def create_rollout_agent(agent_config, metrics, run_phase_subject):
'''Returns an rollout agent object
agent_config - Dictionary containing the key specified in ConfigParams
metrics - Metrics object for the agent
run_phase_subject - Subject that notifies observers when the run phase changes
'''
model_metadata = agent_config['model_metadata']
observation_list, network, version = model_metadata.get_model_metadata_info()
agent_name = agent_config[ConfigParams.CAR_CTRL_CONFIG.value][ConfigParams.AGENT_NAME.value]
sensor = construct_sensor(agent_name, observation_list, SensorFactory)
network_settings = get_network_settings(sensor, network)
FrustumManager.get_instance().add(agent_name=agent_name,
observation_list=observation_list,
version=version)
ctrl_config = agent_config[ConfigParams.CAR_CTRL_CONFIG.value]
ctrl = RolloutCtrl(ctrl_config, run_phase_subject, metrics)
return Agent(network_settings, sensor, ctrl)
def get_objects_in_camera_frustums(self,
agent_name,
car_pose,
object_order=None):
"""Returns list of tuple (idx, object.pose) for the objects
that are in camera frustums"""
frustum = FrustumManager.get_instance().get(agent_name=agent_name)
frustum.update(car_pose)
objects_in_frustum = []
object_order = (object_order if object_order is not None else range(
len(self.object_poses.values())))
object_poses = [pose for pose in self.object_poses.values()]
object_dims = [pose for pose in self.object_dims.values()]
for idx, order_idx in enumerate(object_order):
object_pose = object_poses[order_idx]
object_dim = object_dims[order_idx]
object_position = np.array([
object_pose.position.x, object_pose.position.y,
object_pose.position.z
])
object_points = TrackData.get_object_bounding_rect(
object_pose, object_dim)
object_points.append(object_position)
# Check collision between frustum and object points
# object points contains object position + points in bounding rectangle on the floor
# Camera pitch and roll are fixed so checking bounding rectangle on the floor should be good enough
# One edge case that this detection can miss is similar as below:
# FFFFFFFFFFFFFFF
# F F
# AAAFAAAAAAAAAAAFAAAAAAAAAAAAAA
# A F F A
# A F F X A
# AAAAAAFAAAAAFAAAAAAAAAAAAAAAAA
# F F
# FFF
# F = frustum / A = object / X = center of mass of the object
if any([frustum.is_visible(p) for p in object_points]):
objects_in_frustum.append((idx, object_pose))
return objects_in_frustum