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