def __init__(self, racecar_name, racecar_info, race_type):
""" To capture the video of evaluation done during the training phase
Args:
racecar_info (dict): Information of the agent
"""
self.racecar_info = racecar_info
racecar_index = get_racecar_idx(racecar_name)
self.racecar_index = racecar_index if racecar_index else 0
# Store the font which we will use to write the phase with
self.training_phase_font = utils.get_font('Amazon_Ember_RgIt', 35)
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
# Track image offset
self.track_loc_offset = XYPixelLoc.TRACK_IMG_WITHOUT_OFFSET_LOC.value
# Gradient overlay image
width, height = IconographicImageSize.FULL_IMAGE_SIZE.value
image = np.zeros(height * width * 4)
image.resize(height, width, 4)
self.gradient_img = self._plot_track_on_gradient(image)
self.gradient_alpha_rgb_mul, self.one_minus_gradient_alpha = utils.get_gradient_values(
self.gradient_img)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecar_info)
def __init__(self, racecar_info):
""" To capture the video of evaluation done during the training phase
Args:
racecar_info (dict): Information of the agent
"""
self.racecar_info = racecar_info
# Store the font which we will use to write the phase with
self.training_phase_font = utils.get_font('Amazon_Ember_RgIt', 35)
# Subscriber to get the phase of the training (Ideal, training, evaluation)
rospy.Subscriber('/agent/training_phase', String,
self._training_phase_cb_)
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
#
# TODO: Currently dont have the gradient image for the training. So not using any gradient overlay on image
# self.gradient_img = utils.get_image(TrackAssetsIconographicPngs.OBSTACLE_OVERLAY_PNG.value,
# IconographicImageSize.FULL_IMAGE_SIZE.value)
# self.gradient_alpha = self.gradient_img[:, :, 3] / 255.0
#
# String indicating the current phase
self._current_training_phase = 'Initializing'
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.edited_topview_pub = rospy.Publisher('/deepracer/topview_stream',
ROSImg,
queue_size=1)
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecar_info)
def __init__(self, racecar_name, racecars_info, race_type):
""" This class is used for head to head racing where there are more than one agent
Args:
racecar_name (str): The agent name with 45degree camera view
racecars_info (dict): All the agents information
race_type (str): The type of race. This is used to know if its race type or evaluation
"""
self.racecar_name = racecar_name
self.racecars_info = racecars_info
self.race_type = race_type
# init cv bridge
self.bridge = CvBridge()
# Store the font which we will use to write the phase with
self.amazon_ember_regular_20px = utils.get_font(
'AmazonEmber-Regular', 20)
self.amazon_ember_regular_16px = utils.get_font(
'AmazonEmber-Regular', 16)
self.amazon_ember_heavy_30px = utils.get_font('AmazonEmber-Heavy', 30)
self.amazon_ember_light_18px = utils.get_font('AmazonEmber-Light', 18)
self.amazon_ember_light_20px = utils.get_font('AmazonEmber-Light', 20)
self.amazon_ember_light_italic_20px = utils.get_font(
'AmazonEmber-LightItalic', 20)
self.is_racing = rospy.get_param("VIDEO_JOB_TYPE", "") == "RACING"
self.is_league_leaderboard = rospy.get_param("LEADERBOARD_TYPE",
"") == "LEAGUE"
self.leaderboard_name = rospy.get_param("LEADERBOARD_NAME", "")
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
gradient_img_path = TrackAssetsIconographicPngs.HEAD_TO_HEAD_OVERLAY_PNG_LEAGUE_LEADERBOARD.value \
if self.is_league_leaderboard else TrackAssetsIconographicPngs.HEAD_TO_HEAD_OVERLAY_PNG.value
self.gradient_img = utils.get_image(
gradient_img_path, IconographicImageSize.FULL_IMAGE_SIZE.value)
self.gradient_alpha = self.gradient_img[:, :, 3] / 255.0
self.mp4_video_metrics_srv_list = list()
for racecar_info in self.racecars_info:
agent_name = 'agent' if len(
racecars_info) == 1 else "agent_{}".format(
racecar_info['name'].split("_")[1])
rospy.wait_for_service("/{}/{}".format(agent_name,
"mp4_video_metrics"))
self.mp4_video_metrics_srv_list.append(
ServiceProxyWrapper(
"/{}/{}".format(agent_name, "mp4_video_metrics"),
VideoMetricsSrv))
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.edited_topview_pub = rospy.Publisher('/deepracer/topview_stream',
ROSImg,
queue_size=1)
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecars_info)
def __init__(self, racecar_name, racecars_info, race_type):
""" This class is used for head to head racing where there are more than one agent
Args:
racecar_name (str): The agent name with 45degree camera view
racecars_info (dict): All the agents information
race_type (str): The type of race. This is used to know if its race type or evaluation
"""
self.racecar_name = racecar_name
self.racecars_info = racecars_info
racecar_index = get_racecar_idx(racecar_name)
self.racecar_index = racecar_index if racecar_index else 0
self.race_type = race_type
# Store the font which we will use to write the phase with
self.amazon_ember_regular_20px = utils.get_font(
'AmazonEmber-Regular', 20)
self.amazon_ember_regular_16px = utils.get_font(
'AmazonEmber-Regular', 16)
self.amazon_ember_heavy_30px = utils.get_font('AmazonEmber-Heavy', 30)
self.amazon_ember_light_18px = utils.get_font('AmazonEmber-Light', 18)
self.amazon_ember_light_20px = utils.get_font('AmazonEmber-Light', 20)
self.amazon_ember_light_italic_20px = utils.get_font(
'AmazonEmber-LightItalic', 20)
self.is_racing = rospy.get_param("VIDEO_JOB_TYPE", "") == "RACING"
self.is_league_leaderboard = rospy.get_param("LEADERBOARD_TYPE",
"") == "LEAGUE"
self.leaderboard_name = rospy.get_param("LEADERBOARD_NAME", "")
self._total_laps = int(rospy.get_param("NUMBER_OF_TRIALS", 0))
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
# Track image offset
self.track_loc_offset = XYPixelLoc.TRACK_IMG_WITH_OFFSET_LOC.value if self.is_league_leaderboard \
else XYPixelLoc.TRACK_IMG_WITHOUT_OFFSET_LOC.value
gradient_img_path = TrackAssetsIconographicPngs.HEAD_TO_HEAD_OVERLAY_PNG_LEAGUE_LEADERBOARD.value \
if self.is_league_leaderboard else TrackAssetsIconographicPngs.HEAD_TO_HEAD_OVERLAY_PNG.value
self.gradient_img = self._plot_track_on_gradient(gradient_img_path)
self.gradient_alpha_rgb_mul, self.one_minus_gradient_alpha = utils.get_gradient_values(
self.gradient_img)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecars_info)
def __init__(self, racecar_name, racecar_info, race_type):
""" Initializing the required data for the head to bot, time-trail. This is used for single agent
Arguments:
racecars_info (list): list of dict having information of the agent
race_type (str): Since this class is reused for all the different race_type
"""
self.racecar_info = racecar_info
self.race_type = race_type
racecar_index = get_racecar_idx(racecar_name)
self.racecar_index = racecar_index if racecar_index else 0
# Store the font which we will use to write the phase with
self.amazon_ember_regular_20px = utils.get_font(
'AmazonEmber-Regular', 20)
self.amazon_ember_regular_16px = utils.get_font(
'AmazonEmber-Regular', 16)
self.amazon_ember_heavy_30px = utils.get_font('AmazonEmber-Heavy', 30)
self.amazon_ember_light_18px = utils.get_font('AmazonEmber-Light', 18)
self.amazon_ember_light_20px = utils.get_font('AmazonEmber-Light', 20)
self.amazon_ember_light_italic_20px = utils.get_font(
'AmazonEmber-LightItalic', 20)
self.is_racing = rospy.get_param("VIDEO_JOB_TYPE", "") == "RACING"
self.is_league_leaderboard = rospy.get_param("LEADERBOARD_TYPE",
"") == "LEAGUE"
self.leaderboard_name = rospy.get_param("LEADERBOARD_NAME", "")
self._total_laps = int(rospy.get_param("NUMBER_OF_TRIALS", 0))
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
# Track image offset
self.track_loc_offset = XYPixelLoc.TRACK_IMG_WITH_OFFSET_LOC.value if self.is_league_leaderboard \
else XYPixelLoc.TRACK_IMG_WITHOUT_OFFSET_LOC.value
# Gradient overlay image
gradient_img_path = TrackAssetsIconographicPngs.OBSTACLE_OVERLAY_PNG_LEAGUE_LEADERBOARD.value \
if self.is_league_leaderboard else TrackAssetsIconographicPngs.OBSTACLE_OVERLAY_PNG.value
self.gradient_img = self._plot_track_on_gradient(gradient_img_path)
self.gradient_alpha_rgb_mul, self.one_minus_gradient_alpha = utils.get_gradient_values(
self.gradient_img)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecar_info)
def __init__(self, racecar_info, race_type):
""" Initializing the required data for the head to bot, time-trail. This is used for single agent
Arguments:
racecars_info (list): list of dict having information of the agent
race_type (str): Since this class is reused for all the different race_type
"""
self.racecar_info = racecar_info
self.race_type = race_type
# Store the font which we will use to write the phase with
self.amazon_ember_regular_20px = utils.get_font(
'AmazonEmber-Regular', 20)
self.amazon_ember_regular_16px = utils.get_font(
'AmazonEmber-Regular', 16)
self.amazon_ember_heavy_30px = utils.get_font('AmazonEmber-Heavy', 30)
self.amazon_ember_light_18px = utils.get_font('AmazonEmber-Light', 18)
self.amazon_ember_light_20px = utils.get_font('AmazonEmber-Light', 20)
self.amazon_ember_light_italic_20px = utils.get_font(
'AmazonEmber-LightItalic', 20)
self.is_racing = rospy.get_param("VIDEO_JOB_TYPE", "") == "RACING"
self.is_league_leaderboard = rospy.get_param("LEADERBOARD_TYPE",
"") == "LEAGUE"
self.leaderboard_name = rospy.get_param("LEADERBOARD_NAME", "")
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
gradient_img_path = TrackAssetsIconographicPngs.OBSTACLE_OVERLAY_PNG_LEAGUE_LEADERBOARD.value \
if self.is_league_leaderboard else TrackAssetsIconographicPngs.OBSTACLE_OVERLAY_PNG.value
self.gradient_img = utils.get_image(
gradient_img_path, IconographicImageSize.FULL_IMAGE_SIZE.value)
self.gradient_alpha = self.gradient_img[:, :, 3] / 255.0
# Subscribing to the agent metrics
rospy.wait_for_service("/agent/mp4_video_metrics")
self.mp4_video_metrics_srv = ServiceProxyWrapper(
"/agent/mp4_video_metrics", VideoMetricsSrv)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.edited_topview_pub = rospy.Publisher('/deepracer/topview_stream',
ROSImg,
queue_size=1)
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecar_info)
def __init__(self, racecar_name, racecars_info, race_type):
""" This class is used for head to head racing where there are more than one agent
Args:
racecar_name (str): The agent name with 45degree camera view
racecars_info (dict): All the agents information
race_type (str): The type of race. This is used to know if its race type or evaluation
"""
self.racecar_name = racecar_name
self.racecars_info = racecars_info
racecar_index = get_racecar_idx(racecar_name)
self.racecar_index = racecar_index if racecar_index else 0
self.race_type = race_type
# Store the font which we will use to write the phase with
self.formula1_display_regular_12px = utils.get_font(
'Formula1-Display-Regular', 12)
self.formula1_display_regular_14px = utils.get_font(
'Formula1-Display-Regular', 14)
self.formula1_display_regular_16px = utils.get_font(
'Formula1-Display-Regular', 16)
self.formula1_display_wide_12px = utils.get_font(
'Formula1-Display-Wide', 12)
self.formula1_display_bold_16px = utils.get_font(
'Formula1-Display-Bold', 16)
self.total_laps = int(rospy.get_param("NUMBER_OF_TRIALS", 0))
self.is_league_leaderboard = rospy.get_param("LEADERBOARD_TYPE",
"") == "LEAGUE"
self.leaderboard_name = rospy.get_param("LEADERBOARD_NAME", "")
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
# Track image offset
self.track_loc_offset = XYPixelLoc.TRACK_IMG_WITHOUT_OFFSET_LOC.value
# Default image of top view
gradient_default_img_path = TrackAssetsIconographicPngs.F1_OVERLAY_DEFAULT_PNG.value
self.gradient_default_img = self._plot_track_on_gradient(
gradient_default_img_path)
self.gradient_default_alpha_rgb_mul, self.one_minus_gradient_default_alpha = utils.get_gradient_values(
self.gradient_default_img)
# Midway track gradient
gradient_midway_img_path = TrackAssetsIconographicPngs.F1_OVERLAY_MIDWAY_PNG.value
self.gradient_midway_img = self._plot_track_on_gradient(
gradient_midway_img_path)
self.gradient_midway_alpha_rgb_mul, self.one_minus_gradient_midway_alpha = utils.get_gradient_values(
self.gradient_midway_img)
# Finisher track gradient
gradient_finisher_img_path = TrackAssetsIconographicPngs.F1_OVERLAY_FINISHERS_PNG.value
self.gradient_finisher_img = self._plot_track_on_gradient(
gradient_finisher_img_path)
self.gradient_finisher_alpha_rgb_mul, self.one_minus_gradient_finisher_alpha = utils.get_gradient_values(
self.gradient_finisher_img)
# Top camera gradient
num_racers = len(self.racecars_info)
if num_racers <= 8:
# TODO: Add one box image and use 1 box image if number of racers are <= 4.
gradient_top_camera_img_path = TrackAssetsIconographicPngs.F1_OVERLAY_TOPVIEW_2BOX_PNG.value
elif num_racers <= 12:
gradient_top_camera_img_path = TrackAssetsIconographicPngs.F1_OVERLAY_TOPVIEW_3BOX_PNG.value
else:
raise Exception(
"More than 12 racers are not supported for Grand Prix")
gradient_top_camera_img = utils.get_image(
gradient_top_camera_img_path,
IconographicImageSize.FULL_IMAGE_SIZE.value)
gradient_top_camera_img = cv2.cvtColor(gradient_top_camera_img,
cv2.COLOR_RGBA2BGRA)
self.gradient_top_camera_alpha_rgb_mul, self.one_minus_gradient_top_camera_alpha = utils.get_gradient_values(
gradient_top_camera_img)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.edited_topview_pub = rospy.Publisher('/deepracer/topview_stream',
ROSImg,
queue_size=1)
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov, top_camera_info.padding_pct,
top_camera_info.image_width, top_camera_info.image_height,
racecars_info, race_type)
self.hex_car_colors = [
val['racecar_color'].split('_')[-1] for val in racecars_info
]
self._racer_color_code_rect_img = list()
self._racer_color_code_slash_img = list()
for car_color in self.hex_car_colors:
# Rectangular png of racers
racer_color_code_rect = "{}_{}".format(
TrackAssetsIconographicPngs.F1_AGENTS_RECT_DISPLAY_ICON_PNG.
value, car_color)
self._racer_color_code_rect_img.append(
utils.get_image(
racer_color_code_rect, IconographicImageSize.
F1_RACER_RECT_DISPLAY_ICON_SIZE.value))
# Slash png of racers
racer_color_code_slash = "{}_{}".format(
TrackAssetsIconographicPngs.F1_AGENTS_SLASH_DISPLAY_ICON_PNG.
value, car_color)
racer_color_code_slash_img = utils.get_image(
racer_color_code_slash,
IconographicImageSize.F1_RACER_SLASH_DISPLAY_ICON_SIZE.value)
self._racer_color_code_slash_img.append(
cv2.cvtColor(racer_color_code_slash_img, cv2.COLOR_RGBA2BGRA))
def __init__(self, racecar_name, racecar_info, race_type):
""" Initializing the required data for the head to bot, time-trail. This is used for single agent
Arguments:
racecar_name (str): racecar name in string
racecars_info (list): list of dict having information of the agent
race_type (str): Since this class is reused for all the different race_type
"""
# race duration in milliseconds
self._world_name = rospy.get_param("WORLD_NAME")
self.num_sectors = int(rospy.get_param("NUM_SECTORS", "3"))
self.race_duration = int(
rospy.get_param("RACE_DURATION", DEFAULT_RACE_DURATION)) * 1000
self.racecar_info = racecar_info
self.race_type = race_type
racecar_index = get_racecar_idx(racecar_name)
self.racecar_index = racecar_index if racecar_index else 0
# Store the font which we will use to write the phase with
self.amazon_ember_regular_28px = utils.get_font(
'AmazonEmber-Regular', 28)
self.amazon_ember_regular_14px = utils.get_font(
'AmazonEmber-Regular', 14)
# The track image as iconography
self.track_icongraphy_img = utils.get_track_iconography_image()
# Track image offset
self.track_loc_offset = VirtualEventXYPixelLoc.TRACK_IMG_VIRTUAL_EVENT_LOC.value
self._track_x_min = None
self._track_x_max = None
self._track_y_min = None
self._track_y_max = None
# Gradient overlay image with track and virtual event mock
gradient_img_path = VirtualEventIconographicPngs.OVERLAY_PNG.value
self.gradient_img = self._plot_track_on_gradient(gradient_img_path)
# Time remaining text
loc_x, loc_y = VirtualEventXYPixelLoc.TIME_REMAINING_TEXT.value
self.gradient_img = utils.write_text_on_image(
image=self.gradient_img,
text="TIME REMAINING",
loc=(loc_x, loc_y),
font=self.amazon_ember_regular_14px,
font_color=RaceCarColorToRGB.White.value,
font_shadow_color=RaceCarColorToRGB.Black.value)
# Speed text
loc_x, loc_y = VirtualEventXYPixelLoc.SPEED_TEXT.value
self.gradient_img = utils.write_text_on_image(
image=self.gradient_img,
text="m/s",
loc=(loc_x, loc_y),
font=self.amazon_ember_regular_14px,
font_color=RaceCarColorToRGB.White.value,
font_shadow_color=RaceCarColorToRGB.Black.value)
# Reset text
loc_x, loc_y = VirtualEventXYPixelLoc.RESET_TEXT.value
self.gradient_img = utils.write_text_on_image(
image=self.gradient_img,
text="RESET",
loc=(loc_x, loc_y),
font=self.amazon_ember_regular_14px,
font_color=RaceCarColorToRGB.White.value,
font_shadow_color=RaceCarColorToRGB.Black.value)
# current lap time text
loc_x, loc_y = VirtualEventXYPixelLoc.CURRENT_LAP_TIME_TEXT.value
self.gradient_img = utils.write_text_on_image(
image=self.gradient_img,
text="CURRENT LAP TIME",
loc=(loc_x, loc_y),
font=self.amazon_ember_regular_14px,
font_color=RaceCarColorToRGB.White.value,
font_shadow_color=RaceCarColorToRGB.Black.value)
# best lap time text
loc_x, loc_y = VirtualEventXYPixelLoc.BEST_LAP_TIME_TEXT.value
self.gradient_img = utils.write_text_on_image(
image=self.gradient_img,
text="BEST LAP TIME",
loc=(loc_x, loc_y),
font=self.amazon_ember_regular_14px,
font_color=RaceCarColorToRGB.White.value,
font_shadow_color=RaceCarColorToRGB.Black.value)
# apply graident
self.gradient_alpha_rgb_mul, self.one_minus_gradient_alpha = utils.get_gradient_values(
self.gradient_img)
# Top camera information
top_camera_info = utils.get_top_camera_info()
self.top_view_graphics = TopViewGraphics(
top_camera_info.horizontal_fov,
top_camera_info.padding_pct,
top_camera_info.image_width,
top_camera_info.image_height,
racecar_info,
is_virtual_event=True)
# virtual event image editting state machine
self._image_edit_fsm = FSM(initial_state=VirtualEventWaitState())
# if best sector time download from s3 failed. Then, initialize best sector time as None
# and not display sector color
self._sector_times = {}
# declare sector images
self._sectors_img_dict = {}
for idx in range(self.num_sectors):
sector = SECTOR_X_FORMAT.format(idx + 1)
sector_color_img_dict = utils.init_sector_img_dict(
world_name=self._world_name, sector=sector)
self._sectors_img_dict[sector] = sector_color_img_dict
# use the s3 bucket and prefix for yaml file stored as environment variable because
# here is SimApp use only. For virtual event there is no s3 bucket and prefix past
# through yaml file. All are past through sqs. For simplicity, reuse the yaml s3 bucket
# and prefix environment variable.
self._virtual_event_best_sector_time = VirtualEventBestSectorTime(
bucket=os.environ.get("YAML_S3_BUCKET", ''),
s3_key=get_s3_key(os.environ.get("YAML_S3_PREFIX", ''),
SECTOR_TIME_S3_POSTFIX),
region_name=os.environ.get("APP_REGION", "us-east-1"),
local_path=SECTOR_TIME_LOCAL_PATH)
self._sector_times.update(
self._virtual_event_best_sector_time.get_sector_time(
num_sectors=self.num_sectors))
# declare default best personal and current persoanl time to inf
for idx in range(self.num_sectors):
sector = SECTOR_X_FORMAT.format(idx + 1)
self._sector_times[SECTOR_TIME_FORMAT_DICT[
TrackSectorTime.BEST_PERSONAL].format(sector)] = float("inf")
self._sector_times[SECTOR_TIME_FORMAT_DICT[
TrackSectorTime.CURRENT_PERSONAL].format(sector)] = float(
"inf")
self._curr_lap_time = 0
self._last_eval_time = 0
self._curr_progress = 0
self._last_progress = 0
self._current_lap = 1
# Initializing the fader behaviour to pre-compute the gradient values
final_fading_image = utils.get_image(
VirtualEventIconographicPngs.FINAL_FADING_IMAGE_50ALPHA.value,
IconographicImageSize.FULL_IMAGE_SIZE.value)
final_fading_image = cv2.cvtColor(final_fading_image,
cv2.COLOR_RGBA2BGRA)
self._fader_obj = Fader(
final_fading_image,
fading_min_percent=VirtualEventFader.FADING_MIN_PERCENT.value,
fading_max_percent=VirtualEventFader.FADING_MAX_PERCENT.value,
num_frames=VirtualEventFader.NUM_FRAMES.value)