def runOneSimulation(self, savePath, configName, randomSeed):
savePath = savePath + str(randomSeed) + "-" + configName + "/"
os.makedirs(savePath)
Global.LogStart(savePath)
Global.Log("Starting new simulation and world for Config: " + configName)
try:
seed(randomSeed)
config = Config.Get(configName)
world = World(config)
Global.World = world
self.agent = Agent(config)
world.SetAgent(self.agent)
self.mapRenderer = MapRenderer(self.wxCanvas, Global.Map, self.agent, self, False)
self.currentTestIndex = self.currentTestIndex + 1
self.mapRenderer.RenderProgress(self, configName)
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
time.sleep(0.1)
elayer = world.agent.intelligence.spaceMap.Layer
while world.step < Global.MaxTestSteps:
world.Step()
self.mapRenderer.RenderToFile(world, savePath + "PIL" + str(world.step).zfill(6) + ".png")
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
world.SendAgentOut()
while world.step < Global.MaxTestSteps + Global.MaxTestStepAfter:
world.Step()
self.mapRenderer.RenderToFile(world, savePath + "PIL" + str(world.step).zfill(6) + ".png")
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
if Global.CalculateVisibilityHistory:
self.mapRenderer.RenderToFile(world, savePath + "visibilityheatmap.png", ["vh"])
self.mapRenderer.RenderToFile(world, savePath + "visibilityobjectheatmap.png", ["ovh"])
map = Global.Map
map.SaveHeatMap()
self.agent.intelligence.spaceMap.Layer.SaveHeatMap()
except:
Global.Log("FATAL ERROR occured: ")
ss = traceback.format_exc()
Global.Log(ss)
time.sleep(1)
raise
finally:
Global.Log("Stoping simulation...")
Global.LogEnd()
Global.Reset()
self.agent = None
self.mapRenderer.Clear()
self.mapRenderer = None
def startSimulation(self, configName):
if not os.path.exists("../../exs/"): os.makedirs("../../exs/")
dirList = os.listdir("../../exs/")
for fname in dirList:
os.remove("../../exs/" + fname)
Global.LogStart("../../exs/")
Global.Log("Starting new simulation and world for Config: " + configName)
seed(Global.RandomSeeds[0])
config = Config.Get(configName)
world = World( config )
Global.World = world
self.agent = Agent(config)
world.SetAgent(self.agent)
self.mapRenderer = MapRenderer(self.wxCanvas, Global.Map, self.agent, self)
self.lock = Lock()
self.lock.acquire()
self.playbackLock = Lock()
th = Thread(None, self.simulationThread, name="simulationThread")
th.start()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run implementation")
parser.add_argument('input_path', type=str, help="Path to input images")
args = parser.parse_args()
# Get all images
images = sorted([
f for f in listdir(args.input_path) if isfile(join(args.input_path, f))
])
# Init segmentation network
seg_network = Segmentation("{}/{}".format(args.input_path, images[0]))
mr = MapRenderer("data/map.osm")
# Parse objects, locations and ways from the map
objects, locations, ways = parse_map("data/map.osm")
route = ways[0]
current_location = list(filter(lambda x: x.node_id == -137971,
locations))[0]
output_file = open("output.csv", "w")
fps_file = open("fps.txt", "w")
vp = (0.5, 0.5)
for i, image_path in enumerate(images):
time_data = []
fps_start = time.time()
img = cv2.imread("{}/{}".format(args.input_path, image_path))
