Add View-of-Delft Prediction dataset

DATASETS.md

@@ -1,5 +1,16 @@
 # Supported Datasets and Required Formats
 
+## View-of-Delft 
+Nothing special needs to be done for the View-of-Delft Prediction dataset, simply download it as per [the instructions in the devkit README](https://github.com/tudelft-iv/view-of-delft-prediction-devkit?tab=readme-ov-file#vod-p-setup).
+
+It should look like this after downloading:
+```
+/path/to/VoD/
+            ├── maps/
+            ├── v1.0-test/
+            └── v1.0-trainval/
+```
+
 ## nuScenes
 Nothing special needs to be done for the nuScenes dataset, simply download it as per [the instructions in the devkit README](https://github.com/nutonomy/nuscenes-devkit#nuscenes-setup).
 

README.md

@@ -17,7 +17,7 @@ The easiest way to install trajdata is through PyPI with
 pip install trajdata
 ```
 
-In case you would also like to use datasets such as nuScenes, Lyft Level 5, or Waymo Open Motion Dataset (which require their own devkits to access raw data or additional package dependencies), the following will also install the respective devkits and/or package dependencies.
+In case you would also like to use datasets such as nuScenes, Lyft Level 5, View-of-Delft, or Waymo Open Motion Dataset (which require their own devkits to access raw data or additional package dependencies), the following will also install the respective devkits and/or package dependencies.
 ```sh
 # For nuScenes
 pip install "trajdata[nusc]"
@@ -31,10 +31,13 @@ pip install "trajdata[waymo]"
 # For INTERACTION
 pip install "trajdata[interaction]"
 
+# For View-of-Delft 
+pip install "trajdata[vod]"
+
 # All
-pip install "trajdata[nusc,lyft,waymo,interaction]"
+pip install "trajdata[nusc,lyft,waymo,interaction,vod]"
 ```
-Then, download the raw datasets (nuScenes, Lyft Level 5, ETH/UCY, etc.) in case you do not already have them. For more information about how to structure dataset folders/files, please see [`DATASETS.md`](./DATASETS.md).
+Then, download the raw datasets (nuScenes, Lyft Level 5, View-of-Delft, ETH/UCY, etc.) in case you do not already have them. For more information about how to structure dataset folders/files, please see [`DATASETS.md`](./DATASETS.md).
 
 ### Package Developer Installation
 
@@ -100,6 +103,8 @@ Currently, the dataloader supports interfacing with the following datasets:
 | nuPlan Validation | `nuplan_val` | N/A | `boston`, `singapore`, `pittsburgh`, `las_vegas` | nuPlan validation split (90.30 GB) | 0.05s (20Hz) | :white_check_mark: |
 | nuPlan Test | `nuplan_test` | N/A | `boston`, `singapore`, `pittsburgh`, `las_vegas` | nuPlan testing split (89.33 GB) | 0.05s (20Hz) | :white_check_mark: |
 | nuPlan Mini | `nuplan_mini` | `mini_train`, `mini_val`, `mini_test` | `boston`, `singapore`, `pittsburgh`, `las_vegas` | nuPlan mini training/validation/test splits (942/197/224 scenes, 7.96 GB) | 0.05s (20Hz) | :white_check_mark: |
+| View-of-Delft Train/TrainVal/Val | `vod_trainval` | `train`, `train_val`, `val` | `delft` | View-of-Delft Prediction training and validation splits | 0.1s (10Hz) | :white_check_mark: |
+| View-of-Delft Test | `vod_test` | `test` | `delft` | View-of-Delft Prediction test split | 0.1s (10Hz) | :white_check_mark: |
 | Waymo Open Motion Training | `waymo_train` | `train` | N/A | Waymo Open Motion Dataset `training` split | 0.1s (10Hz) | :white_check_mark: |
 | Waymo Open Motion Validation | `waymo_val` | `val` | N/A | Waymo Open Motion Dataset `validation` split | 0.1s (10Hz) | :white_check_mark: |
 | Waymo Open Motion Testing | `waymo_test` | `test` | N/A | Waymo Open Motion Dataset `testing` split | 0.1s (10Hz) | :white_check_mark: |

pyproject.toml

@@ -44,7 +44,8 @@ interaction = ["lanelet2==1.2.1"]
 lyft = ["l5kit==1.5.0"]
 nusc = ["nuscenes-devkit==1.1.9"]
 waymo = ["tensorflow==2.11.0", "waymo-open-dataset-tf-2-11-0", "intervaltree"]
+vod = ["vod-devkit==1.1.1"]
 
 [project.urls]
 "Homepage" = "https://github.com/nvr-avg/trajdata"
-"Bug Tracker" = "https://github.com/nvr-avg/trajdata/issues"
+"Bug Tracker" = "https://github.com/nvr-avg/trajdata/issues"

src/trajdata/dataset_specific/scene_records.py

@@ -34,6 +34,15 @@ class NuscSceneRecord(NamedTuple):
     data_idx: int
 
 
+class VODSceneRecord(NamedTuple):
+    token: str
+    name: str
+    location: str
+    length: str
+    desc: str
+    data_idx: int
+
+
 class LyftSceneRecord(NamedTuple):
     name: str
     length: str

src/trajdata/dataset_specific/vod/__init__.py

@@ -0,0 +1 @@
+from .vod_dataset import VODDataset

src/trajdata/dataset_specific/vod/vod_dataset.py

@@ -0,0 +1,315 @@
+import warnings
+from copy import deepcopy
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple, Type, Union
+
+import pandas as pd
+from tqdm import tqdm
+from vod.map_expansion.map_api import VODMap, locations
+from vod.utils.splits import create_splits_scenes
+from vod.vod import VOD
+
+from trajdata.caching import EnvCache, SceneCache
+from trajdata.data_structures.agent import (
+    Agent,
+    AgentMetadata,
+    AgentType,
+    FixedExtent,
+    VariableExtent,
+)
+from trajdata.data_structures.environment import EnvMetadata
+from trajdata.data_structures.scene_metadata import Scene, SceneMetadata
+from trajdata.data_structures.scene_tag import SceneTag
+from trajdata.dataset_specific.raw_dataset import RawDataset
+from trajdata.dataset_specific.scene_records import VODSceneRecord
+from trajdata.dataset_specific.vod import vod_utils
+from trajdata.maps import VectorMap
+
+
+class VODDataset(RawDataset):
+    def compute_metadata(self, env_name: str, data_dir: str) -> EnvMetadata:
+        # See https://github.com/tudelft-iv/view-of-delft-prediction-devkit/blob/main/src/vod/utils/splits.py
+        # for full details on how the splits are obtained below.
+        all_scene_splits: Dict[str, List[str]] = create_splits_scenes()
+
+        train_scenes: List[str] = deepcopy(all_scene_splits["train"])
+
+        if env_name == "vod_trainval":
+            vod_scene_splits: Dict[str, List[str]] = {
+                k: all_scene_splits[k] for k in ["train", "train_val", "val"]
+            }
+
+            # VoD possibilities are the Cartesian product of these
+            dataset_parts: List[Tuple[str, ...]] = [
+                ("train", "train_val", "val"),
+                ("delft",),
+            ]
+        elif env_name == "vod_test":
+            vod_scene_splits: Dict[str, List[str]] = {
+                k: all_scene_splits[k] for k in ["test"]
+            }
+
+            # VoD possibilities are the Cartesian product of these
+            dataset_parts: List[Tuple[str, ...]] = [
+                ("test",),
+                ("delft",),
+            ]
+
+        # elif env_name == "vod_mini":
+        #     vod_scene_splits: Dict[str, List[str]] = {
+        #         k: all_scene_splits[k] for k in ["mini_train", "mini_val"]
+        #     }
+
+        #     # VoD possibilities are the Cartesian product of these
+        #     dataset_parts: List[Tuple[str, ...]] = [
+        #         ("mini_train", "mini_val"),
+        #         ("delft",),
+        #     ]
+        else:
+            raise ValueError(f"Unknown VoD environment name: {env_name}")
+
+        # Inverting the dict from above, associating every scene with its data split.
+        vod_scene_split_map: Dict[str, str] = {
+            v_elem: k for k, v in vod_scene_splits.items() for v_elem in v
+        }
+
+        return EnvMetadata(
+            name=env_name,
+            data_dir=data_dir,
+            dt=vod_utils.VOD_DT,
+            parts=dataset_parts,
+            scene_split_map=vod_scene_split_map,
+            # The location names should match the map names used in
+            # the unified data cache.
+            map_locations=tuple(locations),
+        )
+
+    def load_dataset_obj(self, verbose: bool = False) -> None:
+        if verbose:
+            print(f"Loading {self.name} dataset...", flush=True)
+
+        if self.name == "vod_trainval":
+            version_str = "v1.0-trainval"
+        elif self.name == "vod_test":
+            version_str = "v1.0-test"
+        # elif self.name == "vod_mini":
+        #     version_str = "v1.0-mini"
+
+        self.dataset_obj = VOD(version=version_str, dataroot=self.metadata.data_dir)
+
+    def _get_matching_scenes_from_obj(
+        self,
+        scene_tag: SceneTag,
+        scene_desc_contains: Optional[List[str]],
+        env_cache: EnvCache,
+    ) -> List[SceneMetadata]:
+        all_scenes_list: List[VODSceneRecord] = list()
+
+        scenes_list: List[SceneMetadata] = list()
+        for idx, scene_record in enumerate(self.dataset_obj.scene):
+            scene_token: str = scene_record["token"]
+            scene_name: str = scene_record["name"]
+            scene_desc: str = scene_record["description"].lower()
+            scene_location: str = self.dataset_obj.get(
+                "log", scene_record["log_token"]
+            )["location"]
+            scene_split: str = self.metadata.scene_split_map[scene_token]
+            scene_length: int = scene_record["nbr_samples"]
+
+            # Saving all scene records for later caching.
+            all_scenes_list.append(
+                VODSceneRecord(
+                    scene_token,
+                    scene_name,
+                    scene_location,
+                    scene_length,
+                    scene_desc,
+                    idx,
+                )
+            )
+
+            if scene_location in scene_tag and scene_split in scene_tag:
+                if scene_desc_contains is not None and not any(
+                    desc_query in scene_desc for desc_query in scene_desc_contains
+                ):
+                    continue
+
+                scene_metadata = SceneMetadata(
+                    env_name=self.metadata.name,
+                    name=scene_name,
+                    dt=self.metadata.dt,
+                    raw_data_idx=idx,
+                )
+                scenes_list.append(scene_metadata)
+
+        self.cache_all_scenes_list(env_cache, all_scenes_list)
+        return scenes_list
+
+    def _get_matching_scenes_from_cache(
+        self,
+        scene_tag: SceneTag,
+        scene_desc_contains: Optional[List[str]],
+        env_cache: EnvCache,
+    ) -> List[Scene]:
+        all_scenes_list: List[VODSceneRecord] = env_cache.load_env_scenes_list(
+            self.name
+        )
+
+        scenes_list: List[SceneMetadata] = list()
+        for scene_record in all_scenes_list:
+            (
+                scene_token,
+                scene_name,
+                scene_location,
+                scene_length,
+                scene_desc,
+                data_idx,
+            ) = scene_record
+            scene_split: str = self.metadata.scene_split_map[scene_token]
+
+            if scene_location.split("-")[0] in scene_tag and scene_split in scene_tag:
+                if scene_desc_contains is not None and not any(
+                    desc_query in scene_desc for desc_query in scene_desc_contains
+                ):
+                    continue
+
+                scene_metadata = Scene(
+                    self.metadata,
+                    scene_name,
+                    scene_location,
+                    scene_split,
+                    scene_length,
+                    data_idx,
+                    None,  # This isn't used if everything is already cached.
+                    scene_desc,
+                )
+                scenes_list.append(scene_metadata)
+
+        return scenes_list
+
+    def get_scene(self, scene_info: SceneMetadata) -> Scene:
+        _, _, _, data_idx = scene_info
+
+        scene_record = self.dataset_obj.scene[data_idx]
+        scene_token: str = scene_record["token"]
+        scene_name: str = scene_record["name"]
+        scene_desc: str = scene_record["description"].lower()
+        scene_location: str = self.dataset_obj.get("log", scene_record["log_token"])[
+            "location"
+        ]
+        scene_split: str = self.metadata.scene_split_map[scene_token]
+        scene_length: int = scene_record["nbr_samples"]
+
+        return Scene(
+            self.metadata,
+            scene_name,
+            scene_location,
+            scene_split,
+            scene_length,
+            data_idx,
+            scene_record,
+            scene_desc,
+        )
+
+    def get_agent_info(
+        self, scene: Scene, cache_path: Path, cache_class: Type[SceneCache]
+    ) -> Tuple[List[AgentMetadata], List[List[AgentMetadata]]]:
+        ego_agent_info: AgentMetadata = AgentMetadata(
+            name="ego",
+            agent_type=AgentType.VEHICLE,
+            first_timestep=0,
+            last_timestep=scene.length_timesteps - 1,
+            extent=FixedExtent(length=4.084, width=1.730, height=1.562),
+        )
+
+        agent_presence: List[List[AgentMetadata]] = [
+            [ego_agent_info] for _ in range(scene.length_timesteps)
+        ]
+
+        agent_data_list: List[pd.DataFrame] = list()
+        existing_agents: Dict[str, AgentMetadata] = dict()
+
+        all_frames: List[Dict[str, Union[str, int]]] = list(
+            vod_utils.frame_iterator(self.dataset_obj, scene)
+        )
+        frame_idx_dict: Dict[str, int] = {
+            frame_dict["token"]: idx for idx, frame_dict in enumerate(all_frames)
+        }
+        for frame_idx, frame_info in enumerate(all_frames):
+            for agent_info in vod_utils.agent_iterator(self.dataset_obj, frame_info):
+                if agent_info["instance_token"] in existing_agents:
+                    continue
+
+                if agent_info["category_name"] == "vehicle.ego":
+                    # Do not double-count the ego vehicle
+                    continue
+
+                if not agent_info["next"]:
+                    # There are some agents with only a single detection to them, we don't care about these.
+                    continue
+
+                agent: Agent = vod_utils.agg_agent_data(
+                    self.dataset_obj, agent_info, frame_idx, frame_idx_dict
+                )
+
+                for scene_ts in range(
+                    agent.metadata.first_timestep, agent.metadata.last_timestep + 1
+                ):
+                    agent_presence[scene_ts].append(agent.metadata)
+
+                existing_agents[agent.name] = agent.metadata
+
+                agent_data_list.append(agent.data)
+
+        ego_agent: Agent = vod_utils.agg_ego_data(self.dataset_obj, scene)
+        agent_data_list.append(ego_agent.data)
+
+        agent_list: List[AgentMetadata] = [ego_agent_info] + list(
+            existing_agents.values()
+        )
+
+        cache_class.save_agent_data(pd.concat(agent_data_list), cache_path, scene)
+
+        return agent_list, agent_presence
+
+    def cache_map(
+        self,
+        map_name: str,
+        cache_path: Path,
+        map_cache_class: Type[SceneCache],
+        map_params: Dict[str, Any],
+    ) -> None:
+        vod_map: VODMap = VODMap(dataroot=self.metadata.data_dir, map_name=map_name)
+
+        vector_map = VectorMap(map_id=f"{self.name}:{map_name}")
+        vod_utils.populate_vector_map(vector_map, vod_map)
+
+        map_cache_class.finalize_and_cache_map(cache_path, vector_map, map_params)
+
+    def cache_maps(
+        self,
+        cache_path: Path,
+        map_cache_class: Type[SceneCache],
+        map_params: Dict[str, Any],
+    ) -> None:
+        """
+        Stores rasterized maps to disk for later retrieval.
+
+        Below are the map origins (south western corner, in [lat, lon]) for each of
+        the 4 maps in VoD:
+            delft:       []
+
+        The dimensions of the maps are as follows ([width, height] in meters). They
+        can also be found in vod_utils.py
+            delft:       []
+        The rasterized semantic maps published with VoD v1.0 have a scale of 10px/m,
+        hence the above numbers are the image dimensions divided by 10.
+
+        VoD uses the same WGS 84 Web Mercator (EPSG:3857) projection as Google Maps/Earth.
+        """
+        for map_name in tqdm(
+            locations,
+            desc=f"Caching {self.name} Maps at {map_params['px_per_m']:.2f} px/m",
+            position=0,
+        ):
+            self.cache_map(map_name, cache_path, map_cache_class, map_params)