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motional / nuplan-devkit

The devkit of the nuPlan dataset.
https://www.nuplan.org
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There is a bug in vector_builder_utils.py #238

Closed jkewang closed 1 year ago

jkewang commented 1 year ago

The original code gets traffic lights info like this:

green_lane_connectors = [
    str(data.lane_connector_id) for data in traffic_light_data if data.status == TrafficLightStatusType.GREEN
]
red_lane_connectors = [
    str(data.lane_connector_id) for data in traffic_light_data if data.status == TrafficLightStatusType.RED
]

However, the 'traffic_light_data' is a generator, so that when you get 'green_lane_connectors', the red_lane_connectors will always be '[]'. The right code should be:

green_lane_connectors = []
red_lane_connectors = []
for data in traffic_light_data:
    if data.status == TrafficLightStatusType.GREEN:
        green_lane_connectors.append(str(data.lane_connector_id))
    elif data.status == TrafficLightStatusType.RED:
        red_lane_connectors.append(str(data.lane_connector_id))
christopher-motional commented 1 year ago

Hi @jkewang, thanks for catching this. Yes, this was a bug we didn't catch when extracting traffic light info from the scenario was changed from a list to a generator -- it should be fixed in the upcoming release.