https://github.com/intellabs/csg
IV 2020 "CSG: Critical Scenario Generation from Real Traffic Accidents"
https://github.com/intellabs/csg
autonomous-driving scenario
Last synced: about 1 year ago
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IV 2020 "CSG: Critical Scenario Generation from Real Traffic Accidents"
- Host: GitHub
- URL: https://github.com/intellabs/csg
- Owner: IntelLabs
- License: gpl-3.0
- Created: 2022-05-12T11:37:47.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2024-10-24T20:04:39.000Z (over 1 year ago)
- Last Synced: 2024-10-26T06:55:54.494Z (over 1 year ago)
- Topics: autonomous-driving, scenario
- Language: Python
- Homepage:
- Size: 96.8 MB
- Stars: 18
- Watchers: 3
- Forks: 5
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Critical Scenario Generation Toolkit
## Introduction
This repo offers the source code for Critical Scnenario Generation (CSG) toolkit. The toolkit aims to extract dynamic (trajectories) and static (road) elements from a given surveillance or dash camera video, and fromulated as OpenDrive and OpenScenario files as outputs.
## How to build
1. Install system dependencies:
```Shell
sudo apt-get install python3-tk
```
2. Install python3 package:
```Shell
pip3 install Cython numpy
pip3 install -r requirements.txt
```
3. compile cython package
```Shell
cd src/track/kcf && make & cd ../../../
```
## How to run:
1. Edit variables in config.py (Optional)
2. Download machine learning models from [Google Drive](https://drive.google.com/file/d/1QAyzSvLjLBETgSk5w7hOp-1WGwD9aH9I/view?usp=sharing ) and unzip to "data" folder.
3. Run
- For survelliance video:
```Shell
python3 CSG.py
```
- For dash camera video:
It uses [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2 "ORB-SLAM2") to get extrinsic parameters of moving camera. Please install ORB-SLAM2 first and put the executable file under the "/src/SLAM" folder.
Then run:
```Shell
python3 CSG_ego.py
```
## Reqruiments
At least 1 GPU is needed. By default, the models are deployed on gpu:0. You can change your settings in "config" file.
## Folder structure
```bash
+-- critical-scenario-generation
¦ +-- data
¦ ¦ +-- yolo
¦ ¦ +-- vehicle_reid
¦ ¦ +-- mask_rcnn_ego
¦ ¦ +-- mask_rcnn
¦ ¦ +-- lane
¦ ¦ +-- depth
¦ +-- src
¦ ¦ +-- SLAM
¦ ¦ ¦ +-- mono_kitti
¦ ¦ +-- ...
¦ +-- Lib_OpenSCENARIO
¦ +-- icon
¦ +-- CSG.py
¦ +-- CSG_ego.py
¦ +-- ScaleSolver.py
¦ +-- config.py
¦ +-- requirements.txt
```
## Licence
check [LICENSE](LICENSE)
## Citation
If you use our source code, please consider citing the following:
```bibtex
@InProceedings{csg2020,
title={CSG: critical scenario generation from real traffic accidents},
author={Zhang, Xinxin and Li, Fei and Wu, Xiangbin},
booktitle = {IV},
year={2020}
}
```