def __init__(self, left_camera_stream, right_camera_stream,
depth_estimation_stream, transform, fov, flags):
left_camera_stream.add_callback(self.on_left_camera_msg)
right_camera_stream.add_callback(self.on_right_camera_msg)
erdos.add_watermark_callback([left_camera_stream, right_camera_stream],
[depth_estimation_stream],
self.compute_depth)
self._flags = flags
self._left_imgs = {}
self._right_imgs = {}
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._transform = transform
self._fov = fov
# Load AnyNet
model = anynet.AnyNet(AnyNetArgs())
model = nn.DataParallel(model).cuda()
pretrained = os.path.join(self._flags.depth_estimation_model_path,
'checkpoint/sceneflow/sceneflow.tar')
resume = os.path.join(self._flags.depth_estimation_model_path,
'checkpoint/kitti2015_ck/checkpoint.tar')
if os.path.isfile(pretrained):
_ = torch.load(pretrained)
else:
self._logger.warning('No pretrained Anynet model')
if os.path.isfile(resume):
_ = torch.load(resume)
else:
self._logger.warning('No Anynet checkpoint available')
self._model = model
def __init__(self,
ground_traffic_lights_stream,
tl_camera_stream,
depth_camera_stream,
segmented_camera_stream,
can_bus_stream,
traffic_lights_stream,
name,
flags,
log_file_name=None):
ground_traffic_lights_stream.add_callback(self.on_traffic_light_update)
tl_camera_stream.add_callback(self.on_bgr_camera_update)
depth_camera_stream.add_callback(self.on_depth_camera_update)
segmented_camera_stream.add_callback(self.on_segmented_frame)
can_bus_stream.add_callback(self.on_can_bus_update)
erdos.add_watermark_callback([
ground_traffic_lights_stream, tl_camera_stream,
depth_camera_stream, segmented_camera_stream, can_bus_stream
], [traffic_lights_stream], self.on_watermark)
self._name = name
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._flags = flags
_, world = get_world(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout)
if world is None:
raise ValueError("There was an issue connecting to the simulator.")
self._town_name = world.get_map().name
self._traffic_lights = deque()
self._bgr_msgs = deque()
self._depth_frame_msgs = deque()
self._segmented_msgs = deque()
self._can_bus_msgs = deque()
self._frame_cnt = 0
def __init__(self,
ground_segmented_stream,
segmented_stream,
name,
flags,
log_file_name=None,
csv_file_name=None):
ground_segmented_stream.add_callback(self.on_ground_segmented_frame)
segmented_stream.add_callback(self.on_segmented_frame)
# Register a watermark callback.
erdos.add_watermark_callback(
[ground_segmented_stream, segmented_stream], [],
self.on_notification)
self._name = name
self._flags = flags
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
name + '-csv', csv_file_name)
# Buffer of ground truth segmented frames.
self._ground_frames = []
# Buffer of segmentation output frames.
self._segmented_frames = []
# Heap storing pairs of (ground/output time, game time).
self._segmented_start_end_times = []
self._sim_interval = None
self._last_notification = None
def __init__(self, read_stream, top_stream):
read_stream.add_callback(lambda m: print(
"CallbackWatermarkListener: received message {m}".format(m=m)))
erdos.add_watermark_callback(
[read_stream, top_stream], [],
lambda t: print("CallbackWatermarkListener: received watermark {t}"
.format(t=t)))
def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._mpc_config = global_config
pid_use_real_time = False
if self._flags.execution_mode == 'real-world':
# The PID is executing on a real car. Use the real time delta
# between two control commands.
pid_use_real_time = True
if self._flags.carla_control_frequency == -1:
dt = 1.0 / self._flags.carla_fps
else:
dt = 1.0 / self._flags.carla_control_frequency
self._pid = PIDLongitudinalController(flags.pid_p, flags.pid_d,
flags.pid_i, dt,
pid_use_real_time)
self._pose_msgs = deque()
self._obstacles_msgs = deque()
self._traffic_light_msgs = deque()
self._waypoint_msgs = deque()
self._mpc = None
def __init__(self, point_cloud_stream: erdos.ReadStream,
tracking_stream: erdos.ReadStream,
time_to_decision_stream: erdos.ReadStream,
prediction_stream: erdos.WriteStream, flags, lidar_setup):
print("WARNING: R2P2 predicts only vehicle trajectories")
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
self.config.name + '-csv', self.config.csv_log_file_name)
self._flags = flags
self._device = torch.device('cuda')
self._r2p2_model = R2P2().to(self._device)
state_dict = torch.load(flags.r2p2_model_path)
self._r2p2_model.load_state_dict(state_dict)
point_cloud_stream.add_callback(self.on_point_cloud_update)
tracking_stream.add_callback(self.on_trajectory_update)
time_to_decision_stream.add_callback(self.on_time_to_decision_update)
erdos.add_watermark_callback([point_cloud_stream, tracking_stream],
[prediction_stream], self.on_watermark)
self._lidar_setup = lidar_setup
self._point_cloud_msgs = deque()
self._tracking_msgs = deque()
def __init__(self,
obstacle_tracking_stream,
prediction_stream,
segmented_camera_stream,
name,
flags,
log_file_name=None):
""" Initializes the TrackVisualizerOperator with the given
parameters.
Args:
name: The name of the operator.
flags: A handle to the global flags instance to retrieve the
configuration.
log_file_name: The file to log the required information to.
"""
obstacle_tracking_stream.add_callback(self.on_tracking_update)
prediction_stream.add_callback(self.on_prediction_update)
segmented_camera_stream.add_callback(
self.on_top_down_segmentation_update)
erdos.add_watermark_callback([
obstacle_tracking_stream, prediction_stream,
segmented_camera_stream
], [], self.on_watermark)
self._name = name
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._flags = flags
self._past_colors = {'person': [255, 0, 0], 'vehicle': [128, 128, 0]}
self._future_colors = {'person': [0, 0, 255], 'vehicle': [0, 255, 0]}
# Dictionaries to store incoming data.
self._tracking_msgs = deque()
self._top_down_segmentation_msgs = deque()
self._prediction_msgs = deque()
def __init__(self, imu_stream: ReadStream, gnss_stream: ReadStream,
ground_pose_stream: ReadStream, pose_stream: WriteStream,
flags):
# Queue of saved messages.
self._imu_updates = deque()
self._gnss_updates = deque()
self._ground_pose_updates = None
# Register callbacks on both the IMU and GNSS streams.
imu_stream.add_callback(
partial(self.save, msg_type="IMU", queue=self._imu_updates))
gnss_stream.add_callback(
partial(self.save, msg_type="GNSS", queue=self._gnss_updates))
# Register the ground pose stream.
self._ground_pose_updates = deque()
ground_pose_stream.add_callback(
partial(self.save,
msg_type="pose",
queue=self._ground_pose_updates))
erdos.add_watermark_callback(
[imu_stream, gnss_stream, ground_pose_stream], [],
self.on_watermark)
# Save the output stream.
self._pose_stream = pose_stream
# Initialize a logger.
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
# Gravity vector.
self._g = np.array([0, 0, -9.81])
# Previous timestamp values.
self._last_pose_estimate = None
self._last_timestamp = None
# NOTE: At the start of the simulation, the vehicle drops down from
# the sky, during which the IMU values screw up the calculations.
# This boolean flag takes care to start the prediction only when the
# values have stabilized.
self._is_started = False
# Constants required for the Kalman filtering.
var_imu_f, var_imu_w, var_gnss = 0.5, 0.5, 0.1
self.__Q = np.identity(6)
self.__Q[0:3, 0:3] = self.__Q[0:3, 0:3] * var_imu_f
self.__Q[3:6, 3:6] = self.__Q[3:6, 3:6] * var_imu_w
self.__F = np.identity(9)
self.__L = np.zeros([9, 6])
self.__L[3:9, :] = np.identity(6)
self.__R_GNSS = np.identity(3) * var_gnss
self._last_covariance = np.zeros((9, 9))
def __init__(self, left_stream, right_stream, write_stream):
self.left_msgs = {}
self.right_msgs = {}
left_stream.add_callback(self.recv_left)
right_stream.add_callback(self.recv_right)
erdos.add_watermark_callback([left_stream, right_stream],
[write_stream], self.send_joined)
def __init__(self, depth_camera_stream: ReadStream,
center_camera_stream: ReadStream,
segmented_camera_stream: ReadStream, pose_stream: ReadStream,
ground_obstacles_stream: ReadStream,
ground_speed_limit_signs_stream: ReadStream,
ground_stop_signs_stream: ReadStream,
obstacles_stream: WriteStream, flags):
depth_camera_stream.add_callback(self.on_depth_camera_update)
center_camera_stream.add_callback(self.on_bgr_camera_update)
segmented_camera_stream.add_callback(self.on_segmented_frame)
pose_stream.add_callback(self.on_pose_update)
ground_obstacles_stream.add_callback(self.on_obstacles_update)
ground_speed_limit_signs_stream.add_callback(
self.on_speed_limit_signs_update)
ground_stop_signs_stream.add_callback(self.on_stop_signs_update)
# Register a completion watermark callback. The callback is invoked
# after all the messages with a given timestamp have been received.
erdos.add_watermark_callback([
depth_camera_stream, center_camera_stream, segmented_camera_stream,
pose_stream, ground_obstacles_stream,
ground_speed_limit_signs_stream, ground_stop_signs_stream
], [obstacles_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
# Queues of incoming data.
self._bgr_msgs = deque()
self._pose_msgs = deque()
self._depth_frame_msgs = deque()
self._obstacles = deque()
self._segmented_msgs = deque()
self._speed_limit_signs = deque()
self._stop_signs = deque()
self._frame_cnt = 0
def __init__(self,
obstacles_stream,
ground_obstacles_stream,
name,
flags,
log_file_name=None,
csv_file_name=None):
obstacles_stream.add_callback(self.on_obstacles)
ground_obstacles_stream.add_callback(self.on_ground_obstacles)
erdos.add_watermark_callback(
[obstacles_stream, ground_obstacles_stream], [],
self.on_notification)
self._name = name
self._flags = flags
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
name + '-csv', csv_file_name)
self._last_notification = None
# Buffer of detected obstacles.
self._detected_obstacles = []
# Buffer of ground obstacles.
self._ground_obstacles = []
# Heap storing pairs of (ground/output time, game time).
self._detector_start_end_times = []
self._sim_interval = None
def __init__(self,
pose_stream,
point_cloud_stream,
tracking_stream,
vehicle_id_stream,
prediction_stream,
flags,
lidar_setup):
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._device = torch.device('cuda')
self._r2p2_model = R2P2().to(self._device)
state_dict = torch.load(flags.r2p2_model_path)
self._r2p2_model.load_state_dict(state_dict)
pose_stream.add_callback(self.on_pose_update)
point_cloud_stream.add_callback(self.on_point_cloud_update)
tracking_stream.add_callback(self.on_trajectory_update)
erdos.add_watermark_callback(
[pose_stream, point_cloud_stream, tracking_stream],
[prediction_stream], self.on_watermark)
self._vehicle_id_stream = vehicle_id_stream
self._lidar_setup = lidar_setup
self._can_bus_msgs = deque()
self._point_cloud_msgs = deque()
self._tracking_msgs = deque()
def __init__(self,
can_bus_stream,
tracking_stream,
prediction_stream,
name,
flags,
log_file_name=None,
csv_file_name=None):
can_bus_stream.add_callback(self._on_can_bus_update)
tracking_stream.add_callback(self._on_tracking_update)
prediction_stream.add_callback(self._on_prediction_update)
erdos.add_watermark_callback(
[can_bus_stream, tracking_stream, prediction_stream], [],
self.on_notification)
self._name = name
self._flags = flags
self._logger = erdos.utils.setup_logging(self._name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
self._name + '-csv', csv_file_name)
# Message buffers.
self._prediction_msgs = deque()
self._tracking_msgs = deque()
self._can_bus_msgs = deque()
# Accumulated list of predictions, from oldest to newest.
self._predictions = deque(
maxlen=self._flags.prediction_num_future_steps)
def __init__(self,
pose_stream,
open_drive_stream,
route_stream,
trajectory_stream,
flags,
goal_location=None):
pose_stream.add_callback(self.on_pose_update)
open_drive_stream.add_callback(self.on_opendrive_map)
route_stream.add_callback(self.on_route_msg)
erdos.add_watermark_callback(
[pose_stream, open_drive_stream, route_stream],
[trajectory_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
# Do not set the goal location here so that the behavior planner
# issues an initial message.
self._goal_location = None
# Initialize the state of the behaviour planner.
self.__initialize_behaviour_planner()
self._pose_msgs = deque()
self._ego_info = EgoInfo()
if goal_location:
self._route = Waypoints(
deque([
pylot.utils.Transform(goal_location,
pylot.utils.Rotation())
]))
else:
self._route = None
self._map = None
def __init__(self,
can_bus_stream,
ground_obstacles_stream,
ground_traffic_lights_stream,
waypoints_stream,
control_stream,
name,
flags,
log_file_name=None,
csv_file_name=None):
can_bus_stream.add_callback(self.on_can_bus_update)
ground_obstacles_stream.add_callback(self.on_obstacles_update)
ground_traffic_lights_stream.add_callback(
self.on_traffic_lights_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([
can_bus_stream, ground_obstacles_stream,
ground_traffic_lights_stream, waypoints_stream
], [control_stream], self.on_watermark)
self._name = name
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
name + '-csv', csv_file_name)
self._flags = flags
self._map = HDMap(
get_map(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout), log_file_name)
self._pid = PID(p=flags.pid_p, i=flags.pid_i, d=flags.pid_d)
self._can_bus_msgs = deque()
self._obstacle_msgs = deque()
self._traffic_light_msgs = deque()
self._waypoint_msgs = deque()
def __init__(self, waypoints_read_stream, pose_read_stream,
localization_pose_stream, notify_stream1, notify_stream2,
waypoints_write_stream, pose_write_stream,
release_sensor_stream, flags):
# Register callbacks on both the waypoints and the pose stream.
waypoints_read_stream.add_callback(self.on_waypoints_update)
pose_read_stream.add_callback(self.on_pose_update)
localization_pose_stream.add_callback(self.on_localization_update)
erdos.add_watermark_callback([notify_stream1, notify_stream2],
[release_sensor_stream],
self.on_sensor_ready)
# Register watermark callback on pose and the joined stream.
erdos.add_watermark_callback(
[pose_read_stream], [waypoints_write_stream, pose_write_stream],
self.on_pose_watermark)
# Save the write streams.
self._waypoints_write_stream = waypoints_write_stream
# Initialize a logger.
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
self.config.name + '-csv', self.config.csv_log_file_name)
# Data used by the operator.
self._pose_map = dict()
self._waypoints = deque()
self._first_waypoint = True
self._last_highest_applicable_time = None
def __init__(self,
ground_obstacles_stream,
can_bus_stream,
ground_tracking_stream,
name,
flags,
log_file_name=None):
"""Initializes the PerfectTracker Operator. """
ground_obstacles_stream.add_callback(self.on_obstacles_update)
can_bus_stream.add_callback(self.on_can_bus_update)
erdos.add_watermark_callback([ground_obstacles_stream, can_bus_stream],
[ground_tracking_stream],
self.on_watermark)
self._name = name
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._flags = flags
# Queues of incoming data.
self._obstacles_raw_msgs = deque()
self._can_bus_msgs = deque()
# Processed data. Key is actor id, value is deque containing the past
# trajectory of the corresponding actor. Trajectory is stored in world
# coordinates, for ease of transformation.
trajectory = lambda: deque(maxlen=self._flags.
perfect_tracking_num_steps)
self._obstacles = defaultdict(trajectory)
def __init__(self, ground_vehicle_id_stream: erdos.ReadStream,
release_sensor_stream: erdos.ReadStream,
camera_stream: erdos.WriteStream,
notify_reading_stream: erdos.WriteStream, camera_setup,
flags):
erdos.add_watermark_callback([release_sensor_stream], [],
self.release_data)
self._vehicle_id_stream = ground_vehicle_id_stream
self._camera_stream = camera_stream
self._notify_reading_stream = notify_reading_stream
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._camera_setup = camera_setup
# The hero vehicle actor object we obtain from the simulator.
self._vehicle = None
# The camera sensor actor object we obtain from the simulator.
self._camera = None
self._pickle_lock = threading.Lock()
self._pickled_messages = {}
# Lock to ensure that the callbacks do not execute simultaneously.
self._lock = threading.Lock()
# If false then the operator does not send data until it receives
# release data watermark. Otherwise, it sends as soon as it
# receives it.
self._release_data = False
def __init__(self,
pose_stream,
prediction_stream,
global_trajectory_stream,
open_drive_stream,
time_to_decision_stream,
waypoints_stream,
flags,
goal_location=None,
log_file_name=None,
csv_file_name=None):
pose_stream.add_callback(self.on_pose_update)
prediction_stream.add_callback(self.on_prediction_update)
global_trajectory_stream.add_callback(self.on_global_trajectory)
open_drive_stream.add_callback(self.on_opendrive_map)
time_to_decision_stream.add_callback(self.on_time_to_decision)
erdos.add_watermark_callback(
[pose_stream, prediction_stream, time_to_decision_stream],
[waypoints_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._vehicle_transform = None
self._map = None
self._waypoints = None
self._prev_waypoints = None
self._goal_location = goal_location
self._pose_msgs = deque()
self._prediction_msgs = deque()
self._ttd_msgs = deque()
def __init__(self, camera_stream, control_stream, flags):
# pose_stream.add_callback(self.on_pose_update)
# waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([camera_stream],
[control_stream], self.on_watermark)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
def __init__(self, ground_vehicle_id_stream: ReadStream,
wait_stream: ReadStream, control_stream: WriteStream, flags):
erdos.add_watermark_callback([wait_stream], [control_stream],
self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._vehicle_id_stream = ground_vehicle_id_stream
self._vehicle = None
self._flags = flags
def __init__(self, pose_stream: erdos.ReadStream,
prediction_stream: erdos.ReadStream,
static_obstacles_stream: erdos.ReadStream,
lanes_stream: erdos.ReadStream,
route_stream: erdos.ReadStream,
open_drive_stream: erdos.ReadStream,
time_to_decision_stream: erdos.ReadStream,
waypoints_stream: erdos.WriteStream, flags):
pose_stream.add_callback(self.on_pose_update)
prediction_stream.add_callback(self.on_prediction_update)
static_obstacles_stream.add_callback(self.on_static_obstacles_update)
lanes_stream.add_callback(self.on_lanes_update)
route_stream.add_callback(self.on_route)
open_drive_stream.add_callback(self.on_opendrive_map)
time_to_decision_stream.add_callback(self.on_time_to_decision)
erdos.add_watermark_callback([
pose_stream, prediction_stream, static_obstacles_stream,
lanes_stream, time_to_decision_stream, route_stream
], [waypoints_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
# We do not know yet the vehicle's location.
self._ego_transform = None
self._map = None
self._world = World(flags, self._logger)
if self._flags.planning_type == 'waypoint':
# Use the FOT planner for overtaking.
from pylot.planning.frenet_optimal_trajectory.fot_planner \
import FOTPlanner
self._planner = FOTPlanner(self._world, self._flags, self._logger)
elif self._flags.planning_type == 'frenet_optimal_trajectory':
from pylot.planning.frenet_optimal_trajectory.fot_planner \
import FOTPlanner
self._planner = FOTPlanner(self._world, self._flags, self._logger)
elif self._flags.planning_type == 'hybrid_astar':
from pylot.planning.hybrid_astar.hybrid_astar_planner \
import HybridAStarPlanner
self._planner = HybridAStarPlanner(self._world, self._flags,
self._logger)
elif self._flags.planning_type == 'rrt_star':
from pylot.planning.rrt_star.rrt_star_planner import RRTStarPlanner
self._planner = RRTStarPlanner(self._world, self._flags,
self._logger)
else:
raise ValueError('Unexpected planning type: {}'.format(
self._flags.planning_type))
self._state = BehaviorPlannerState.FOLLOW_WAYPOINTS
self._pose_msgs = deque()
self._prediction_msgs = deque()
self._static_obstacles_msgs = deque()
self._lanes_msgs = deque()
self._ttd_msgs = deque()
def __init__(self, waypoints_stream, camera_stream, can_bus_stream, flags):
waypoints_stream.add_callback(self.on_wp_update)
camera_stream.add_callback(self.on_bgr_frame)
can_bus_stream.add_callback(self.on_can_bus_update)
erdos.add_watermark_callback([camera_stream, waypoints_stream], [],
self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._bgr_msgs = deque()
self._waypoints_msgs = deque()
self._can_bus_msgs = deque()
def __init__(self, pose_stream: ReadStream, open_drive_stream: ReadStream,
center_camera_stream: ReadStream,
detected_lane_stream: WriteStream, flags):
pose_stream.add_callback(self.on_pose_update)
center_camera_stream.add_callback(self.on_bgr_camera_update)
erdos.add_watermark_callback([pose_stream, center_camera_stream],
[detected_lane_stream],
self.on_position_update)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._bgr_msgs = deque()
self._pose_msgs = deque()
def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._pid = PID(p=self._flags.pid_p,
i=self._flags.pid_i,
d=self._flags.pid_d)
# Queues in which received messages are stored.
self._waypoint_msgs = deque()
self._pose_msgs = deque()
def __init__(self,
can_bus_stream,
waypoints_stream,
traffic_lights_stream,
obstacles_stream,
point_cloud_stream,
open_drive_stream,
control_stream,
name,
flags,
camera_setup,
log_file_name=None,
csv_file_name=None):
can_bus_stream.add_callback(self.on_can_bus_update)
waypoints_stream.add_callback(self.on_waypoints_update)
traffic_lights_stream.add_callback(self.on_traffic_lights_update)
obstacles_stream.add_callback(self.on_obstacles_update)
point_cloud_stream.add_callback(self.on_point_cloud_update)
open_drive_stream.add_callback(self.on_open_drive_map)
erdos.add_watermark_callback([
can_bus_stream, waypoints_stream, traffic_lights_stream,
obstacles_stream, point_cloud_stream
], [control_stream], self.on_watermark)
self._name = name
self._flags = flags
self._camera_setup = camera_setup
self._log_file_name = log_file_name
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
name + '-csv', csv_file_name)
if not hasattr(self._flags, 'track'):
# The agent is not used in the Carla challenge. It has access to
# the simulator, and to the town map.
self._map = HDMap(
get_map(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout), log_file_name)
self._logger.debug('Agent running using map')
else:
self._map = None
self._pid = PID(p=self._flags.pid_p,
i=self._flags.pid_i,
d=self._flags.pid_d)
# Queues in which received messages are stored.
self._waypoint_msgs = deque()
self._can_bus_msgs = deque()
self._traffic_lights_msgs = deque()
self._obstacles_msgs = deque()
self._point_clouds = deque()
self._vehicle_labels = {'car', 'bicycle', 'motorcycle', 'bus', 'truck'}
def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._config = global_config
self._pid = PID(p=flags.pid_p, i=flags.pid_i, d=flags.pid_d)
self._pose_msgs = deque()
self._obstacles_msgs = deque()
self._traffic_light_msgs = deque()
self._waypoint_msgs = deque()
self._mpc = None
def __init__(self, obstacles_stream, depth_stream, pose_stream,
obstacles_output_stream, flags, camera_setup):
obstacles_stream.add_callback(self.on_obstacles_update)
depth_stream.add_callback(self.on_depth_update)
pose_stream.add_callback(self.on_pose_update)
erdos.add_watermark_callback(
[obstacles_stream, depth_stream, pose_stream],
[obstacles_output_stream], self.on_watermark)
self._flags = flags
self._camera_setup = camera_setup
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
# Queues in which received messages are stored.
self._obstacles_msgs = deque()
self._depth_msgs = deque()
self._pose_msgs = deque()
def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
# TODO(ionel): Add path to calculate pid error with real time.
if self._flags.carla_control_frequency == -1:
dt = 1.0 / self._flags.carla_fps
else:
dt = 1.0 / self._flags.carla_control_frequency
self._pid = PIDLongitudinalController(1.0, 0, 0.05, dt)
# Queues in which received messages are stored.
self._waypoint_msgs = deque()
self._pose_msgs = deque()
def __init__(self,
left_camera_stream,
right_camera_stream,
depth_estimation_stream,
name,
transform,
fov,
flags,
log_file_name=None,
csv_file_name=None):
left_camera_stream.add_callback(self.on_left_camera_msg)
right_camera_stream.add_callback(self.on_right_camera_msg)
erdos.add_watermark_callback([left_camera_stream, right_camera_stream],
[depth_estimation_stream],
self.compute_depth)
self._name = name
self._flags = flags
self._left_imgs = {}
self._right_imgs = {}
self._logger = erdos.utils.setup_logging(name, log_file_name)
self._csv_logger = erdos.utils.setup_csv_logging(
name + '-csv', csv_file_name)
self._transform = transform
self._fov = fov
# Load AnyNet
model = anynet.anynet.AnyNet()
model = nn.DataParallel(model).cuda()
pretrained = os.path.join(self._flags.depth_estimation_model_path,
'results/pretrained_anynet/checkpoint.tar')
resume = os.path.join(self._flags.depth_estimation_model_path,
'results/finetune_anynet/checkpoint.tar')
if os.path.isfile(pretrained):
checkpoint = torch.load(pretrained)
model.load_state_dict(checkpoint['state_dict'])
else:
self._logger.warning('No pretrained Anynet model')
if os.path.isfile(resume):
checkpoint = torch.load(resume)
model.load_state_dict(checkpoint['state_dict'])
else:
self._logger.warning('No Anynet checkpoint available')
self._model = model
