def update_extra_render(self, extra_input):
start = np.array([-100.,4.0]) - self.get_camera_center()
end = np.array([100.,4.0]) - self.get_camera_center()
attrs = {"color":(1.,1.,1.),"linewidth":4.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([-100.,8.0]) - self.get_camera_center()
end = np.array([100.,8.0]) - self.get_camera_center()
attrs = {"color":(1.,1.,1.),"linewidth":4.}
self.viewer.draw_line(start, end, **attrs)
if extra_input:
if ('attention_weight' in extra_input.keys()) and (extra_input['attention_weight'] is not None):
edge_index = extra_input['attention_weight'][0]
attention_weight = extra_input['attention_weight'][1]
upper_indices, lower_indices = self.get_sorted_indices()
car_indices = [np.nan]*(1+self.max_veh_num)
car_indices[0] = 0
car_indices[1:len(lower_indices)+1] = lower_indices[:]
car_indices[int(self.max_veh_num/2)+1:int(self.max_veh_num/2)+1+len(upper_indices)] = upper_indices[:]
starts, ends, attentions = [], [], []
for i in range(edge_index.shape[1]):
if np.isnan(car_indices[edge_index[0,i]]) or np.isnan(car_indices[edge_index[1,i]]):
pass
elif car_indices[edge_index[1,i]] == 0:
attention = attention_weight[i].item()
attentions.append(attention)
car_i = car_indices[edge_index[0,i]]
car_j = car_indices[edge_index[1,i]]
start = self._cars[car_i].position - self.get_camera_center()
end = self._cars[car_j].position - self.get_camera_center()
starts.append(start)
ends.append(end)
rank_index = np.argsort(attentions)
starts = np.array(starts)[rank_index]
ends = np.array(ends)[rank_index]
attentions = np.array(attentions)[rank_index]
assert np.isclose(np.sum(attentions),1.)
for start, end, attention in zip(starts[-3:],ends[-3:],attentions[-3:]):
attrs = {"color":(1.,0.,1.),"linewidth":10.*attention}
if (start == end).all():
from traffic.rendering import make_circle, _add_attrs
circle = make_circle(radius=1., res=15, filled=False, center=start)
_add_attrs(circle, attrs)
self.viewer.add_onetime(circle)
else:
self.viewer.draw_line(start, end, **attrs)
if ('intentions' in extra_input.keys()) and (extra_input['intentions'] is not None):
for car in self._cars[1:]:
from traffic.rendering import make_circle, _add_attrs
intention = extra_input['intentions'][car._idx-1]
start = car.position - self.get_camera_center()
attrs = {"color":(intention[0],intention[1],intention[2])}
circle = make_circle(radius=0.5, res=15, filled=True, center=start)
_add_attrs(circle, attrs)
self.viewer.add_onetime(circle)
def update_extra_render(self, extra_input):
start = np.array([self.left_bound, 4.]) - self.get_camera_center()
end = np.array([self.right_bound, 4.]) - self.get_camera_center()
attrs = {"color": (1., 1., 1.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
# t1 = self._drivers[1].t1
# t2 = self._drivers[1].t2
# start = np.array([self.left_bound,1.-t1]) - self.get_camera_center()
# end = np.array([self.right_bound,1.-t1]) - self.get_camera_center()
# attrs = {"color":(1.,1.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,1.-t2]) - self.get_camera_center()
# end = np.array([self.right_bound,1.-t2]) - self.get_camera_center()
# attrs = {"color":(1.,0.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,3.+t1]) - self.get_camera_center()
# end = np.array([self.right_bound,3.+t1]) - self.get_camera_center()
# attrs = {"color":(1.,1.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,3.+t2]) - self.get_camera_center()
# end = np.array([self.right_bound,3.+t2]) - self.get_camera_center()
# attrs = {"color":(1.,0.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,5.-t1]) - self.get_camera_center()
# end = np.array([self.right_bound,5.-t1]) - self.get_camera_center()
# attrs = {"color":(1.,1.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,5.-t2]) - self.get_camera_center()
# end = np.array([self.right_bound,5.-t2]) - self.get_camera_center()
# attrs = {"color":(1.,0.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,7.+t1]) - self.get_camera_center()
# end = np.array([self.right_bound,7.+t1]) - self.get_camera_center()
# attrs = {"color":(1.,1.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
# start = np.array([self.left_bound,7.+t2]) - self.get_camera_center()
# end = np.array([self.right_bound,7.+t2]) - self.get_camera_center()
# attrs = {"color":(1.,0.,0.),"linewidth":2.}
# self.viewer.draw_line(start, end, **attrs)
if extra_input:
if ('intentions'
in extra_input.keys()) and (extra_input['intentions']
is not None):
for car in self._cars[1:]:
from traffic.rendering import make_circle, _add_attrs
intention = extra_input['intentions'][car._idx - 1]
start = car.position - self.get_camera_center()
attrs = {"color": (intention[0], intention[1], 0.)}
circle = make_circle(radius=0.5,
res=15,
filled=True,
center=start)
_add_attrs(circle, attrs)
self.viewer.add_onetime(circle)
if ('edges' in extra_input.keys()) and (extra_input['edges']
is not None):
edge_index = extra_input['edges']
obs = self.observe(normalize=False, add_noise=False)
obs = np.reshape(obs, (-1, 4))
valid_mask = (np.sum(obs, -1) != 0)
for i in range(edge_index.shape[1]):
start_indx = edge_index[0, i]
end_indx = edge_index[1, i]
if valid_mask[start_indx] and valid_mask[end_indx]:
start = obs[start_indx, :2] - self.get_camera_center()
end = obs[end_indx, :2] - self.get_camera_center()
attrs = {"color": (0.7, 0.3, 0.5), "linewidth": 5.}
self.viewer.draw_line(start, end, **attrs)
def update_extra_render(self, extra_input):
t1 = self._drivers[1].t1
t2 = self._drivers[1].t2
start = np.array([self.left_bound, 1. - t1]) - self.get_camera_center()
end = np.array([self.right_bound, 1. - t1]) - self.get_camera_center()
attrs = {"color": (1., 1., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 1. - t2]) - self.get_camera_center()
end = np.array([self.right_bound, 1. - t2]) - self.get_camera_center()
attrs = {"color": (1., 0., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 3. + t1]) - self.get_camera_center()
end = np.array([self.right_bound, 3. + t1]) - self.get_camera_center()
attrs = {"color": (1., 1., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 3. + t2]) - self.get_camera_center()
end = np.array([self.right_bound, 3. + t2]) - self.get_camera_center()
attrs = {"color": (1., 0., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 5. - t1]) - self.get_camera_center()
end = np.array([self.right_bound, 5. - t1]) - self.get_camera_center()
attrs = {"color": (1., 1., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 5. - t2]) - self.get_camera_center()
end = np.array([self.right_bound, 5. - t2]) - self.get_camera_center()
attrs = {"color": (1., 0., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 7. + t1]) - self.get_camera_center()
end = np.array([self.right_bound, 7. + t1]) - self.get_camera_center()
attrs = {"color": (1., 1., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
start = np.array([self.left_bound, 7. + t2]) - self.get_camera_center()
end = np.array([self.right_bound, 7. + t2]) - self.get_camera_center()
attrs = {"color": (1., 0., 0.), "linewidth": 2.}
self.viewer.draw_line(start, end, **attrs)
if extra_input:
if ('attention_weight'
in extra_input.keys()) and (extra_input['attention_weight']
is not None):
edge_index = extra_input['attention_weight'][0]
attention_weight = extra_input['attention_weight'][1]
upper_indices, lower_indices = self.get_sorted_indices()
car_indices = [np.nan] * (1 + self.max_veh_num)
car_indices[0] = 0
car_indices[1:len(lower_indices) + 1] = lower_indices[:]
car_indices[int(self.max_veh_num / 2) +
1:int(self.max_veh_num / 2) + 1 +
len(upper_indices)] = upper_indices[:]
starts, ends, attentions = [], [], []
for i in range(edge_index.shape[1]):
if np.isnan(car_indices[edge_index[0, i]]) or np.isnan(
car_indices[edge_index[1, i]]):
pass
elif car_indices[edge_index[1, i]] == 0:
attention = attention_weight[i].item()
attentions.append(attention)
car_i = car_indices[edge_index[0, i]]
car_j = car_indices[edge_index[1, i]]
start = self._cars[
car_i].position - self.get_camera_center()
end = self._cars[
car_j].position - self.get_camera_center()
starts.append(start)
ends.append(end)
rank_index = np.argsort(attentions)
starts = np.array(starts)[rank_index]
ends = np.array(ends)[rank_index]
attentions = np.array(attentions)[rank_index]
assert np.isclose(np.sum(attentions), 1.)
for start, end, attention in zip(starts[-3:], ends[-3:],
attentions[-3:]):
attrs = {
"color": (1., 0., 1.),
"linewidth": 10. * attention
}
if (start == end).all():
from traffic.rendering import make_circle, _add_attrs
circle = make_circle(radius=1.,
res=15,
filled=False,
center=start)
_add_attrs(circle, attrs)
self.viewer.add_onetime(circle)
else:
self.viewer.draw_line(start, end, **attrs)
if ('intention'
in extra_input.keys()) and (extra_input['intention']
is not None):
car_indices = [np.nan] * self.label_num
if self.label_mode == 'full':
upper_indices, lower_indices = self.get_sorted_indices()
car_indices[0:len(lower_indices)] = lower_indices[:]
car_indices[int(self.max_veh_num /
2):int(self.max_veh_num / 2) +
len(upper_indices)] = upper_indices[:]
elif self.label_mode == 'important':
important_indices = self.get_important_indices()
car_indices = important_indices
for car_ind, intention in zip(car_indices,
extra_input['intention']):
if not np.isnan(car_ind):
from traffic.rendering import make_circle, _add_attrs
start = self._cars[
car_ind].position - self.get_camera_center()
attrs = {"color": (intention[0], intention[1], 0.)}
circle = make_circle(radius=0.5,
res=15,
filled=True,
center=start)
_add_attrs(circle, attrs)
self.viewer.add_onetime(circle)
