def get_tile_slots():
LM = 0.5 # half tile
# tile_offset
to = 0.20
# tile_curb
tc = 0.05
positions = {
0: (+to, +tc),
1: (+tc, +to),
2: (-tc, +to),
3: (-to, +tc),
4: (-to, -tc),
5: (-tc, -to),
6: (+tc, -to),
7: (+to, -tc),
}
po = PlacedObject()
for i, (x, y) in positions.items():
name = str(i)
# if name in self.children:
# continue
sl = SignSlot()
# theta = np.deg2rad(theta_deg)
theta = 0
t = SE2Transform((-LM + x, -LM + y), theta)
# noinspection PyTypeChecker
po.set_object(name, sl, ground_truth=t)
return po
def m1():
outdir = get_comptests_output_dir()
gm = load_map("udem1")
# dw = DuckietownWorld()
# for map_name, tm in gym_maps.items():
# DW.root.set_object(map_name, tm)
root = PlacedObject()
world = PlacedObject()
root.set_object("world", world)
origin = SE2Transform([1, 10], np.deg2rad(10))
world.set_object("tile_map",
gm,
ground_truth=Constant[SE2Transform](origin))
# d = dw.as_json_dict()
# print(json.dumps(d, indent=4))
# print(yaml.safe_dump(d, default_flow_style=False))
#
G = get_meausurements_graph(root)
fn = os.path.join(outdir, "out1.pdf")
plot_measurement_graph(root, G, fn)
def create_lane_highlight(poses_sequence: SampledSequence, dw):
def mapi(v):
if isinstance(v, SE2Transform):
return v.as_SE2()
else:
return v
poses_sequence = poses_sequence.transform_values(mapi, np.ndarray)
lane_pose_results = poses_sequence.transform_values(
GetClosestLane(dw), object)
visualization = PlacedObject()
dw.set_object("visualization",
visualization,
ground_truth=SE2Transform.identity())
for i, (timestamp, name2pose) in enumerate(lane_pose_results):
for name, lane_pose_result in name2pose.items():
assert isinstance(lane_pose_result, GetLanePoseResult)
lane_segment = lane_pose_result.lane_segment
rt = lane_pose_result.lane_segment_transform
s = SampledSequence[Transform]([timestamp], [rt])
visualization.set_object("ls%s-%s-lane" % (i, name),
lane_segment,
ground_truth=s)
p = SampledSequence[Transform]([timestamp],
[lane_pose_result.center_point])
visualization.set_object("ls%s-%s-anchor" % (i, name),
Anchor(),
ground_truth=p)
return lane_pose_results
def wb2():
root = PlacedObject()
for map_name in list_maps():
tm = load_map(map_name)
root.set_object(map_name, tm)
d = root.as_json_dict()
# print(json.dumps(d, indent=4))
# print(yaml.safe_dump(d, default_flow_style=False))
# print('------')
r1 = Serializable.from_json_dict(d)
d1 = r1.as_json_dict()
def wb1():
outdir = get_comptests_output_dir()
root = PlacedObject()
tile_map = create_map(H=3, W=3)
world = PlacedObject()
root.set_object('world', world)
placement = Constant[SE2Transform](SE2Transform.identity())
world.set_object('map1', tile_map, ground_truth=placement)
ego = PlacedObject()
world_coordinates = Constant[SE2Transform](SE2Transform([0, 0], 0))
world.set_object('ego', ego, ground_truth=world_coordinates)
d = root.as_json_dict()
# print(json.dumps(DW.root.as_json_dict(), indent=4))
# print(yaml.safe_dump(d, default_flow_style=False))
# print('------')
r1 = Serializable.from_json_dict(d)
# print('read: %s' % r1)
d1 = r1.as_json_dict()
def get_skeleton_graph(po):
""" Returns a graph with the lane segments of the map """
# Get all the LaneSegments
root = PlacedObject()
class MeetingPoint(object):
def __init__(self):
self.point = None
self.incoming = set()
self.outcoming = set()
def __repr__(self):
return 'MP(%d %d | %s, %s)' % (len(
self.incoming), len(
self.outcoming), self.incoming, self.outcoming)
def discretize(tran):
def D(x):
return np.round(x, decimals=2)
p, theta = geo.translation_angle_from_SE2(tran.as_SE2())
return D(p[0]), D(p[1]), D(np.cos(theta)), D(np.sin(theta))
meeting_points = defaultdict(MeetingPoint)
for i, it in enumerate(iterate_by_class(po, LaneSegment)):
lane_segment = it.object
# lane_segment_fqn = it.fqn
assert isinstance(lane_segment, LaneSegment), lane_segment
absolute_pose = it.transform_sequence.asmatrix2d()
lane_segment_transformed = transform_lane_segment(
lane_segment, absolute_pose)
identity = SE2Transform.identity()
name = 'ls%03d' % i
root.set_object(name, lane_segment_transformed, ground_truth=identity)
p0 = discretize(lane_segment_transformed.control_points[0])
p1 = discretize(lane_segment_transformed.control_points[-1])
meeting_points[p0].point = lane_segment_transformed.control_points[0]
meeting_points[p0].outcoming.add(name)
meeting_points[p1].point = lane_segment_transformed.control_points[-1]
meeting_points[p1].incoming.add(name)
for k, mp in meeting_points.items():
if (len(mp.incoming) == 0) or (len(mp.outcoming) == 0):
msg = 'Completeness assumption violated at point %s: %s' % (k, mp)
raise Exception(msg)
# compress the lanes which are contiguous
aliases = {}
created = {}
def resolve_alias(x):
return x if x not in aliases else resolve_alias(aliases[x])
for k, mp in list(meeting_points.items()):
# continue
if not (len(mp.incoming) == 1 and len(mp.outcoming) == 1):
continue
# not necessary anymore
meeting_points.pop(k)
lin_name = list(mp.incoming)[0]
lout_name = list(mp.outcoming)[0]
lin_name = resolve_alias(lin_name)
lout_name = resolve_alias(lout_name)
# print(' -> %s and %s meet at %s' % (lin_name, lout_name, mp))
# print('%s and %s meet at %s' % (lin_name, lout_name, k))
def get(it):
if it in root.children:
return root.children[it]
else:
return created[it]
lin = get(lin_name)
lout = get(lout_name)
# name = 'alias%s' % (len(aliases))
# name = '%s-%s' % (lin_name, lout_name)
name = 'L%d' % (len(created))
width = lin.width
control_points = lin.control_points + lout.control_points[1:]
ls = LaneSegment(width=width, control_points=control_points)
created[name] = ls
aliases[lin_name] = name
aliases[lout_name] = name
# print('new alias %s' % name)
#
# print('created: %s' % list(created))
# print('aliases: %s' % aliases)
root2 = PlacedObject()
for k, v in created.items():
if not k in aliases:
root2.set_object(k, v, ground_truth=SE2Transform.identity())
for k, v in root.children.items():
if not k in aliases:
root2.set_object(k, v, ground_truth=SE2Transform.identity())
import networkx as nx
G = nx.MultiDiGraph()
k2name = {}
for i, (k, mp) in enumerate(meeting_points.items()):
node_name = 'P%d' % i
k2name[k] = node_name
G.add_node(node_name, point=mp.point)
ls2start = {}
ls2end = {}
for i, (k, mp) in enumerate(meeting_points.items()):
node_name = k2name[k]
for l in mp.incoming:
ls2end[resolve_alias(l)] = node_name
for l in mp.outcoming:
ls2start[resolve_alias(l)] = node_name
# print(ls2start)
# print(ls2end)
for l in ls2start:
n1 = ls2start[l]
n2 = ls2end[l]
G.add_edge(n1, n2, lane=l)
return SkeletonGraphResult(root=root, root2=root2, G=G)
def get_skeleton_graph(po: DuckietownMap) -> SkeletonGraphResult:
""" Returns a graph with the lane segments of the map """
root = PlacedObject()
meeting_points: Dict[str, MeetingPoint] = defaultdict(MeetingPoint)
for i, it in enumerate(iterate_by_class(po, LaneSegment)):
lane_segment = cast(LaneSegment, it.object)
assert isinstance(lane_segment, LaneSegment), lane_segment
absolute_pose = it.transform_sequence.asmatrix2d()
lane_segment_transformed = transform_lane_segment(lane_segment, absolute_pose)
identity = SE2Transform.identity()
name = "ls%03d" % i
root.set_object(name, lane_segment_transformed, ground_truth=identity)
p0 = discretize(lane_segment_transformed.control_points[0])
p1 = discretize(lane_segment_transformed.control_points[-1])
if not p0 in meeting_points:
meeting_points[p0] = MeetingPoint(
set(), set(), set(), lane_segment_transformed.control_points[0], None, None,
)
if not p1 in meeting_points:
meeting_points[p1] = MeetingPoint(
set(), set(), set(), lane_segment_transformed.control_points[-1], None, None,
)
# meeting_points[p0].point = lane_segment_transformed.control_points[0]
meeting_points[p0].outcoming.add(name)
# meeting_points[p1].point = lane_segment_transformed.control_points[-1]
meeting_points[p1].incoming.add(name)
meeting_points[p0].connects_to.add(p1)
tile_coords = [_ for _ in it.transform_sequence.transforms if isinstance(_, TileCoords)]
if not tile_coords:
raise ZException(p0=p0, p1=p1, transforms=it.transform_sequence.transforms)
tile_coord = tile_coords[0]
ij = tile_coord.i, tile_coord.j
meeting_points[p0].into_tile = ij
meeting_points[p1].from_tile = ij
for k, mp in meeting_points.items():
if (len(mp.incoming) == 0) or (len(mp.outcoming) == 0):
msg = "Completeness assumption violated at point %s: %s" % (k, mp)
raise Exception(msg)
G0 = graph_for_meeting_points(meeting_points)
# compress the lanes which are contiguous
aliases = {}
created = {}
def resolve_alias(x):
return x if x not in aliases else resolve_alias(aliases[x])
for k, mp in list(meeting_points.items()):
# continue
if not (len(mp.incoming) == 1 and len(mp.outcoming) == 1):
continue
# not necessary anymore
meeting_points.pop(k)
lin_name = list(mp.incoming)[0]
lout_name = list(mp.outcoming)[0]
lin_name = resolve_alias(lin_name)
lout_name = resolve_alias(lout_name)
# print(' -> %s and %s meet at %s' % (lin_name, lout_name, mp))
# print('%s and %s meet at %s' % (lin_name, lout_name, k))
def get(it):
if it in root.children:
return root.children[it]
else:
return created[it]
lin = get(lin_name)
lout = get(lout_name)
# name = 'alias%s' % (len(aliases))
# name = '%s-%s' % (lin_name, lout_name)
name = "L%d" % (len(created))
width = lin.width
control_points = lin.control_points + lout.control_points[1:]
ls = LaneSegment(width=width, control_points=control_points)
created[name] = ls
aliases[lin_name] = name
aliases[lout_name] = name
# print('new alias %s' % name)
#
# print('created: %s' % list(created))
# print('aliases: %s' % aliases)
root2 = PlacedObject()
for k, v in created.items():
if not k in aliases:
root2.set_object(k, v, ground_truth=SE2Transform.identity())
for k, v in root.children.items():
if not k in aliases:
root2.set_object(k, v, ground_truth=SE2Transform.identity())
G = nx.MultiDiGraph()
k2name = {}
for i, (k, mp) in enumerate(meeting_points.items()):
node_name = "P%d" % i
k2name[k] = node_name
G.add_node(node_name, point=mp.point)
ls2start = {}
ls2end = {}
for i, (k, mp) in enumerate(meeting_points.items()):
node_name = k2name[k]
for l in mp.incoming:
ls2end[resolve_alias(l)] = node_name
for l in mp.outcoming:
ls2start[resolve_alias(l)] = node_name
# print(ls2start)
# print(ls2end)
for l in ls2start:
n1 = ls2start[l]
n2 = ls2end[l]
G.add_edge(n1, n2, lane=l)
return SkeletonGraphResult(root=root, root2=root2, G=G, G0=G0)
