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motional / nuplan-devkit

The devkit of the nuPlan dataset.
https://www.nuplan.org
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Concerns of the NuPlan Dataset #261

Closed Curtainzsl closed 1 year ago

Curtainzsl commented 1 year ago

We want to know whether the nuplan dataset contains point cloud information. Thank you so much and please let us know if there is any concerns.

bulbcult commented 1 year ago

YES

Curtainzsl commented 1 year ago

YES Could you can help me locate the point could data ? Thank you very much！

bulbcult commented 1 year ago

It's in the .db file, you need a "DB browser for SQLite" to open it, cheers

Curtainzsl commented 1 year ago

它在.db文件中，你需要一个“SQLite数据库浏览器”才能打开它，干杯

Thank you very much. I also have a question about whether we can use the point cloud as input to the planner?Thank you so much!

bulbcult commented 1 year ago

As indicated in "Database Schema" of tutorial/nuplan_advanced_model_training.ipynb: "While there is a lot of information present in the diagram, the most important table is the lidar_pc table. Rows in this table are used to define a scenario." I suppose point cloud is used to define a scenario, maybe you render it as input. Hope this helps u a bit :)

gianmarco-motional commented 1 year ago

@Curtainzsl Raw lidar data is not released yet, but will be very soon. Stay tuned for release 1.2.0. For being able to run the simulation using it, will probably take a bit longer.