# Scripts for processing nuplan data.
# export PYTHONPATH=/cpfs01/user/yangzetong/code/workshop_codes/nuplan-devkit:${PYTHONPATH}


# export NUPLAN_DATA_ROOT="$HOME/nuplan/dataset/"
# export NUPLAN_MAPS_ROOT="$HOME/nuplan/dataset/maps"
# export NUPLAN_EXP_ROOT="$HOME/nuplan/exp"
# export NUPLAN_DEVKIT_ROOT="$HOME/nuplan-devkit/"

# 0. Design nuPlan data path, and output data path.
NUPLAN_PATH=$HOME/nuplan/dataset/nuplan-v1.1/
NUPLAN_DB_PATH=$NUPLAN_PATH/splits/mini
NUPLAN_SENSOR_PATH=${NUPLAN_PATH}/sensor_blobs
NUPLAN_MAP_VERSION=nuplan-maps-v1.0
NUPLAN_MAPS_ROOT=${HOME}/nuplan/dataset/maps

OUT_DIR=/home/daniel/navsim_logs/mini

# 1. TODO: Generate train/val pickle.
python $NAVSIM_DEVKIT_ROOT/navsim/common/extraction/create_nuplan_data_with_vis.py \
  --nuplan-root-path ${NUPLAN_PATH} \
  --nuplan-db-path ${NUPLAN_DB_PATH} \
  --nuplan-sensor-path ${NUPLAN_SENSOR_PATH} \
  --nuplan-map-version ${NUPLAN_MAP_VERSION} \
  --nuplan-map-root ${NUPLAN_MAPS_ROOT} \
  --out-dir ${OUT_DIR} \
  --split mini \
  --thread-num 16

# 2. TODO: Extract Data Files from the generated pickle file.

# 3. TODO: Soft-link to some place similar to https://github.com/OpenDriveLab/OpenScene/blob/main/docs/dataset_stats.md#filesystem-hierarchy