Are there any scenes in which the ego vehicle travels in a straight line with no turns? If so can be know the scene number.
Additionally, is there a way to figure out about this?
Straight Highway Scenes
Hi. There are many such scenes. The fastest may be to watch some videos on Youtube and then manually pick one: https://www.youtube.com/channel/UCZDxPIlYbuINiTlP_whsxwA/videos
You can also work with the ego pose to automatically compute the curvature of a scene.
The CAN bus tutorial (https://www.nuscenes.org/nuscenes?tutorial=can-bus) shows you how to plot the ego poses and the baseline route (navigation path) for a particular scene:
