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move writing summary to metadrive

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This commit is contained in:
QuanyiLi
2023-05-06 18:40:59 +01:00
parent 18f85f6d27
commit b49e50aa23
2 changed files with 9 additions and 59 deletions
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62
scenarionet/converter/utils.py
View File

@@ -9,7 +9,7 @@ from collections import defaultdict
import numpy as np
import tqdm
from metadrive.scenario import ScenarioDescription as SD, ScenarioDescription
from metadrive.scenario import ScenarioDescription as SD
def nuplan_to_metadrive_vector(vector, nuplan_center=(0, 0)):
@@ -60,56 +60,6 @@ def mph_to_kmh(speed_in_mph: float):
return speed_in_kmh
def get_agent_summary(state_dict, id, type):
track = state_dict["position"]
valid_track = track[state_dict["valid"].astype(int), :2]
distance = float(sum(np.linalg.norm(valid_track[i] - valid_track[i + 1]) for i in range(valid_track.shape[0] - 1)))
valid_length = int(sum(state_dict["valid"]))
continuous_valid_length = 0
for v in state_dict["valid"]:
if v:
continuous_valid_length += 1
if continuous_valid_length > 0 and not v:
break
return {
"type": type,
"object_id": str(id),
"track_length": int(len(track)),
"distance": float(distance),
"valid_length": int(valid_length),
"continuous_valid_length": int(continuous_valid_length)
}
def get_number_summary(scenario):
number_summary_dict = {}
number_summary_dict["object"] = len(scenario[SD.TRACKS])
number_summary_dict["dynamic_object_states"] = len(scenario[SD.DYNAMIC_MAP_STATES])
number_summary_dict["map_features"] = len(scenario[SD.MAP_FEATURES])
number_summary_dict["object_types"] = set(v["type"] for v in scenario[SD.TRACKS].values())
object_types_counter = defaultdict(int)
for v in scenario[SD.TRACKS].values():
object_types_counter[v["type"]] += 1
number_summary_dict["object_types_counter"] = dict(object_types_counter)
# Number of different dynamic object states
dynamic_object_states_types = set()
dynamic_object_states_counter = defaultdict(int)
for v in scenario[SD.DYNAMIC_MAP_STATES].values():
for step_state in v["state"]["object_state"]:
if step_state is None:
continue
dynamic_object_states_types.add(step_state)
dynamic_object_states_counter[step_state] += 1
number_summary_dict["dynamic_object_states_types"] = dynamic_object_states_types
number_summary_dict["dynamic_object_states_counter"] = dict(dynamic_object_states_counter)
return number_summary_dict
def contains_explicit_return(f):
return any(isinstance(node, ast.Return) for node in ast.walk(ast.parse(inspect.getsource(f))))
@@ -153,20 +103,20 @@ def write_to_directory(convert_func,
# add agents summary
summary_dict = {}
ego_car_id = sd_scenario[SD.METADATA][SD.SDC_ID]
summary_dict[ego_car_id] = get_agent_summary(
summary_dict[ego_car_id] = SD.get_object_summary(
state_dict=sd_scenario.get_sdc_track()["state"], id=ego_car_id, type=sd_scenario.get_sdc_track()["type"]
)
for track_id, track in sd_scenario[SD.TRACKS].items():
summary_dict[track_id] = get_agent_summary(state_dict=track["state"], id=track_id, type=track["type"])
sd_scenario[SD.METADATA]["object_summary"] = summary_dict
summary_dict[track_id] = SD.get_object_summary(state_dict=track["state"], id=track_id, type=track["type"])
sd_scenario[SD.METADATA][SD.SUMMARY.OBJECT_SUMMARY] = summary_dict
# count some objects occurrence
sd_scenario[SD.METADATA]["number_summary"] = get_number_summary(sd_scenario)
sd_scenario[SD.METADATA][SD.SUMMARY.NUMBER_SUMMARY] = SD.get_number_summary(sd_scenario)
metadata_recorder[export_file_name] = copy.deepcopy(sd_scenario[SD.METADATA])
# sanity check
sd_scenario = sd_scenario.to_dict()
ScenarioDescription.sanity_check(sd_scenario, check_self_type=True)
SD.sanity_check(sd_scenario, check_self_type=True)
# dump
p = os.path.join(output_path, export_file_name)

6
scenarionet/examples/convert_waymo.py
View File

@@ -13,7 +13,7 @@ import pickle
import numpy as np
from scenarionet.converter.utils import dict_recursive_remove_array_and_set, get_agent_summary, get_number_summary
from scenarionet.converter.utils import dict_recursive_remove_array_and_set, get_object_summary, get_number_summary
try:
import tensorflow as tf
@@ -123,11 +123,11 @@ def convert_waymo(file_list, input_path, output_path, worker_index=None):
export_file_name = "sd_{}_{}.pkl".format(file, scenario.scenario_id)
summary_dict = {}
summary_dict["sdc"] = get_agent_summary(
summary_dict["sdc"] = get_object_summary(
state_dict=md_scenario.get_sdc_track()["state"], id=sdc_id, type=md_scenario.get_sdc_track()["type"]
)
for track_id, track in md_scenario[SD.TRACKS].items():
summary_dict[track_id] = get_agent_summary(state_dict=track["state"], id=track_id, type=track["type"])
summary_dict[track_id] = get_object_summary(state_dict=track["state"], id=track_id, type=track["type"])
md_scenario[SD.METADATA]["object_summary"] = summary_dict
# Count some objects occurrence