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, pose_stream, rgb_camera_stream, tl_camera_stream,
prediction_camera_stream, depth_camera_stream,
point_cloud_stream, segmentation_stream, imu_stream,
obstacles_stream, obstacles_error_stream, traffic_lights_stream,
tracked_obstacles_stream, lane_detection_stream,
prediction_stream, waypoints_stream, control_stream,
display_control_stream, pygame_display, flags):
visualize_streams = []
self._pose_msgs = deque()
pose_stream.add_callback(
partial(self.save, msg_type="Pose", queue=self._pose_msgs))
visualize_streams.append(pose_stream)
self._bgr_msgs = deque()
rgb_camera_stream.add_callback(
partial(self.save, msg_type="RGB", queue=self._bgr_msgs))
visualize_streams.append(rgb_camera_stream)
self._imu_msgs = deque()
imu_stream.add_callback(
partial(self.save, msg_type="IMU", queue=self._imu_msgs))
visualize_streams.append(imu_stream)
"""
self._obstacle_msgs = deque()
obstacles_stream.add_callback(
partial(self.save, msg_type="Obstacle", queue=self._obstacle_msgs))
visualize_streams.append(obstacles_stream)
"""
self._obstacle_error_msgs = deque()
obstacles_error_stream.add_callback(
partial(self.save, msg_type="ObstacleError", queue=self._obstacle_error_msgs))
visualize_streams.append(obstacles_error_stream)
self._tracked_obstacle_msgs = deque()
tracked_obstacles_stream.add_callback(
partial(self.save,
msg_type="TrackedObstacle",
queue=self._tracked_obstacle_msgs))
visualize_streams.append(tracked_obstacles_stream)
self._tl_camera_msgs = deque()
tl_camera_stream.add_callback(
partial(self.save, msg_type="TLCamera",
queue=self._tl_camera_msgs))
visualize_streams.append(tl_camera_stream)
self._traffic_light_msgs = deque()
traffic_lights_stream.add_callback(
partial(self.save,
msg_type="TrafficLight",
queue=self._traffic_light_msgs))
visualize_streams.append(traffic_lights_stream)
self._waypoint_msgs = deque()
waypoints_stream.add_callback(
partial(self.save, msg_type="Waypoint", queue=self._waypoint_msgs))
visualize_streams.append(waypoints_stream)
self._prediction_camera_msgs = deque()
prediction_camera_stream.add_callback(
partial(self.save,
msg_type="PredictionCamera",
queue=self._prediction_camera_msgs))
visualize_streams.append(prediction_camera_stream)
self._prediction_msgs = deque()
prediction_stream.add_callback(
partial(self.save,
msg_type="Prediction",
queue=self._prediction_msgs))
visualize_streams.append(prediction_stream)
self._point_cloud_msgs = deque()
point_cloud_stream.add_callback(
partial(self.save,
msg_type="PointCloud",
queue=self._point_cloud_msgs))
visualize_streams.append(point_cloud_stream)
self._lane_detection_msgs = deque()
lane_detection_stream.add_callback(
partial(self.save,
msg_type="Lanes",
queue=self._lane_detection_msgs))
visualize_streams.append(lane_detection_stream)
self._depth_msgs = deque()
depth_camera_stream.add_callback(
partial(self.save, msg_type="Depth", queue=self._depth_msgs))
visualize_streams.append(depth_camera_stream)
self._segmentation_msgs = deque()
segmentation_stream.add_callback(
partial(self.save,
msg_type="Segmentation",
queue=self._segmentation_msgs))
visualize_streams.append(segmentation_stream)
self._control_msgs = deque()
control_stream.add_callback(
partial(self.save, msg_type="Control", queue=self._control_msgs))
visualize_streams.append(control_stream)
# Register a watermark callback on all the streams to be visualized.
erdos.add_watermark_callback(visualize_streams, [], self.on_watermark)
# Add a callback on a control stream to figure out what to display.
display_control_stream.add_callback(self.change_display)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self.display = pygame_display
# Set the font.
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self.font = pygame.font.Font(mono, 14)
# Array of keys to figure out which message to display.
self.current_display = 0
self.display_array = []
self.window_titles = []
if flags.visualize_rgb_camera:
self.display_array.append("RGB")
self.window_titles.append("RGB Camera")
if flags.visualize_detected_obstacles:
# include obstacles error here; todo: seperate into flags
self.display_array.append("ObstacleError")
self.window_titles.append("Detected obstacles")
#self.display_array.append("Obstacle")
#self.window_titles.append("Detected obstacles")
if flags.visualize_tracked_obstacles:
self.display_array.append("TrackedObstacle")
self.window_titles.append("Obstacle tracking")
if flags.visualize_detected_traffic_lights:
self.display_array.append("TLCamera")
self.window_titles.append("Detected traffic lights")
if flags.visualize_waypoints:
self.display_array.append("Waypoint")
self.window_titles.append("Planning")
if flags.visualize_prediction:
self.display_array.append("PredictionCamera")
self.window_titles.append("Prediction")
if flags.visualize_lidar:
self.display_array.append("PointCloud")
self.window_titles.append("LiDAR")
if flags.visualize_detected_lanes:
self.display_array.append("Lanes")
self.window_titles.append("Detected lanes")
if flags.visualize_depth_camera:
self.display_array.append("Depth")
self.window_titles.append("Depth Camera")
if flags.visualize_segmentation:
self.display_array.append("Segmentation")
self.window_titles.append("Segmentation")
if flags.visualize_world:
self._planning_world = World(flags, self._logger)
top_down_transform = pylot.utils.get_top_down_transform(
pylot.utils.Transform(pylot.utils.Location(),
pylot.utils.Rotation()),
flags.top_down_camera_altitude)
self._bird_eye_camera_setup = RGBCameraSetup(
'bird_eye_camera', flags.camera_image_width,
flags.camera_image_height, top_down_transform, 90)
self.display_array.append("PlanningWorld")
self.window_titles.append("Planning world")
else:
self._planning_world = None
assert len(self.display_array) == len(self.window_titles), \
"The display and titles differ."
# Save the flags.
self._flags = flags
class PlanningOperator(erdos.Operator):
"""Planning Operator.
If the operator is running in challenge mode, then it receives all
the waypoints from the scenario runner agent (on the global trajectory
stream). Otherwise, it computes waypoints using the HD Map.
Args:
pose_stream (:py:class:`erdos.ReadStream`): Stream on which pose
info is received.
prediction_stream (:py:class:`erdos.ReadStream`): Stream on which
trajectory predictions of dynamic obstacles is received.
static_obstacles_stream (:py:class:`erdos.ReadStream`): Stream on
which static obstacles (e.g., traffic lights) are received.
open_drive_stream (:py:class:`erdos.ReadStream`): Stream on which open
drive string representations are received. The operator can
construct HDMaps out of the open drive strings.
route_stream (:py:class:`erdos.ReadStream`): Stream on the planner
receives high-level waypoints to follow.
waypoints_stream (:py:class:`erdos.WriteStream`): Stream on which the
operator sends waypoints the ego vehicle must follow.
flags (absl.flags): Object to be used to access absl 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()
@staticmethod
def connect(pose_stream: erdos.ReadStream,
prediction_stream: erdos.ReadStream,
static_obstacles_stream: erdos.ReadStream,
lanes_steam: erdos.ReadStream, route_stream: erdos.ReadStream,
open_drive_stream: erdos.ReadStream,
time_to_decision_stream: erdos.ReadStream):
waypoints_stream = erdos.WriteStream()
return [waypoints_stream]
def destroy(self):
self._logger.warn('destroying {}'.format(self.config.name))
def run(self):
# Run method is invoked after all operators finished initializing.
# Thus, we're sure the world is up-to-date here.
if self._flags.execution_mode == 'simulation':
from pylot.map.hd_map import HDMap
from pylot.simulation.utils import get_map
self._map = HDMap(
get_map(self._flags.simulator_host, self._flags.simulator_port,
self._flags.simulator_timeout),
self.config.log_file_name)
self._logger.info('Planner running in stand-alone mode')
def on_pose_update(self, msg: erdos.Message):
"""Invoked whenever a message is received on the pose stream.
Args:
msg (:py:class:`~erdos.message.Message`): Message that contains
info about the ego vehicle.
"""
self._logger.debug('@{}: received pose message'.format(msg.timestamp))
self._pose_msgs.append(msg)
self._ego_transform = msg.data.transform
@erdos.profile_method()
def on_prediction_update(self, msg: erdos.Message):
self._logger.debug('@{}: received prediction message'.format(
msg.timestamp))
self._prediction_msgs.append(msg)
def on_static_obstacles_update(self, msg: erdos.Message):
self._logger.debug('@{}: received static obstacles update'.format(
msg.timestamp))
self._static_obstacles_msgs.append(msg)
def on_lanes_update(self, msg: erdos.Message):
self._logger.debug('@{}: received lanes update'.format(msg.timestamp))
self._lanes_msgs.append(msg)
def on_route(self, msg: erdos.Message):
"""Invoked whenever a message is received on the trajectory stream.
Args:
msg (:py:class:`~erdos.message.Message`): Message that contains
a list of waypoints to the goal location.
"""
if msg.agent_state:
self._logger.debug('@{}: updating planner state to {}'.format(
msg.timestamp, msg.agent_state))
self._state = msg.agent_state
if msg.waypoints:
self._logger.debug('@{}: route has {} waypoints'.format(
msg.timestamp, len(msg.waypoints.waypoints)))
# The last waypoint is the goal location.
self._world.update_waypoints(msg.waypoints.waypoints[-1].location,
msg.waypoints)
def on_opendrive_map(self, msg: erdos.Message):
"""Invoked whenever a message is received on the open drive stream.
Args:
msg (:py:class:`~erdos.message.Message`): Message that contains
the open drive string.
"""
self._logger.debug('@{}: received open drive message'.format(
msg.timestamp))
from pylot.simulation.utils import map_from_opendrive
self._map = map_from_opendrive(msg.data)
@erdos.profile_method()
def on_time_to_decision(self, msg: erdos.Message):
self._logger.debug('@{}: {} received ttd update {}'.format(
msg.timestamp, self.config.name, msg))
self._ttd_msgs.append(msg)
@erdos.profile_method()
def on_watermark(self, timestamp: erdos.Timestamp,
waypoints_stream: erdos.WriteStream):
self._logger.debug('@{}: received watermark'.format(timestamp))
if timestamp.is_top:
return
self.update_world(timestamp)
ttd_msg = self._ttd_msgs.popleft()
# Total ttd - time spent up to now
ttd = ttd_msg.data - (time.time() - self._world.pose.localization_time)
self._logger.debug('@{}: adjusting ttd from {} to {}'.format(
timestamp, ttd_msg.data, ttd))
# if self._state == BehaviorPlannerState.OVERTAKE:
# # Ignore traffic lights and obstacle.
# output_wps = self._planner.run(timestamp, ttd)
# else:
(speed_factor, _, _, speed_factor_tl,
speed_factor_stop) = self._world.stop_for_agents(timestamp)
if self._flags.planning_type == 'waypoint':
target_speed = speed_factor * self._flags.target_speed
self._logger.debug(
'@{}: speed factor: {}, target speed: {}'.format(
timestamp, speed_factor, target_speed))
output_wps = self._world.follow_waypoints(target_speed)
else:
output_wps = self._planner.run(timestamp, ttd)
speed_factor = min(speed_factor_stop, speed_factor_tl)
self._logger.debug('@{}: speed factor: {}'.format(
timestamp, speed_factor))
output_wps.apply_speed_factor(speed_factor)
waypoints_stream.send(WaypointsMessage(timestamp, output_wps))
def get_predictions(self, prediction_msg, ego_transform):
"""Extracts obstacle predictions out of the message.
This method is useful to build obstacle predictions when
the operator directly receives detections instead of predictions.
The method assumes that the obstacles are static.
"""
predictions = []
if isinstance(prediction_msg, ObstaclesMessage):
# Transform the obstacle into a prediction.
self._logger.debug(
'Planner received obstacles instead of predictions.')
predictions = []
for obstacle in prediction_msg.obstacles:
obstacle_trajectory = ObstacleTrajectory(obstacle, [])
prediction = ObstaclePrediction(
obstacle_trajectory, obstacle.transform, 1.0,
[ego_transform.inverse_transform() * obstacle.transform])
predictions.append(prediction)
elif isinstance(prediction_msg, PredictionMessage):
predictions = prediction_msg.predictions
else:
raise ValueError('Unexpected obstacles msg type {}'.format(
type(prediction_msg)))
return predictions
def update_world(self, timestamp: erdos.Timestamp):
pose_msg = self._pose_msgs.popleft()
ego_transform = pose_msg.data.transform
prediction_msg = self._prediction_msgs.popleft()
predictions = self.get_predictions(prediction_msg, ego_transform)
static_obstacles_msg = self._static_obstacles_msgs.popleft()
if len(self._lanes_msgs) > 0:
lanes = self._lanes_msgs.popleft().data
else:
lanes = None
# Update the representation of the world.
self._world.update(timestamp,
pose_msg.data,
predictions,
static_obstacles_msg.obstacles,
hd_map=self._map,
lanes=lanes)
class VisualizerOperator(erdos.Operator):
""" The `VisualizerOperator` allows developers to see the current state
of the entire pipeline by visualizing it on a pygame instance.
This receives input data from almost the entire pipeline and renders the
results of the operator currently chosen by the developer on the screen.
"""
def __init__(self, pose_stream, rgb_camera_stream, tl_camera_stream,
prediction_camera_stream, depth_camera_stream,
point_cloud_stream, segmentation_stream, imu_stream,
obstacles_stream, obstacles_error_stream, traffic_lights_stream,
tracked_obstacles_stream, lane_detection_stream,
prediction_stream, waypoints_stream, control_stream,
display_control_stream, pygame_display, flags):
visualize_streams = []
self._pose_msgs = deque()
pose_stream.add_callback(
partial(self.save, msg_type="Pose", queue=self._pose_msgs))
visualize_streams.append(pose_stream)
self._bgr_msgs = deque()
rgb_camera_stream.add_callback(
partial(self.save, msg_type="RGB", queue=self._bgr_msgs))
visualize_streams.append(rgb_camera_stream)
self._imu_msgs = deque()
imu_stream.add_callback(
partial(self.save, msg_type="IMU", queue=self._imu_msgs))
visualize_streams.append(imu_stream)
"""
self._obstacle_msgs = deque()
obstacles_stream.add_callback(
partial(self.save, msg_type="Obstacle", queue=self._obstacle_msgs))
visualize_streams.append(obstacles_stream)
"""
self._obstacle_error_msgs = deque()
obstacles_error_stream.add_callback(
partial(self.save, msg_type="ObstacleError", queue=self._obstacle_error_msgs))
visualize_streams.append(obstacles_error_stream)
self._tracked_obstacle_msgs = deque()
tracked_obstacles_stream.add_callback(
partial(self.save,
msg_type="TrackedObstacle",
queue=self._tracked_obstacle_msgs))
visualize_streams.append(tracked_obstacles_stream)
self._tl_camera_msgs = deque()
tl_camera_stream.add_callback(
partial(self.save, msg_type="TLCamera",
queue=self._tl_camera_msgs))
visualize_streams.append(tl_camera_stream)
self._traffic_light_msgs = deque()
traffic_lights_stream.add_callback(
partial(self.save,
msg_type="TrafficLight",
queue=self._traffic_light_msgs))
visualize_streams.append(traffic_lights_stream)
self._waypoint_msgs = deque()
waypoints_stream.add_callback(
partial(self.save, msg_type="Waypoint", queue=self._waypoint_msgs))
visualize_streams.append(waypoints_stream)
self._prediction_camera_msgs = deque()
prediction_camera_stream.add_callback(
partial(self.save,
msg_type="PredictionCamera",
queue=self._prediction_camera_msgs))
visualize_streams.append(prediction_camera_stream)
self._prediction_msgs = deque()
prediction_stream.add_callback(
partial(self.save,
msg_type="Prediction",
queue=self._prediction_msgs))
visualize_streams.append(prediction_stream)
self._point_cloud_msgs = deque()
point_cloud_stream.add_callback(
partial(self.save,
msg_type="PointCloud",
queue=self._point_cloud_msgs))
visualize_streams.append(point_cloud_stream)
self._lane_detection_msgs = deque()
lane_detection_stream.add_callback(
partial(self.save,
msg_type="Lanes",
queue=self._lane_detection_msgs))
visualize_streams.append(lane_detection_stream)
self._depth_msgs = deque()
depth_camera_stream.add_callback(
partial(self.save, msg_type="Depth", queue=self._depth_msgs))
visualize_streams.append(depth_camera_stream)
self._segmentation_msgs = deque()
segmentation_stream.add_callback(
partial(self.save,
msg_type="Segmentation",
queue=self._segmentation_msgs))
visualize_streams.append(segmentation_stream)
self._control_msgs = deque()
control_stream.add_callback(
partial(self.save, msg_type="Control", queue=self._control_msgs))
visualize_streams.append(control_stream)
# Register a watermark callback on all the streams to be visualized.
erdos.add_watermark_callback(visualize_streams, [], self.on_watermark)
# Add a callback on a control stream to figure out what to display.
display_control_stream.add_callback(self.change_display)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self.display = pygame_display
# Set the font.
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self.font = pygame.font.Font(mono, 14)
# Array of keys to figure out which message to display.
self.current_display = 0
self.display_array = []
self.window_titles = []
if flags.visualize_rgb_camera:
self.display_array.append("RGB")
self.window_titles.append("RGB Camera")
if flags.visualize_detected_obstacles:
# include obstacles error here; todo: seperate into flags
self.display_array.append("ObstacleError")
self.window_titles.append("Detected obstacles")
#self.display_array.append("Obstacle")
#self.window_titles.append("Detected obstacles")
if flags.visualize_tracked_obstacles:
self.display_array.append("TrackedObstacle")
self.window_titles.append("Obstacle tracking")
if flags.visualize_detected_traffic_lights:
self.display_array.append("TLCamera")
self.window_titles.append("Detected traffic lights")
if flags.visualize_waypoints:
self.display_array.append("Waypoint")
self.window_titles.append("Planning")
if flags.visualize_prediction:
self.display_array.append("PredictionCamera")
self.window_titles.append("Prediction")
if flags.visualize_lidar:
self.display_array.append("PointCloud")
self.window_titles.append("LiDAR")
if flags.visualize_detected_lanes:
self.display_array.append("Lanes")
self.window_titles.append("Detected lanes")
if flags.visualize_depth_camera:
self.display_array.append("Depth")
self.window_titles.append("Depth Camera")
if flags.visualize_segmentation:
self.display_array.append("Segmentation")
self.window_titles.append("Segmentation")
if flags.visualize_world:
self._planning_world = World(flags, self._logger)
top_down_transform = pylot.utils.get_top_down_transform(
pylot.utils.Transform(pylot.utils.Location(),
pylot.utils.Rotation()),
flags.top_down_camera_altitude)
self._bird_eye_camera_setup = RGBCameraSetup(
'bird_eye_camera', flags.camera_image_width,
flags.camera_image_height, top_down_transform, 90)
self.display_array.append("PlanningWorld")
self.window_titles.append("Planning world")
else:
self._planning_world = None
assert len(self.display_array) == len(self.window_titles), \
"The display and titles differ."
# Save the flags.
self._flags = flags
@staticmethod
def connect(pose_stream, rgb_camera_stream, tl_camera_stream,
prediction_camera_stream, depth_stream, point_cloud_stream,
segmentation_stream, imu_stream, obstacles_stream,
obstacles_error_stream, traffic_lights_stream, tracked_obstacles_stream,
lane_detection_stream, prediction_stream, waypoints_stream,
control_stream, display_control_stream):
return []
def save(self, msg, msg_type, queue):
self._logger.debug("@{}: Received {} message.".format(
msg.timestamp, msg_type))
queue.append(msg)
def change_display(self, display_message):
if display_message.data == K_n:
self.current_display = (self.current_display + 1) % len(
self.display_array)
self._logger.debug("@{}: Visualizer changed to {}".format(
display_message.timestamp, self.current_display))
def get_message(self, queue, timestamp, name):
msg = None
if queue:
while len(queue) > 0:
retrieved_msg = queue.popleft()
if retrieved_msg.timestamp == timestamp:
msg = retrieved_msg
break
if not msg:
self._logger.warning(
"@{}: message for {} was not found".format(
timestamp, name))
return msg
def render_text(self, pose, control, timestamp):
# Generate the text to be shown on the box.
info_text = [
"Display : {}".format(self.window_titles[self.current_display]),
"Timestamp: {}".format(timestamp.coordinates[0]),
]
# Add information from the pose.
if pose:
info_text += [
"Location : {:.1f}, {:.1f}, {:.1f}".format(
*tuple(pose.transform.location.as_numpy_array())),
"Rotation : {:.1f}, {:.1f}, {:.1f}".format(
*tuple(pose.transform.rotation.as_numpy_array())),
"Speed : {:.2f} m/s".format(pose.forward_speed),
]
# Add information from the control message
if control:
info_text += [
"Throttle : {:.2f}".format(control.throttle),
"Steer : {:.2f}".format(control.steer),
"Brake : {:.2f}".format(control.brake),
"Reverse : {:.2f}".format(control.reverse),
]
# Display the information box.
info_surface = pygame.Surface(
(220, self._flags.camera_image_height // 3))
info_surface.set_alpha(100)
self.display.blit(info_surface, (0, 0))
# Render the text.
v_offset = 10
for line in info_text:
if v_offset + 18 > self._flags.camera_image_height:
break
surface = self.font.render(line, True, (255, 255, 255))
self.display.blit(surface, (8, v_offset))
v_offset += 18
pygame.display.flip()
def on_watermark(self, timestamp):
self._logger.debug("@{}: received watermark.".format(timestamp))
pose_msg = self.get_message(self._pose_msgs, timestamp, "Pose")
bgr_msg = self.get_message(self._bgr_msgs, timestamp, "BGR")
tl_camera_msg = self.get_message(self._tl_camera_msgs, timestamp,
"TLCamera")
depth_msg = self.get_message(self._depth_msgs, timestamp, "Depth")
point_cloud_msg = self.get_message(self._point_cloud_msgs, timestamp,
"PointCloud")
segmentation_msg = self.get_message(self._segmentation_msgs, timestamp,
"Segmentation")
imu_msg = self.get_message(self._imu_msgs, timestamp, "IMU")
obstacle_msg = None
# obstacle_msg = self.get_message(self._obstacle_msgs, timestamp, "Obstacle")
obstacle_error_msg = self.get_message(self._obstacle_error_msgs, timestamp, "ObstacleError")
traffic_light_msg = self.get_message(self._traffic_light_msgs,
timestamp, "TrafficLight")
tracked_obstacle_msg = self.get_message(self._tracked_obstacle_msgs,
timestamp, "TrackedObstacle")
lane_detection_msg = self.get_message(self._lane_detection_msgs,
timestamp, "Lanes")
prediction_camera_msg = self.get_message(self._prediction_camera_msgs,
timestamp, "PredictionCamera")
prediction_msg = self.get_message(self._prediction_msgs, timestamp,
"Prediction")
waypoint_msg = self.get_message(self._waypoint_msgs, timestamp,
"Waypoint")
control_msg = self.get_message(self._control_msgs, timestamp,
"Control")
if pose_msg:
ego_transform = pose_msg.data.transform
else:
ego_transform = None
# Add the visualizations on world.
if self._flags.visualize_pose:
self._visualize_pose(ego_transform)
if self._flags.visualize_imu:
self._visualize_imu(imu_msg)
sensor_to_display = self.display_array[self.current_display]
if sensor_to_display == "RGB" and bgr_msg:
bgr_msg.frame.visualize(self.display, timestamp=timestamp)
elif sensor_to_display == "Obstacle" and bgr_msg and obstacle_msg:
bgr_msg.frame.annotate_with_bounding_boxes(timestamp,
obstacle_msg.obstacles,
ego_transform)
bgr_msg.frame.visualize(self.display, timestamp=timestamp)
elif sensor_to_display == "ObstacleError" and bgr_msg and obstacle_error_msg: # CHANGE W/ ERROR MESSAGE
bgr_msg.frame.annotate_with_bounding_boxes(timestamp,
obstacle_error_msg.obstacles,
ego_transform)
bgr_msg.frame.visualize(self.display, timestamp=timestamp)
elif (sensor_to_display == "TLCamera" and tl_camera_msg
and traffic_light_msg):
tl_camera_msg.frame.annotate_with_bounding_boxes(
timestamp, traffic_light_msg.obstacles)
tl_camera_msg.frame.visualize(self.display, timestamp=timestamp)
elif (sensor_to_display == "TrackedObstacle" and bgr_msg
and tracked_obstacle_msg):
bgr_msg.frame.annotate_with_bounding_boxes(
timestamp, tracked_obstacle_msg.obstacle_trajectories,
ego_transform)
bgr_msg.frame.visualize(self.display)
elif sensor_to_display == "Waypoint" and (bgr_msg and pose_msg
and waypoint_msg):
bgr_frame = bgr_msg.frame
if self._flags.draw_waypoints_on_camera_frames:
bgr_frame.camera_setup.set_transform(
pose_msg.data.transform * bgr_frame.camera_setup.transform)
waypoint_msg.waypoints.draw_on_frame(bgr_frame)
if self._flags.draw_waypoints_on_world:
waypoint_msg.waypoints.draw_on_world(self._world)
bgr_frame.visualize(self.display, timestamp=timestamp)
elif (sensor_to_display == "PredictionCamera" and prediction_camera_msg
and prediction_msg):
frame = prediction_camera_msg.frame
frame.transform_to_cityscapes()
for obstacle_prediction in prediction_msg.predictions:
obstacle_prediction.draw_trajectory_on_frame(frame)
frame.visualize(self.display, timestamp=timestamp)
elif sensor_to_display == "PointCloud" and point_cloud_msg:
point_cloud_msg.point_cloud.visualize(
self.display, self._flags.camera_image_width,
self._flags.camera_image_height)
elif (sensor_to_display == "Lanes" and bgr_msg and lane_detection_msg):
for lane in lane_detection_msg.data:
lane.draw_on_frame(bgr_msg.frame)
bgr_msg.frame.visualize(self.display, timestamp)
elif sensor_to_display == "Depth" and depth_msg:
depth_msg.frame.visualize(self.display, timestamp=timestamp)
elif sensor_to_display == "Segmentation" and segmentation_msg:
segmentation_msg.frame.visualize(self.display, timestamp=timestamp)
elif sensor_to_display == "PlanningWorld":
if prediction_camera_msg is None:
# Top-down prediction is not available. Show planning
# world on a black image.
black_img = np.zeros((self._bird_eye_camera_setup.height,
self._bird_eye_camera_setup.width, 3),
dtype=np.dtype("uint8"))
frame = CameraFrame(black_img, 'RGB',
self._bird_eye_camera_setup)
else:
frame = prediction_camera_msg.frame
frame.transform_to_cityscapes()
if lane_detection_msg:
lanes = lane_detection_msg.data
else:
lanes = None
self._planning_world.update(timestamp,
pose_msg.data,
prediction_msg.predictions,
traffic_light_msg.obstacles,
None,
lanes=lanes)
self._planning_world.update_waypoints(None, waypoint_msg.waypoints)
self._planning_world.draw_on_frame(frame)
frame.visualize(self.display, timestamp=timestamp)
self.render_text(pose_msg.data, control_msg, timestamp)
def run(self):
# Run method is invoked after all operators finished initializing.
# Thus, we're sure the world is up-to-date here.
if (self._flags.visualize_pose or self._flags.visualize_imu
or (self._flags.visualize_waypoints
and self._flags.draw_waypoints_on_world)):
from pylot.simulation.utils import get_world
_, self._world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
def _visualize_pose(self, ego_transform):
# Draw position. We add 0.5 to z to ensure that the point is above
# the road surface.
loc = (ego_transform.location +
pylot.utils.Location(0, 0, 0.5)).as_simulator_location()
self._world.debug.draw_point(loc, size=0.2, life_time=DEFAULT_VIS_TIME)
def _visualize_imu(self, msg):
transform = msg.transform
# Acceleration measured in ego frame, not global
# z acceleration not useful for visualization so set to 0
rotation_transform = pylot.utils.Transform(
location=pylot.utils.Location(0, 0, 0),
rotation=transform.rotation)
rotated_acceleration = rotation_transform.transform_locations(
[pylot.utils.Location(msg.acceleration.x, msg.acceleration.y,
0)])[0]
# Construct arrow.
begin_acc = transform.location + pylot.utils.Location(z=0.5)
end_acc = begin_acc + pylot.utils.Location(rotated_acceleration.x,
rotated_acceleration.y, 0)
# draw arrow
self._logger.debug("Acc: {}".format(rotated_acceleration))
self._world.debug.draw_arrow(begin_acc.as_simulator_location(),
end_acc.as_simulator_location(),
arrow_size=0.1,
life_time=0.1)
