def check_rasterizer(cfg: dict, rasterizer: Rasterizer,
zarr_dataset: ChunkedDataset) -> None:
frames = zarr_dataset.frames[:] # Load all frames into memory
for current_frame in [0, 50, len(frames) - 1]:
history_num_frames = cfg["model_params"]["history_num_frames"]
s = get_history_slice(current_frame,
history_num_frames,
1,
include_current_state=True)
frames_to_rasterize = frames[s]
agents = filter_agents_by_frames(frames_to_rasterize,
zarr_dataset.agents)
tl_faces = [np.empty(0, dtype=TL_FACE_DTYPE)
for _ in agents] # TODO TR_FACES
im = rasterizer.rasterize(frames_to_rasterize, agents, tl_faces)
assert len(im.shape) == 3
assert im.shape[-1] == rasterizer.num_channels()
assert im.shape[:2] == tuple(cfg["raster_params"]["raster_size"])
assert im.max() <= 1
assert im.min() >= 0
assert im.dtype == np.float32
rgb_im = rasterizer.to_rgb(im)
assert im.shape[:2] == rgb_im.shape[:2]
assert rgb_im.shape[2] == 3 # RGB has three channels
assert rgb_im.dtype == np.uint8
def check_rasterizer(cfg: dict, rasterizer: Rasterizer,
dataset: ChunkedStateDataset) -> None:
frames = dataset.frames[:] # Load all frames into memory
for current_frame in [0, 50, len(frames) - 1]:
history_num_frames = cfg["model_params"]["history_num_frames"]
history_step_size = cfg["model_params"]["history_step_size"]
s = get_history_slice(current_frame,
history_num_frames,
history_step_size,
include_current_state=True)
frames_to_rasterize = frames[s]
agents = filter_agents_by_frames(frames_to_rasterize, dataset.agents)
im = rasterizer.rasterize(frames_to_rasterize, agents)
assert len(im.shape) == 3
assert im.shape[:2] == tuple(cfg["raster_params"]["raster_size"])
assert im.shape[2] >= 3
assert im.max() <= 1
assert im.min() >= 0
assert im.dtype == np.float32
rgb_im = rasterizer.to_rgb(im)
assert im.shape[:2] == rgb_im.shape[:2]
assert rgb_im.shape[2] == 3 # RGB has three channels
assert rgb_im.dtype == np.uint8
def test_history_slice() -> None:
# Current index 10, 2 history states with step size 3
# Should yield indices 4 and 7, so slice (7, 3, 3)
assert get_history_slice(10, 2, 3) == slice(7, 3, -3)
assert get_history_slice(10, 2, 3,
include_current_state=True) == slice(10, 3, -3)
assert get_history_slice(20, 2, 3) == slice(17, 13, -3)
assert get_history_slice(20, 3, 3) == slice(17, 10, -3)
assert get_history_slice(10, 2, 1) == slice(9, 7, -1)
assert get_history_slice(20, 2, 3,
include_current_state=True) == slice(20, 13, -3)
assert get_history_slice(20, 3, 3,
include_current_state=True) == slice(20, 10, -3)
assert get_history_slice(10, 2, 1,
include_current_state=True) == slice(10, 7, -1)
# Not possible here to go past the first state, should give an empty slice
# note range(10)[slice(0, 0, -3)] == []
assert get_history_slice(1, 2, 3) == slice(0, 0, -3)
assert get_history_slice(2, 2, 3) == slice(0, 0, -3)
assert get_history_slice(0, 2, 3) == slice(0, 0, -3)
# Partially possible here
assert get_history_slice(3, 2, 3) == slice(0, None, -3)
