundabout_OF", 5 xlim=[950, 1050], 6 ylim=[960, 1030], 7 export_to="./samples/imgs/DR_DEU_Roundabout_OF.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0",
"DR_USA_Intersection_EP0",
xlim=[950, 1050],
ylim=[965, 1020],
export_to="./samples/imgs/DR_USA_Intersection_EP0.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[46], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP0", 4 "DR_USA_Intersection_EP0", 5 xlim=[950, 1050], 6 ylim=[965, 1020], 7 export_to="./samples/imgs/DR_USA_Intersection_EP0.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP1",
"DR_USA_Intersection_EP1",
xlim=[950, 1095],
ylim=[950, 1020],
export_to="./samples/imgs/DR_USA_Intersection_EP1.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[47], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_EP1", 4 "DR_USA_Intersection_EP1", 5 xlim=[950, 1095], 6 ylim=[950, 1020], 7 export_to="./samples/imgs/DR_USA_Intersection_EP1.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_GL",
"DR_USA_Intersection_GL",
xlim=[940, 1040],
ylim=[940, 1020],
export_to="./samples/imgs/DR_USA_Intersection_GL.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[48], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_GL", 4 "DR_USA_Intersection_GL", 5 xlim=[940, 1040], 6 ylim=[940, 1020], 7 export_to="./samples/imgs/DR_USA_Intersection_GL.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_MA",
"DR_USA_Intersection_MA",
xlim=[970, 1050],
ylim=[960, 1040],
export_to="./samples/imgs/DR_USA_Intersection_MA.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[49], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Intersection_MA", 4 "DR_USA_Intersection_MA", 5 xlim=[970, 1050], 6 ylim=[960, 1040], 7 export_to="./samples/imgs/DR_USA_Intersection_MA.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_EP",
"DR_USA_Roundabout_EP",
xlim=[950, 1095],
ylim=[980, 1050],
export_to="./samples/imgs/DR_USA_Roundabout_EP.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[50], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_EP", 4 "DR_USA_Roundabout_EP", 5 xlim=[950, 1095], 6 ylim=[980, 1050], 7 export_to="./samples/imgs/DR_USA_Roundabout_EP.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_000.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_FT",
"DR_USA_Roundabout_FT",
xlim=[960, 1060],
ylim=[970, 1025],
export_to="./samples/imgs/DR_USA_Roundabout_FT.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[51], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_000.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_FT", 4 "DR_USA_Roundabout_FT", 5 xlim=[960, 1060], 6 ylim=[970, 1025], 7 export_to="./samples/imgs/DR_USA_Roundabout_FT.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_001.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_SR",
"DR_USA_Roundabout_SR",
xlim=[910, 1050],
ylim=[980, 1060],
export_to="./samples/imgs/DR_USA_Roundabout_SR.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[52], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_001.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/DR_USA_Roundabout_SR", 4 "DR_USA_Roundabout_SR", 5 xlim=[910, 1050], 6 ylim=[980, 1060], 7 export_to="./samples/imgs/DR_USA_Roundabout_SR.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
demo_interaction(
"vehicle_tracks_001.csv",
"./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/TC_BGR_Intersection_VA",
"TC_BGR_Intersection_VA",
xlim=[965, 1025],
ylim=[975, 1035],
export_to="./samples/imgs/DR_BGR_Intersection_VA.gif",
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[53], line 1 ----> 1 demo_interaction( 2 "vehicle_tracks_001.csv", 3 "./tactics2d/data/trajectory/INTERACTION/recorded_trackfiles/TC_BGR_Intersection_VA", 4 "TC_BGR_Intersection_VA", 5 xlim=[965, 1025], 6 ylim=[975, 1035], 7 export_to="./samples/imgs/DR_BGR_Intersection_VA.gif", 8 ) Cell In[13], line 12, in demo_interaction(file, folder, map_name, xlim, ylim, time_range, fps, interval, export_to) 1 def demo_interaction( 2 file, 3 folder, (...) 10 export_to=None, 11 ): ---> 12 dataset_parser = InteractionParser() 13 trajectories, actual_time_range = dataset_parser.parse_trajectory(file, folder, time_range) 15 frames = np.arange(actual_time_range[0], actual_time_range[1], interval) NameError: name 'InteractionParser' is not defined
NuPlan¶
Because the map of NuPlan is extremely large, we suggest you to run the following codes in the local environment.
# plot NuPlan sample scenario
nuplan_fps = 20
nuplan_interval = int(1000 / nuplan_fps)
dataset_parser = NuPlanParser()
participants, actual_time_range = dataset_parser.parse_trajectory(
"2021.08.26.18.24.36_veh-28_00578_00663.db",
"./tactics2d/data/trajectory/NuPlan/data/cache/train_boston",
)
frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000]
location = dataset_parser.get_location(
"2021.08.26.18.24.36_veh-28_00578_00663.db",
"./tactics2d/data/trajectory_sample/NuPlan/data/cache/train_boston",
)
map_ = dataset_parser.parse_map(configs[location]["gpkg_path"], map_folder)
scenario_display.reset()
ax_settings = {"aspect": "equal", "xlim": [331420, 331550], "ylim": [4689360, 4689470]}
animation = scenario_display.display(
participants, map_, nuplan_interval, frames, (5, 4.2), **ax_settings
)
animation.save(
filename="./samples/imgs/nuplan_boston.gif", writer="ffmpeg", fps=nuplan_fps, dpi=300
)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[54], line 5 2 nuplan_fps = 20 3 nuplan_interval = int(1000 / nuplan_fps) ----> 5 dataset_parser = NuPlanParser() 6 participants, actual_time_range = dataset_parser.parse_trajectory( 7 "2021.08.26.18.24.36_veh-28_00578_00663.db", 8 "./tactics2d/data/trajectory/NuPlan/data/cache/train_boston", 9 ) 11 frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000] NameError: name 'NuPlanParser' is not defined
dataset_parser = NuPlanParser()
participants, actual_time_range = dataset_parser.parse_trajectory(
"2021.08.17.13.15.12_veh-45_00324_00489.db",
"./tactics2d/data/trajectory/NuPlan/data/cache/train_pittsburgh/",
)
frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000]
location = dataset_parser.get_location(
"2021.08.17.13.15.12_veh-45_00324_00489.db",
"./tactics2d/data/trajectory/NuPlan/data/cache/train_pittsburgh/",
)
map_ = dataset_parser.parse_map(configs[location]["gpkg_path"], map_folder)
x_min = np.inf
x_max = -np.inf
y_min = np.inf
y_max = -np.inf
for participant in participants.values():
for state in participant.trajectory.history_states.values():
x, y = state.location
x_min = min(x_min, x)
x_max = max(x_max, x)
y_min = min(y_min, y)
y_max = max(y_max, y)
print(x_min, x_max, y_min, y_max)
scenario_display.reset()
ax_settings = {"aspect": "equal", "xlim": [x_min, x_max], "ylim": [y_min, y_max]}
scenario_display.display(participants, map_, nuplan_interval, frames, (5, 4.2), **ax_settings)
# animation = scenario_display.display(participants, map_, nuplan_interval, frames, (5, 4.2), **ax_settings)
# animation.save(filename="./samples/imgs/nuplan_pittsburghgif", writer="ffmpeg", fps=nuplan_fps, dpi=300)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[55], line 1 ----> 1 dataset_parser = NuPlanParser() 2 participants, actual_time_range = dataset_parser.parse_trajectory( 3 "2021.08.17.13.15.12_veh-45_00324_00489.db", 4 "./tactics2d/data/trajectory/NuPlan/data/cache/train_pittsburgh/", 5 ) 7 frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000] NameError: name 'NuPlanParser' is not defined
dataset_parser = NuPlanParser()
participants, actual_time_range = dataset_parser.parse_trajectory(
"2021.08.18.06.04.33_veh-51_00183_00300.db",
"./tactics2d/data/trajectory/NuPlan/data/cache/train_singapore/",
)
frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000]
location = dataset_parser.get_location(
"2021.08.18.06.04.33_veh-51_00183_00300.db",
"./tactics2d/data/trajectory/NuPlan/data/cache/train_singapore/",
)
map_ = dataset_parser.parse_map(configs[location]["gpkg_path"], map_folder)
x_min = np.inf
x_max = -np.inf
y_min = np.inf
y_max = -np.inf
for participant in participants.values():
for state in participant.trajectory.history_states.values():
x, y = state.location
x_min = min(x_min, x)
x_max = max(x_max, x)
y_min = min(y_min, y)
y_max = max(y_max, y)
print(x_min, x_max, y_min, y_max)
scenario_display.reset()
ax_settings = {"aspect": "equal", "xlim": [365021, 365314], "ylim": [142988, 143251]}
scenario_display.display(participants, map_, nuplan_interval, frames, (5, 4.2), **ax_settings)
# animation = scenario_display.display(participants, map_, nuplan_interval, frames, (5, 4.2), **ax_settings)
# animation.save(filename="./samples/imgs/nuplan_pittsburghgif", writer="ffmpeg", fps=nuplan_fps, dpi=300)
--------------------------------------------------------------------------- NameError Traceback (most recent call last) Cell In[56], line 1 ----> 1 dataset_parser = NuPlanParser() 2 participants, actual_time_range = dataset_parser.parse_trajectory( 3 "2021.08.18.06.04.33_veh-51_00183_00300.db", 4 "./tactics2d/data/trajectory/NuPlan/data/cache/train_singapore/", 5 ) 7 frames = [t for t in actual_time_range if t < actual_time_range[0] + 10000] NameError: name 'NuPlanParser' is not defined