def _on_remote_graph(self, msg: bytes):
in_time: float = time.time()
try:
scene: PEMTrafficScene = PEMTrafficScene.from_bytes(msg)
obs: PEMTrafficSceneObservation = PEMTrafficSceneObservation(time.time(), scene, meta={'sender': int(self.ego_id)})
if self.alive and self.recording and self.remote_grid_sink:
if OBS_GRAPH_REMOTE not in self.remote_grid_sink.accumulator:
self.remote_grid_sink.push(OBS_GRAPH_REMOTE, [obs])
else:
self.remote_grid_sink.accumulator[OBS_GRAPH_REMOTE].append(obs)
self.timings.start('d6', custom_time=in_time)
self.timings.stop('d6')
except KeyError:
return
self.timings.start('d5', custom_time=scene.last_timestamp)
self.timings.stop('d5', custom_time=in_time)
def on_graph(message: bytes):
try:
graph: PEMTrafficScene = PEMTrafficScene.from_bytes(message)
graph_queue.append(graph2json(graph))
except:
print('Failed to parse graph.')
def read_data(
self,
downsample_ground_truth: float = 1.,
downsample_observations: float = 1.
) -> Tuple[List[PEMTrafficSceneObservation],
List[PEMTrafficSceneObservation], List[Ogtc]]:
assert downsample_ground_truth <= 1 and downsample_observations <= 1
logging.debug(
f'downsample_ground_truth={downsample_ground_truth}, downsample_observations={downsample_observations}'
)
logging.debug('Reading directory info.')
files_actual: List[str] = list(
filter(lambda s: s.startswith(self.file_prefix),
os.listdir(self.data_dir_actual)))
files_observed: List[str] = list(
filter(lambda s: s.startswith(self.file_prefix),
os.listdir(self.data_dir_observed)))
occupancy_ground_truth: List[Ogtc] = []
occupancy_observations_local: List[PEMTrafficSceneObservation] = []
occupancy_observations_remote: List[PEMTrafficSceneObservation] = []
logging.debug('Reading ground truth.')
for file_name in files_actual:
with open(os.path.join(self.data_dir_actual, file_name),
'rb') as f:
try:
occupancy_ground_truth += pickle.load(f)
except EOFError:
logging.warning(f'File {file_name} corrupt.')
logging.debug(
f'Got {len(occupancy_ground_truth)} ground truth data points.')
logging.debug(f'Reading and decoding observations.')
for file_name in files_observed:
with open(os.path.join(self.data_dir_observed, file_name),
'rb') as f:
try:
if 'remote' not in file_name:
occupancy_observations_local.extend(pickle.load(f))
else:
data = pickle.load(f)
assert isinstance(data, list)
if len(data) < 1:
continue
if isinstance(data[0], RawBytesObservation):
for obs in data:
try:
occupancy_observations_remote.append(
PEMTrafficSceneObservation(
timestamp=obs.timestamp,
scene=PEMTrafficScene.from_bytes(
obs.value),
meta=obs.meta))
except KeyError:
continue
elif isinstance(data[0], PEMTrafficSceneObservation):
occupancy_observations_remote.extend(data)
except EOFError:
logging.warning(f'File {file_name} corrupt.')
logging.debug(
f'Got {len(occupancy_observations_local)} local and {len(occupancy_observations_remote)} remote observations.'
)
occupancy_ground_truth = sorted(random.sample(
occupancy_ground_truth,
k=math.floor(
len(occupancy_ground_truth) * downsample_ground_truth)),
key=attrgetter('ts'))
occupancy_observations_local = sorted(random.sample(
occupancy_observations_local,
k=math.floor(
len(occupancy_observations_local) * downsample_observations)),
key=attrgetter('timestamp'))
occupancy_observations_remote = sorted(random.sample(
occupancy_observations_remote,
k=math.floor(
len(occupancy_observations_remote) * downsample_observations)),
key=attrgetter('timestamp'))
return occupancy_observations_local, occupancy_observations_remote, occupancy_ground_truth
PEMRelation[GridCellState](confidence=0.65,
object=GridCellState.occupied()),
'occupant':
PEMRelation[PEMDynamicActor](confidence=0.91, object=ego2)
}),
PEMGridCell(
**{
'hash':
2222,
'state':
PEMRelation[GridCellState](confidence=0.88,
object=GridCellState.free()),
'occupant':
None
})
]
grid1.cells = cells
scene1: PEMTrafficScene = PEMTrafficScene()
scene1.occupancy_grid = grid1
scene1.measured_by = ego1
encoded_msg: bytes = scene1.to_bytes()
scene1: PEMTrafficScene = PEMTrafficScene.from_bytes(encoded_msg)
print(scene1.measured_by.id)
print(scene1.measured_by.position.object.x)
print(scene1.occupancy_grid.cells[0].state.confidence)
print(scene1.occupancy_grid.cells[0].state.object)
print(scene1.occupancy_grid.cells[0].occupant.object.id)