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Make video (#5)

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* generate accident scene

* construction PG

* no object

* accident prob

* capture script

* update nuscenes toolds

* make video

* format

* fix test

* update readme

* update readme

* format

* format
This commit is contained in:
Quanyi Li
2023-06-17 17:19:40 +01:00
committed by GitHub
parent db50bca7fd
commit 9acdcaf321
23 changed files with 253 additions and 405 deletions
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57
scenarionet/tests/script/generate_sensor.py
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@@ -1,4 +1,3 @@
import time
import pygame
from metadrive.engine.asset_loader import AssetLoader
from metadrive.envs.scenario_env import ScenarioEnv
@@ -15,12 +14,13 @@ if __name__ == "__main__":
# "need_lane_localization": False,
"show_logo": False,
"no_traffic": False,
"drivable_region_extension": 15,
"sequential_seed": True,
"reactive_traffic": False,
"show_fps": False,
# "debug": True,
# "render_pipeline": True,
"daytime": "11:01",
"render_pipeline": True,
"daytime": "08:10",
"window_size": (1600, 900),
"camera_dist": 0.8,
"camera_height": 1.5,
@@ -31,7 +31,7 @@ if __name__ == "__main__":
# "force_reuse_object_name": True,
# "data_directory": "/home/shady/Downloads/test_processed",
"horizon": 1000,
# "no_static_vehicles": True,
"no_static_vehicles": False,
# "show_policy_mark": True,
# "show_coordinates": True,
# "force_destroy": True,
@@ -50,48 +50,23 @@ if __name__ == "__main__":
side_detector=dict(num_lasers=12, distance=50)
),
"data_directory": AssetLoader.file_path("nuscenes", return_raw_style=False),
"image_observation": True,
# "image_observation": True,
}
)
# 0,1,3,4,5,6
success = []
reset_num = 0
start = time.time()
reset_used_time = 0
s = 0
while True:
# for i in range(10):
start_reset = time.time()
env.reset(force_seed=0)
reset_used_time += time.time() - start_reset
reset_num += 1
for seed in range(10):
env.reset(force_seed=seed)
for t in range(10000):
if t==30:
# env.capture("camera_deluxe.jpg")
# ret = env.render(mode="topdown", screen_size=(1600, 900), film_size=(5000, 5000), track_target_vehicle=True)
# pygame.image.save(ret, "top_down.png")
env.vehicle.get_camera("depth_camera").save_image(env.vehicle, "camera.jpg")
env.capture("rgb_deluxe_{}_{}.jpg".format(env.current_seed, t))
ret = env.render(
mode="topdown", screen_size=(1600, 900), film_size=(9000, 9000), target_vehicle_heading_up=True
)
pygame.image.save(ret, "top_down_{}_{}.png".format(env.current_seed, t))
# env.vehicle.get_camera("depth_camera").save_image(env.vehicle, "depth_{}.jpg".format(t))
# env.vehicle.get_camera("rgb_camera").save_image(env.vehicle, "rgb_{}.jpg".format(t))
o, r, d, info = env.step([1, 0.88])
assert env.observation_space.contains(o)
s += 1
# if env.config["use_render"]:
# env.render(text={"seed": env.current_seed,
# # "num_map": info["num_stored_maps"],
# "data_coverage": info["data_coverage"],
# "reward": r,
# "heading_r": info["step_reward_heading"],
# "lateral_r": info["step_reward_lateral"],
# "smooth_action_r": info["step_reward_action_smooth"]})
if d:
print(
"Time elapse: {:.4f}. Average FPS: {:.4f}, AVG_Reset_time: {:.4f}".format(
time.time() - start, s / (time.time() - start - reset_used_time),
reset_used_time / reset_num
)
)
print("seed:{}, success".format(env.engine.global_random_seed))
print(list(env.engine.curriculum_manager.recent_success.dict.values()))
# if d:
if env.episode_step >= env.engine.data_manager.current_scenario_length:
break