def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> np.ndarray:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(
frame["ego_rotation"]) if self.rotate_yaw else 0.
else:
ego_translation_m = np.append(
agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"] if self.rotate_yaw else 0.
raster_from_world = self.render_context.raster_from_world(
ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
out_shape = (self.raster_size[1], self.raster_size[0],
2 * (self.history_num_frames + 1))
ego_offset = (self.history_num_frames + 1)
out_im = np.zeros(out_shape, dtype=np.uint8)
for i, (frame, agents) in enumerate(zip(history_frames,
history_agents)):
agents = filter_agents_by_labels(agents,
self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
if agent is None:
agents_image = draw_boxes(self.raster_size, raster_from_world,
agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world,
av_agent, 255)
else:
agent_ego = filter_agents_by_track_id(agents,
agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
agents_image = draw_boxes(self.raster_size,
raster_from_world,
np.append(agents, av_agent), 255)
ego_image = np.zeros_like(agents_image)
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
agents_image = draw_boxes(self.raster_size,
raster_from_world,
np.append(agents, av_agent), 255)
ego_image = draw_boxes(self.raster_size, raster_from_world,
agent_ego, 255)
out_im[..., i] = agents_image
out_im[..., ego_offset + i] = ego_image
return out_im.astype(np.float32) / 255
def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> np.ndarray:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = frame["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
if self.pixel_size[0] != self.pixel_size[1]:
raise NotImplementedError("No support for non squared pixels yet")
raster_from_world = self.render_context.raster_from_world(ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
out_shape = (self.raster_size[1], self.raster_size[0], self.history_num_frames + 1)
agents_images = np.zeros(out_shape, dtype=np.uint8)
ego_images = np.zeros(out_shape, dtype=np.uint8)
velocity_images = np.zeros(out_shape, dtype=np.uint8)
for i, (frame, agents) in enumerate(zip(history_frames, history_agents)):
agents = filter_agents_by_labels(agents, self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
velocity_image = draw_velocity(self.raster_size, raster_from_world, np.append(agents, av_agent), 255)
if agent is None:
agents_image = draw_boxes(self.raster_size, raster_from_world, agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, av_agent, 255)
else:
agent_ego = filter_agents_by_track_id(agents, agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
agents_image = draw_boxes(self.raster_size, raster_from_world, np.append(agents, av_agent), 255)
ego_image = np.zeros_like(agents_image)
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
agents_image = draw_boxes(self.raster_size, raster_from_world, np.append(agents, av_agent), 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, agent_ego, 255)
agents_images[..., i] = agents_image
ego_images[..., i] = ego_image
velocity_images[..., i] = velocity_image
# combine such that the image consists of [agent_t, agent_t-1, agent_t-2, ego_t, ego_t-1, ego_t-2]
out_im = np.concatenate((agents_images, ego_images, velocity_images), -1)
assert out_im.shape[-1] == self.raster_channels
return out_im.astype(np.float32) / 255
def rasterize_box(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
svg=False, svg_args=None,
) -> th.Union[dict]:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
svg_args = svg_args or dict()
raster_from_world = self.render_context.raster_from_world(ego_translation_m, ego_yaw_rad)
raster_size = self.render_context.raster_size_px
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
res = dict(ego=list(), agents=defaultdict(list))
for i, (frame, agents) in enumerate(zip(history_frames, history_agents)):
# print('history index', i)
agents = filter_agents_by_labels(agents, self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
if agent is None:
add_agents(res['agents'], av_agent)
res['ego'].append(av_agent[0]["centroid"][:2])
else:
agent_ego = filter_agents_by_track_id(agents, agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
add_agents(res['agents'], np.append(agents, av_agent))
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
add_agents(res['agents'], np.append(agents, av_agent))
res['ego'].append(agent_ego[0]["centroid"][:2])
tolerance = svg_args.get('tolerance', 20.)
_ego = normalize_line(
cv2_subpixel(transform_points(np.array(res['ego']).reshape((-1, 2)), raster_from_world)))
res['ego'] = crop_tensor(_ego, raster_size)
ego_grad = calc_max_grad(res['ego'])
res['agents'] = [normalize_line(cv2_subpixel(transform_points(np.array(path).reshape((-1, 2)), raster_from_world))
) for idx, path in res['agents'].items()]
res['agents'] = [
crop_tensor(path, raster_size) for path in res['agents'] if not is_noisy(path, ego_grad, tolerance)]
res['agents'] = [path for path in res['agents'] if len(path)]
if svg:
res['path'] = torch.cat([linear_path_to_tensor(path, svg_args.get('pad_val', -1)) for path in res['agents']
] + [linear_path_to_tensor(res['ego'], svg_args.get('pad_val', -1))], 0)
res['path_type'] = [path_type_to_number('agent')] * len(res['agents']) + [path_type_to_number('ego')]
return res
def _create_targets_for_deep_prediction(
num_frames: int,
frames: np.ndarray,
selected_track_id:
int, # modified that ego car is -1, not None (None is used in l5kit)
agents: List[np.ndarray],
agent_from_world: np.ndarray,
current_agent_yaw: float,
agent_origin: np.ndarray,
) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
"""
Internal function that creates the targets and availability masks for deep prediction-type models.
The futures/history offset (in meters) are computed. When no info is available (e.g. agent not in frame)
a 0 is set in the availability array (1 otherwise).
Args:
num_frames (int): number of offset we want in the future/history
frames (np.ndarray): available frames. This may be less than num_frames
selected_track_id (Optional[int]): agent track_id or AV (-1)
agents (List[np.ndarray]): list of agents arrays (same len of frames)
agent_from_world (np.ndarray): local from world matrix
current_agent_yaw (float): angle of the agent at timestep 0
agent_origin (np.ndarray): (2,) xy coord
Returns:
Tuple[np.ndarray, np.ndarray, np.ndarray]: position offsets, angle offsets, availabilities
"""
# How much the coordinates differ from the current state in meters.
coords_offset = np.zeros((num_frames, 2), dtype=np.float32)
yaws_offset = np.zeros((num_frames, 1), dtype=np.float32)
availability = np.zeros((num_frames, ), dtype=np.float32)
for i, (frame, agents) in enumerate(zip(frames, agents)):
if selected_track_id == -1:
agent_centroid = frame["ego_translation"][:2]
agent_yaw = rotation33_as_yaw(frame["ego_rotation"])
else:
# it's not guaranteed the target will be in every frame
try:
agent = filter_agents_by_track_id(agents, selected_track_id)[0]
except IndexError:
availability[i] = 0.0 # keep track of invalid futures/history
continue
agent_centroid = agent["centroid"]
agent_yaw = agent["yaw"]
coords_offset[i] = transform_point(agent_centroid,
agent_from_world) - agent_origin
yaws_offset[i] = angular_distance(agent_yaw, current_agent_yaw)
availability[i] = 1.0
return coords_offset, yaws_offset, availability
def generate_agent_sample_tl_persistence(
state_index: int,
frames: np.ndarray,
agents: np.ndarray,
tl_faces: np.ndarray,
selected_track_id: Optional[int],
render_context: RenderContext,
history_num_frames: int,
history_step_size: int,
future_num_frames: int,
future_step_size: int,
filter_agents_threshold: float,
rasterizer: Optional[Rasterizer] = None,
perturbation: Optional[Perturbation] = None,
) -> dict:
"""Generates the inputs and targets to train a deep prediction model. A deep prediction model takes as input
the state of the world (here: an image we will call the "raster"), and outputs where that agent will be some
seconds into the future.
This function has a lot of arguments and is intended for internal use, you should try to use higher level classes
and partials that use this function.
Args:
state_index (int): The anchor frame index, i.e. the "current" timestep in the scene
frames (np.ndarray): The scene frames array, can be numpy array or a zarr array
agents (np.ndarray): The full agents array, can be numpy array or a zarr array
tl_faces (np.ndarray): The full traffic light faces array, can be numpy array or a zarr array
selected_track_id (Optional[int]): Either None for AV, or the ID of an agent that you want to
predict the future of. This agent is centered in the raster and the returned targets are derived from
their future states.
raster_size (Tuple[int, int]): Desired output raster dimensions
pixel_size (np.ndarray): Size of one pixel in the real world
ego_center (np.ndarray): Where in the raster to draw the ego, [0.5,0.5] would be the center
history_num_frames (int): Amount of history frames to draw into the rasters
history_step_size (int): Steps to take between frames, can be used to subsample history frames
future_num_frames (int): Amount of history frames to draw into the rasters
future_step_size (int): Steps to take between targets into the future
filter_agents_threshold (float): Value between 0 and 1 to use as cutoff value for agent filtering
based on their probability of being a relevant agent
rasterizer (Optional[Rasterizer]): Rasterizer of some sort that draws a map image
perturbation (Optional[Perturbation]): Object that perturbs the input and targets, used
to train models that can recover from slight divergence from training set data
Raises:
ValueError: A ValueError is returned if the specified ``selected_track_id`` is not present in the scene
or was filtered by applying the ``filter_agent_threshold`` probability filtering.
Returns:
dict: a dict object with the raster array, the future offset coordinates (meters),
the future yaw angular offset, the future_availability as a binary mask
"""
# the history slice is ordered starting from the latest frame and goes backward in time., ex. slice(100, 91, -2)
all_history_slice = get_history_slice(state_index, state_index, history_step_size, include_current_state=True)
history_slice = get_history_slice(state_index, history_num_frames, history_step_size, include_current_state=True)
future_slice = get_future_slice(state_index, future_num_frames, future_step_size)
all_history_frames = frames[all_history_slice].copy() # TL data will be based on all history
history_frames = frames[history_slice].copy() # copy() required if the object is a np.ndarray
future_frames = frames[future_slice].copy()
sorted_frames = np.concatenate((history_frames[::-1], future_frames)) # from past to future
# get agents (past and future)
agent_slice = get_agents_slice_from_frames(sorted_frames[0], sorted_frames[-1])
agents = agents[agent_slice].copy() # this is the minimum slice of agents we need
history_frames["agent_index_interval"] -= agent_slice.start # sync interval with the agents array
future_frames["agent_index_interval"] -= agent_slice.start # sync interval with the agents array
history_agents = filter_agents_by_frames(history_frames, agents)
future_agents = filter_agents_by_frames(future_frames, agents)
# sync interval with the traffic light faces array
tl_slice = get_tl_faces_slice_from_frames(all_history_frames[-1], all_history_frames[0]) # -1 is the farthest
all_history_frames["traffic_light_faces_index_interval"] -= tl_slice.start
history_tl_faces = filter_tl_faces_by_frames(all_history_frames, tl_faces[tl_slice].copy())
# State you want to predict the future of.
cur_frame = history_frames[0]
cur_agents = history_agents[0]
if selected_track_id is None:
agent_centroid_m = cur_frame["ego_translation"][:2]
agent_yaw_rad = rotation33_as_yaw(cur_frame["ego_rotation"])
agent_extent_m = np.asarray((EGO_EXTENT_LENGTH, EGO_EXTENT_WIDTH, EGO_EXTENT_HEIGHT))
selected_agent = None
else:
# this will raise IndexError if the agent is not in the frame or under agent-threshold
# this is a strict error, we cannot recover from this situation
try:
agent = filter_agents_by_track_id(
filter_agents_by_labels(cur_agents, filter_agents_threshold), selected_track_id
)[0]
except IndexError:
raise ValueError(f" track_id {selected_track_id} not in frame or below threshold")
agent_centroid_m = agent["centroid"]
agent_yaw_rad = float(agent["yaw"])
agent_extent_m = agent["extent"]
selected_agent = agent
input_im = (
None
if not rasterizer
else rasterizer.rasterize(history_frames, history_agents, history_tl_faces, selected_agent)
)
world_from_agent = compute_agent_pose(agent_centroid_m, agent_yaw_rad)
agent_from_world = np.linalg.inv(world_from_agent)
raster_from_world = render_context.raster_from_world(agent_centroid_m, agent_yaw_rad)
future_coords_offset, future_yaws_offset, future_availability = _create_targets_for_deep_prediction(
future_num_frames, future_frames, selected_track_id, future_agents, agent_from_world, agent_yaw_rad
)
# history_num_frames + 1 because it also includes the current frame
history_coords_offset, history_yaws_offset, history_availability = _create_targets_for_deep_prediction(
history_num_frames + 1, history_frames, selected_track_id, history_agents, agent_from_world, agent_yaw_rad
)
return {
"image": input_im,
"target_positions": future_coords_offset,
"target_yaws": future_yaws_offset,
"target_availabilities": future_availability,
"history_positions": history_coords_offset,
"history_yaws": history_yaws_offset,
"history_availabilities": history_availability,
"world_to_image": raster_from_world, # TODO deprecate
"raster_from_agent": raster_from_world @ world_from_agent,
"raster_from_world": raster_from_world,
"agent_from_world": agent_from_world,
"world_from_agent": world_from_agent,
"centroid": agent_centroid_m,
"yaw": agent_yaw_rad,
"extent": agent_extent_m,
}
def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> np.ndarray:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
raster_from_world = self.render_context.raster_from_world(ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
out_shape = (self.raster_size[1], self.raster_size[0], self.history_num_frames + 1)
agents_unknown_images = np.zeros(out_shape, dtype=np.uint8)
agents_car_images = np.zeros(out_shape, dtype=np.uint8)
agents_cyclist_images = np.zeros(out_shape, dtype=np.uint8)
agents_pedestrian_images = np.zeros(out_shape, dtype=np.uint8)
ego_images = np.zeros(out_shape, dtype=np.uint8)
if self.enable_selected_agent_channels:
assert agent is not None
selected_agent_images = np.zeros(out_shape, dtype=np.uint8)
for i, (frame, agents) in enumerate(zip(history_frames, history_agents)):
# TODO: filter_agents_threshold is not used.
# Ignore filter_agents_threshold now
threshold = 0.5
agents_unknown = agents[agents["label_probabilities"][:, UNKNOWN_LABEL_INDEX] > threshold]
agents_car = agents[agents["label_probabilities"][:, CAR_LABEL_INDEX] > threshold]
agents_cyclist = agents[agents["label_probabilities"][:, CYCLIST_LABEL_INDEX] > threshold]
agents_pedestrian = agents[agents["label_probabilities"][:, PEDESTRIAN_LABEL_INDEX] > threshold]
# agents = filter_agents_by_labels(agents, self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
agents_ego = get_ego_as_agent(frame).astype(agents.dtype)
agents_unknown_image = draw_boxes(self.raster_size, raster_from_world, agents_unknown, 255)
agents_car_image = draw_boxes(self.raster_size, raster_from_world, agents_car, 255)
agents_cyclist_image = draw_boxes(self.raster_size, raster_from_world, agents_cyclist, 255)
agents_pedestrian_image = draw_boxes(self.raster_size, raster_from_world, agents_pedestrian, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, agents_ego, 255)
agents_unknown_images[..., i] = agents_unknown_image
agents_car_images[..., i] = agents_car_image
agents_cyclist_images[..., i] = agents_cyclist_image
agents_pedestrian_images[..., i] = agents_pedestrian_image
ego_images[..., i] = ego_image
if self.enable_selected_agent_channels:
assert agent is not None
selected_agent = filter_agents_by_track_id(agents, agent["track_id"])
if len(selected_agent) == 0: # agent not in this history frame
selected_agent_image = np.zeros_like(ego_image)
else: # add av to agents and remove the agent from agents
selected_agent_image = draw_boxes(self.raster_size, raster_from_world, selected_agent, 255)
selected_agent_images[..., i] = selected_agent_image
images = [
agents_unknown_images,
agents_car_images,
agents_cyclist_images,
agents_pedestrian_images,
ego_images
]
if self.enable_selected_agent_channels:
images.append(selected_agent_images)
out_im = np.concatenate(images, axis=-1)
assert out_im.shape[-1] == self.raster_channels
return out_im.astype(np.float32) / 255
def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> np.ndarray:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
raster_from_world = self.render_context.raster_from_world(ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
# TODO: Change shape
# out_shape = (self.raster_size[1], self.raster_size[0], self.history_num_frames + 1)
out_shape = (self.raster_size[1], self.raster_size[0], 1)
# agents_images = np.zeros(out_shape, dtype=np.uint8)
# ego_images = np.zeros(out_shape, dtype=np.uint8)
agents_images = np.zeros(out_shape, dtype=np.float32)
ego_images = np.zeros(out_shape, dtype=np.float32)
n = history_frames.size
weights = (np.logspace(0, 1, n, base=15) / n)[::-1][:, None, None]
for i, (frame, agents) in enumerate(zip(history_frames, history_agents)):
agents = filter_agents_by_labels(agents, self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
if agent is None:
agents_image = draw_boxes(self.raster_size, raster_from_world, agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, av_agent, 255)
else:
agent_ego = filter_agents_by_track_id(agents, agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
agents_image = draw_boxes(self.raster_size, raster_from_world, np.append(agents, av_agent), 255)
ego_image = np.zeros_like(agents_image)
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
agents_image = draw_boxes(self.raster_size, raster_from_world, np.append(agents, av_agent), 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, agent_ego, 255)
# agents_images[..., i] = agents_image
# ego_images[..., i] = ego_image
# print(i)
if i == 0:
heads = np.expand_dims(agents_image + ego_image, axis=2)
agents_images[..., 0] += (agents_image * weights[i]).astype(np.float32)
ego_images[..., 0] += (ego_image * weights[i]).astype(np.float32)
# ego_heads =
# agents_images = np.expand_dims((weights * agents_images).max(2), axis=2)
# ego_images = np.expand_dims((weights * ego_images).max(2), axis=2)
# combine such that the image consists of [agent_t, agent_t-1, agent_t-2, ego_t, ego_t-1, ego_t-2]
out_im = np.concatenate((agents_images, ego_images, heads), -1)
# return out_im.astype(np.float32) / 255
return out_im.astype(np.float32) / np.amax(out_im)
def _create_targets_for_deep_prediction(
num_frames: int,
frames: np.ndarray,
selected_track_id: Optional[int],
agents: List[np.ndarray],
agent_current_centroid: np.ndarray,
agent_current_velocity: np.ndarray,
agent_current_yaw: float,
) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray,
np.ndarray]:
"""
Internal function that creates the targets and availability masks for deep prediction-type models.
The futures/history offset (in meters) are computed. When no info is available (e.g. agent not in frame)
a 0 is set in the availability array (1 otherwise).
Args:
num_frames (int): number of offset we want in the future/history
frames (np.ndarray): available frames. This may be less than num_frames
selected_track_id (Optional[int]): agent track_id or AV (None)
agents (List[np.ndarray]): list of agents arrays (same len of frames)
agent_current_centroid (np.ndarray): centroid of the agent at timestep 0
agent_current_yaw (float): angle of the agent at timestep 0
Returns:
Tuple[np.ndarray, np.ndarray, np.ndarray]: position offsets, angle offsets, availabilities
"""
#TODO: JERK
# Inclusively count the number of available and unavailable frames of this target
num_avail = 0
num_unavail = 0
last_avail_index = -1
last_unavail_index = -1
# How much the coordinates differ from the current state in meters.
coords_offset = np.zeros((num_frames, 2), dtype=np.float32)
vel_offset = np.zeros((num_frames, 2), dtype=np.float32)
accel_offset = np.zeros((num_frames, 2), dtype=np.float32)
jerk_offset = np.zeros((num_frames, 2), dtype=np.float32)
yaws_offset = np.zeros((num_frames, 1), dtype=np.float32)
availability = np.zeros((num_frames, ), dtype=np.float32)
for i, (frame, agents) in enumerate(zip(frames, agents)):
if selected_track_id is None:
agent_centroid = frame["ego_translation"][:2]
agent_yaw = rotation33_as_yaw(frame["ego_rotation"])
agent_velocity = np.array([0, 0], dtype=np.float32)
num_avail = num_avail + 1
else:
# it's not guaranteed the target will be in every frame
try:
agent = filter_agents_by_track_id(agents, selected_track_id)[0]
num_avail = num_avail + 1
except IndexError:
availability[i] = 0.0 # keep track of invalid futures/history
last_unavail_index = i
num_unavail = num_unavail + 1
continue
agent_centroid = agent["centroid"]
agent_velocity = agent["velocity"]
agent_yaw = agent["yaw"]
#TODO: change my kinetics to the format of
# offset for time[i] - time[0]
# So tidy up the velocity calculation process, and the acceleration stuff
# time 0 state, and time > 0 state. and make the calculations with respect to time passed and the time 0 val
# Also provide a means of getting change in time
# Note: B is an initial case
# State A: the boy scout case. All clean, no trouble
# Two or more positions, previous frame is available
# State B: One or none positions
# State C: Two or more positions, previous frame is unavail
coords_offset[i] = agent_centroid - agent_current_centroid
# STATE B
if num_avail == 1:
# There is only the current position, no velocity is possible
vel_offset[i] = agent_current_velocity
accel_offset[i] = np.array([0, 0], dtype=np.float32)
jerk_offset[i] = np.array([0, 0], dtype=np.float32)
# there are two or more positions
# There has been no unavailabilities yet
elif last_unavail_index == -1:
# STATE A
# Only 1 frame difference in time
dx = coords_offset[i] - coords_offset[i - 1]
dt = 0.1
vel_offset[
i] = dx / dt # change in position / frame width (0.1 seconds) : [m/s]
# accel_offset[i] = (agent_velocity ** 2 - vel_offset[i - 1] ** 2) / (2 * dx)
accel_offset[i] = (vel_offset[i] - vel_offset[i - 1]) / dt
jerk_offset[i] = (accel_offset[i] - accel_offset[i - 1]) / dt
# Unavailability was previous frame
elif last_unavail_index == i - 1:
# Check number of positions
# STATE C
# There are positions before the unavailability, calculate the velocity
# Get previous existing velocity
prev_vel = vel_offset[last_avail_index]
# Get previous existing position
prev_pos = coords_offset[last_avail_index]
# Current Position
pos = coords_offset[i]
# Delta X
dx = pos - prev_pos
# Delta Time...0.1 being the frame width
dt = (i - last_avail_index) * 0.1
# Calculate velocity
vel = (dx / dt) * -prev_vel
vel_offset[i] = vel
# Now calculate acceleration
accel_offset[i] = (((dx - prev_vel * dt) * 2)**(1 / 2)) / dt
# Now Jerk
jerk_offset[i] = (accel_offset[i] -
accel_offset[last_avail_index]) / dt
else:
# STATE A
# Only 1 frame difference in time
dx = coords_offset[i] - coords_offset[i - 1]
dt = 0.1
vel_offset[
i] = dx / dt # change in position / frame width (0.1 seconds) : [m/s]
accel_offset[i] = (agent_velocity**2 - vel_offset[i - 1]**2) / (2 *
dx)
jerk_offset[i] = (accel_offset[i] - accel_offset[i - 1]) / dt
# else:
#
# # Attempt to get previous velocity
# if i == 0:
# # No previous velocity
# prev_vel = np.array([0, 0], dtype=np.float32)
# else:
# # There must be a previous velocity
# prev_vel = vel_offset[i - 1]
#
# # Calculate the acceleration
# accel_offset[i] = (vel_offset[i] ** 2 - prev_vel ** 2) / (2 * coords_offset[i])
# else:
# accel_offset[i] = (agent_velocity ** 2 - agent_current_velocity ** 2) / (2 * coords_offset[i])
yaws_offset[i] = agent_yaw - agent_current_yaw
availability[i] = 1.0
# save this index as the last available index
last_avail_index = i
return coords_offset, vel_offset, accel_offset, jerk_offset, yaws_offset, availability
def rasterize(self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
agents: Optional[np.ndarray] = None) -> np.ndarray:
frame = history_frames[0]
if agent is None:
translation = frame["ego_translation"]
yaw = frame["ego_rotation"]
else:
translation = agent["centroid"]
yaw = agent["yaw"]
self.agents = []
self.camera.position = np.array([translation[0], translation[1], 1.],
dtype=np.float32)
self.camera.rotation = np.array([0., 0., yaw], dtype=np.float32)
# Actor/Ego rasterizer
for i, (frame, agents) in enumerate(zip(history_frames,
history_agents)):
agents = filter_agents_by_labels(agents,
self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
if agent is None:
self.add_agents((agents, False))
self.add_agents((av_agent, True))
else:
agent_ego = filter_agents_by_track_id(agents,
agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
self.add_agents((agents, False))
self.add_agents((av_agent, False))
else:
agents = agents[agents != agent_ego[0]]
self.add_agents((agents, False))
self.add_agents((av_agent, False))
self.add_agents((agent_ego, True))
# TODO: history frames.
break
glBindFramebuffer(GL_FRAMEBUFFER, self.output_fbo)
self.renderer.render([
(
'map_renderer',
[
# Map layer #1 - road surface
self.lane_surface_model,
# Map layer #2 - crosswalks,
self.crosswalk_model,
# Map layer #3 - lane lines
self.lane_lines_model,
]),
('entity_renderer', self.agents),
])
glPixelStorei(GL_PACK_ALIGNMENT, 1)
glReadBuffer(GL_COLOR_ATTACHMENT0)
image = glReadPixels(0, 0, self.raster_size[0], self.raster_size[1],
GL_RGB, GL_FLOAT)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
return image
def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> np.ndarray:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(
agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
raster_from_world = self.render_context.raster_from_world(
ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
out_shape = (self.raster_size[1], self.raster_size[0],
self.history_num_frames + 1)
agents_images = np.zeros(out_shape, dtype=np.uint8)
ego_images = np.zeros(out_shape, dtype=np.uint8)
# --- 1. prepare agent keep indices for random agent drop augmentation ---
track_ids = np.concatenate([a["track_id"] for a in history_agents])
unique_track_ids = np.unique(track_ids).astype(np.int64)
n_max_agents = int(np.max(unique_track_ids) + 1) # +1 for host car.
unique_track_ids = np.concatenate([[0], unique_track_ids
]) # Add Host car, with id=0.
n_unique_agents = len(unique_track_ids)
# if not np.all(unique_track_ids == np.arange(np.max(unique_track_ids) + 1)):
# # It occured!! --> unique_track_ids is not continuous. Some numbers are filtered out.
# print("unique_track_ids", unique_track_ids, "is not continuous!!!")
if not self.eval and np.random.uniform() < self.agent_drop_ratio:
if self.agent_drop_prob < 0:
# Randomly decide number of agents to drop.
# 0 represents host car.
n_keep_agents = np.random.randint(0, n_unique_agents)
agent_keep_indices = np.random.choice(unique_track_ids,
n_keep_agents,
replace=False)
else:
# Decide agents to drop or not by agent_drop_prob.
agent_keep_indices = unique_track_ids[np.random.uniform(
0.0, 1.0, (n_unique_agents, )) > self.agent_drop_prob]
n_keep_agents = len(agent_keep_indices)
# Must keep ego agent!
if agent["track_id"] not in agent_keep_indices:
agent_keep_indices = np.append(agent_keep_indices,
agent["track_id"])
else:
n_keep_agents = n_unique_agents
# keep all agents
agent_keep_indices = None
# --- 2. prepare extent scale augmentation ratio ----
# TODO: create enough number of extent_ratio array. Actually n_keep_agents suffice but create n_max_agents
# for simplicity..
if self.eval:
# No augmentation.
agents_extent_ratio = np.ones((n_max_agents, 3))
elif self.min_extent_ratio == self.max_extent_ratio:
agents_extent_ratio = np.ones(
(n_max_agents, 3)) * self.min_extent_ratio
else:
agents_extent_ratio = np.random.uniform(self.min_extent_ratio,
self.max_extent_ratio,
(n_max_agents, 3))
ego_extent_ratio = agents_extent_ratio[0]
for i, (frame,
agents_) in enumerate(zip(history_frames, history_agents)):
agents = filter_agents_by_labels(agents_,
self.filter_agents_threshold)
if agent_keep_indices is not None:
# --- 1. apply agent drop augmentation ---
agents = agents[np.isin(agents["track_id"],
agent_keep_indices)]
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
# 2. --- apply extent scale augmentation ---
# TODO: Need to convert agents["track_id"] --> index based on `agent_keep_indices`,
# if we only create `agents_extent_ratio` of size `n_keep_agents`.
agents["extent"] *= agents_extent_ratio[agents["track_id"]]
av_agent[0]["extent"] *= ego_extent_ratio
if agent is None:
agents_image = draw_boxes(self.raster_size, raster_from_world,
agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world,
av_agent, 255)
else:
agent_ego = filter_agents_by_track_id(agents,
agent["track_id"])
if agent_keep_indices is None or 0 in agent_keep_indices:
agents = np.append(agents, av_agent)
if len(agent_ego) == 0: # agent not in this history frame
agents_image = draw_boxes(self.raster_size,
raster_from_world, agents, 255)
ego_image = np.zeros_like(agents_image)
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
agents_image = draw_boxes(self.raster_size,
raster_from_world, agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world,
agent_ego, 255)
agents_images[..., i] = agents_image
ego_images[..., i] = ego_image
# combine such that the image consists of [agent_t, agent_t-1, agent_t-2, ego_t, ego_t-1, ego_t-2]
out_im = np.concatenate((agents_images, ego_images), -1)
return out_im.astype(np.float32) / 255
def generate_multi_agent_sample(
state_index: int,
frames: np.ndarray,
agents: np.ndarray,
tl_faces: np.ndarray,
selected_track_id: Optional[int],
render_context: RenderContext,
history_num_frames: int,
history_step_size: int,
future_num_frames: int,
future_step_size: int,
filter_agents_threshold: float,
rasterizer: Optional[Rasterizer] = None,
perturbation: Optional[Perturbation] = None,
min_frame_history: int = MIN_FRAME_HISTORY,
min_frame_future: int = MIN_FRAME_FUTURE,
) -> dict:
"""Generates the inputs and targets to train a deep prediction model. A deep prediction model takes as input
the state of the world (here: an image we will call the "raster"), and outputs where that agent will be some
seconds into the future.
This function has a lot of arguments and is intended for internal use, you should try to use higher level classes
and partials that use this function.
Args:
state_index (int): The anchor frame index, i.e. the "current" timestep in the scene
frames (np.ndarray): The scene frames array, can be numpy array or a zarr array
agents (np.ndarray): The full agents array, can be numpy array or a zarr array
tl_faces (np.ndarray): The full traffic light faces array, can be numpy array or a zarr array
selected_track_id (Optional[int]): Either None for AV, or the ID of an agent that you want to
predict the future of. This agent is centered in the raster and the returned targets are derived from
their future states.
render_context (RenderContext):
raster_size (Tuple[int, int]): Desired output raster dimensions
pixel_size (np.ndarray): Size of one pixel in the real world
ego_center (np.ndarray): Where in the raster to draw the ego, [0.5,0.5] would be the center
history_num_frames (int): Amount of history frames to draw into the rasters
history_step_size (int): Steps to take between frames, can be used to subsample history frames
future_num_frames (int): Amount of history frames to draw into the rasters
future_step_size (int): Steps to take between targets into the future
filter_agents_threshold (float): Value between 0 and 1 to use as cutoff value for agent filtering
based on their probability of being a relevant agent
rasterizer (Optional[Rasterizer]): Rasterizer of some sort that draws a map image
perturbation (Optional[Perturbation]): Object that perturbs the input and targets, used
to train models that can recover from slight divergence from training set data
Raises:
ValueError: A ValueError is returned if the specified ``selected_track_id`` is not present in the scene
or was filtered by applying the ``filter_agent_threshold`` probability filtering.
Returns:
dict: a dict object with the raster array, the future offset coordinates (meters),
the future yaw angular offset, the future_availability as a binary mask
"""
# the history slice is ordered starting from the latest frame and goes backward in time., ex. slice(100, 91, -2)
history_slice = get_history_slice(state_index,
history_num_frames,
history_step_size,
include_current_state=True)
future_slice = get_future_slice(state_index, future_num_frames,
future_step_size)
history_frames = frames[history_slice].copy(
) # copy() required if the object is a np.ndarray
future_frames = frames[future_slice].copy()
sorted_frames = np.concatenate(
(history_frames[::-1], future_frames)) # from past to future
# get agents (past and future)
agent_slice = get_agents_slice_from_frames(sorted_frames[0],
sorted_frames[-1])
agents = agents[agent_slice].copy(
) # this is the minimum slice of agents we need
history_frames[
"agent_index_interval"] -= agent_slice.start # sync interval with the agents array
future_frames[
"agent_index_interval"] -= agent_slice.start # sync interval with the agents array
history_agents = filter_agents_by_frames(history_frames, agents)
future_agents = filter_agents_by_frames(future_frames, agents)
try:
tl_slice = get_tl_faces_slice_from_frames(
history_frames[-1], history_frames[0]) # -1 is the farthest
# sync interval with the traffic light faces array
history_frames["traffic_light_faces_index_interval"] -= tl_slice.start
history_tl_faces = filter_tl_faces_by_frames(history_frames,
tl_faces[tl_slice].copy())
except ValueError:
history_tl_faces = [
np.empty(0, dtype=TL_FACE_DTYPE) for _ in history_frames
]
if perturbation is not None:
history_frames, future_frames = perturbation.perturb(
history_frames=history_frames, future_frames=future_frames)
# State you want to predict the future of.
cur_frame = history_frames[0]
cur_agents = history_agents[0]
cur_agents = filter_agents_by_labels(cur_agents, filter_agents_threshold)
agent_track_ids_u64 = cur_agents["track_id"]
# uint64 --> int64
agent_track_ids = agent_track_ids_u64.astype(np.int64)
assert np.alltrue(agent_track_ids == agent_track_ids_u64)
agent_track_ids = np.concatenate(
[np.array([-1], dtype=np.int64), agent_track_ids])
# Draw image with Ego car in center
selected_agent = None
input_im = (None if not rasterizer else rasterizer.rasterize(
history_frames, history_agents, history_tl_faces, selected_agent))
future_coords_offset_list = []
future_yaws_offset_list = []
future_availability_list = []
history_coords_offset_list = []
history_yaws_offset_list = []
history_availability_list = []
agent_centroid_list = []
agent_yaw_list = []
agent_extent_list = []
filtered_track_ids_list = []
for selected_track_id in agent_track_ids:
if selected_track_id == -1:
agent_centroid = cur_frame["ego_translation"][:2]
agent_yaw_rad = rotation33_as_yaw(cur_frame["ego_rotation"])
agent_extent = np.asarray(
(EGO_EXTENT_LENGTH, EGO_EXTENT_WIDTH, EGO_EXTENT_HEIGHT))
world_from_agent = compute_agent_pose(agent_centroid,
agent_yaw_rad)
agent_from_world = np.linalg.inv(world_from_agent)
raster_from_world = render_context.raster_from_world(
agent_centroid, agent_yaw_rad)
agent_origin = np.zeros((2, ), dtype=np.float32)
else:
# this will raise IndexError if the agent is not in the frame or under agent-threshold
# this is a strict error, we cannot recover from this situation
try:
agent = filter_agents_by_track_id(cur_agents,
selected_track_id)[0]
except IndexError:
raise ValueError(
f" track_id {selected_track_id} not in frame or below threshold"
)
agent_centroid = agent["centroid"]
agent_yaw_rad = agent["yaw"]
agent_extent = agent["extent"]
agent_origin = transform_point(agent_centroid, agent_from_world)
future_coords_offset, future_yaws_offset, future_availability = _create_targets_for_deep_prediction(
future_num_frames, future_frames, selected_track_id, future_agents,
agent_from_world, agent_yaw_rad, agent_origin)
if selected_track_id != -1 and np.sum(
future_availability) < min_frame_future:
# Not enough future to predict, skip this agent.
continue
# history_num_frames + 1 because it also includes the current frame
history_coords_offset, history_yaws_offset, history_availability = _create_targets_for_deep_prediction(
history_num_frames + 1, history_frames, selected_track_id,
history_agents, agent_from_world, agent_yaw_rad, agent_origin)
if selected_track_id != -1 and np.sum(
history_availability) < min_frame_history:
# Not enough history to predict, skip this agent.
continue
future_coords_offset_list.append(future_coords_offset)
future_yaws_offset_list.append(future_yaws_offset)
future_availability_list.append(future_availability)
history_coords_offset_list.append(history_coords_offset)
history_yaws_offset_list.append(history_yaws_offset)
history_availability_list.append(history_availability)
agent_centroid_list.append(agent_centroid)
agent_yaw_list.append(agent_yaw_rad)
agent_extent_list.append(agent_extent)
filtered_track_ids_list.append(selected_track_id)
# Get pixel coordinate
agent_centroid_array = np.array(agent_centroid_list)
agent_centroid_in_pixel = transform_points(agent_centroid_array,
raster_from_world)
return {
"image": input_im, # (h, w, ch)
# --- All below is in world coordinate ---
"target_positions":
np.array(future_coords_offset_list), # (n_agents, num_frames, 2)
"target_yaws":
np.array(future_yaws_offset_list), # (n_agents, num_frames, 1)
"target_availabilities":
np.array(future_availability_list), # (n_agents, num_frames)
"history_positions":
np.array(history_coords_offset_list), # (n_agents, num_frames, 2)
"history_yaws":
np.array(history_yaws_offset_list), # (n_agents, num_frames, 1)
"history_availabilities":
np.array(history_availability_list), # (n_agents, num_frames)
# "world_to_image": raster_from_world, # (3, 3)
"raster_from_world": raster_from_world, # (3, 3)
"centroid": agent_centroid_array, # (n_agents, 2)
"yaw": np.array(agent_yaw_list), # (n_agents, 1)
"extent": np.array(agent_extent_list), # (n_agents, 3)
"track_ids": np.array(filtered_track_ids_list), # (n_agents)
"centroid_pixel": agent_centroid_in_pixel, # (n_agents, 2)
}
def rasterize(
self,
history_frames: np.ndarray,
history_agents: List[np.ndarray],
history_tl_faces: List[np.ndarray],
agent: Optional[np.ndarray] = None,
) -> Dict[str, np.ndarray]:
# all frames are drawn relative to this one"
frame = history_frames[0]
if agent is None:
ego_translation_m = history_frames[0]["ego_translation"]
ego_yaw_rad = rotation33_as_yaw(frame["ego_rotation"])
else:
ego_translation_m = np.append(agent["centroid"], history_frames[0]["ego_translation"][-1])
ego_yaw_rad = agent["yaw"]
raster_from_world = self.render_context.raster_from_world(ego_translation_m, ego_yaw_rad)
# this ensures we always end up with fixed size arrays, +1 is because current time is also in the history
out_shape = (
self.raster_size[1],
self.raster_size[0],
len(self.box_history_frames),
)
agents_images = np.zeros(out_shape, dtype=np.uint8)
ego_images = np.zeros(out_shape, dtype=np.uint8)
# for i, (frame, agents) in enumerate(zip(history_frames, history_agents)):
for dst_idx, i in enumerate(self.box_history_frames):
if i >= history_frames.shape[0]:
break
frame = history_frames[i]
agents = history_agents[i]
agents = filter_agents_by_labels(agents, self.filter_agents_threshold)
# note the cast is for legacy support of dataset before April 2020
av_agent = get_ego_as_agent(frame).astype(agents.dtype)
if agent is None:
agents_image = draw_boxes(self.raster_size, raster_from_world, agents, 255)
ego_image = draw_boxes(self.raster_size, raster_from_world, av_agent, 255)
else:
agent_ego = filter_agents_by_track_id(agents, agent["track_id"])
if len(agent_ego) == 0: # agent not in this history frame
agents_image = draw_boxes(
self.raster_size,
raster_from_world,
np.append(agents, av_agent),
255,
)
ego_image = np.zeros_like(agents_image)
else: # add av to agents and remove the agent from agents
agents = agents[agents != agent_ego[0]]
agents_image = draw_boxes(
self.raster_size,
raster_from_world,
np.append(agents, av_agent),
255,
)
ego_image = draw_boxes(self.raster_size, raster_from_world, agent_ego, 255)
agents_images[..., dst_idx] = agents_image
ego_images[..., dst_idx] = ego_image
# combine such that the image consists of [agent_t, agent_t-1, agent_t-2, ego_t, ego_t-1, ego_t-2]
out_im = np.concatenate((agents_images, ego_images), -1)
return {'image_box': out_im}
