def test_included_tracks(self):
params = ParameterServer()
map_filename = os.path.join(os.path.dirname(__file__),
"data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename_1 = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_dummy_track.csv")
track_filename_2 = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_dummy_track_2.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilenameList"] = [track_filename_1, track_filename_2]
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"]["IncludeTracks"] = {
track_filename_1: [2],
track_filename_2: [1, 3],
}
def assert_correct_combinations(scenario_generation):
for scenario, _ in scenario_generation:
track_filename = scenario.json_params["track_file"]
ego_id = scenario.eval_agent_ids[0]
# Check if pair (track_filename, ego_id) is in IncludeTracks
self.assertIn((track_filename, ego_id),
[(track_filename_1, 2), (track_filename_2, 1),
(track_filename_2, 3)])
# CASE 1: num_scenarios < number of scenarios in IncludeTracks
scenario_generation_1 = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)
# Only two scenarios should be generated (num_scenarios=2)
self.assertEqual(scenario_generation_1.get_num_scenarios(), 2)
assert_correct_combinations(scenario_generation_1)
# CASE 2: num_scenarios > number of scenarios in IncludeTracks
scenario_generation_2 = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=4)
# Three scenarios should be generated (all specified in IncludeTracks)
self.assertEqual(scenario_generation_2.get_num_scenarios(), 3)
assert_correct_combinations(scenario_generation_2)
def test_dataset_scenario_generation_full(self):
params = ParameterServer()
map_filename = os.path.join(os.path.dirname(__file__), "data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename = os.path.join(os.path.dirname(__file__), "data/interaction_dataset_dummy_track.csv")
params["Scenario"]["Generation"]["InteractionDatasetScenarioGenerationFull"]["MapFilename"] = map_filename
params["Scenario"]["Generation"]["InteractionDatasetScenarioGenerationFull"]["TrackFilenameList"] = [track_filename]
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
def test_dataset_scenario_generation_full(self):
"""
Checking Track file with two track ids, both become valid at time 0.
Two Scenarios should be created from this.
"""
params = ParameterServer()
map_filename = os.path.join(os.path.dirname(__file__),
"data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_DEU_Merging_dummy_track.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilenameList"] = [track_filename]
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"]["StartingOffsetMs"] = 0
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
# first scenario
scenario0 = scenario_generation.get_scenario(0)
agent11 = scenario0.GetWorldState().agents[1]
agent12 = scenario0.GetWorldState().agents[2]
self.assertEqual(agent11.first_valid_timestamp, 0.0)
self.assertEqual(agent12.first_valid_timestamp, 0.0)
# agents are initialized with Behavior::NotValidYet
self.assertEqual(list(scenario0.GetWorldState().agents_valid.keys()),
[])
scenario0.GetWorldState().Step(0.01)
self.assertEqual(list(scenario0.GetWorldState().agents_valid.keys()),
[1, 2])
# second scenario
scenario1 = scenario_generation.get_scenario(1)
agent21 = scenario1.GetWorldState().agents[1]
agent22 = scenario1.GetWorldState().agents[2]
self.assertEqual(agent21.first_valid_timestamp, 0.0)
self.assertEqual(agent22.first_valid_timestamp, 0.0)
self.assertEqual(list(scenario1.GetWorldState().agents_valid.keys()),
[])
scenario1.GetWorldState().Step(0.01)
self.assertEqual(list(scenario1.GetWorldState().agents_valid.keys()),
[1, 2])
def test_dataset_scenario_generation_full_incomplete(self):
params = ParameterServer()
map_filename = os.path.join(os.path.dirname(__file__), "data/DR_CHN_Merging_ZS_partial_v02.xodr")
track_filename = os.path.join(os.path.dirname(__file__), "data/interaction_dataset_dummy_track_incomplete.csv")
params["Scenario"]["Generation"]["InteractionDatasetScenarioGenerationFull"]["MapFilename"] = map_filename
params["Scenario"]["Generation"]["InteractionDatasetScenarioGenerationFull"]["TrackFilenameList"] = [track_filename]
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=3)
# agent 1 is not part of the map, so it should only generate 2 scenarios
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
def test_dataset_scenario_generation_full_incomplete(self):
"""
Checking Track file with three track ids, but agent 1 is never inside the map,
so it should only generate 2 scenarios
"""
params = ParameterServer()
map_filename = os.path.join(os.path.dirname(__file__),
"data/DR_CHN_Merging_ZS_partial_v02.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"data/interaction_dataset_CHN_Merging_dummy_track_incomplete.csv")
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilenameList"] = [track_filename]
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"]["StartingOffsetMs"] = 0
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=3)
self.assertEqual(scenario_generation.get_num_scenarios(), 2)
# first scenario
agent12 = scenario_generation.get_scenario(0).GetWorldState().agents[2]
agent17 = scenario_generation.get_scenario(0).GetWorldState().agents[7]
self.assertEqual(agent12.first_valid_timestamp, 0.0)
self.assertEqual(agent17.first_valid_timestamp, 0.0)
# second scenario
agent22 = scenario_generation.get_scenario(1).GetWorldState().agents[2]
agent27 = scenario_generation.get_scenario(1).GetWorldState().agents[7]
self.assertEqual(agent22.first_valid_timestamp, 0.0)
self.assertEqual(agent27.first_valid_timestamp, 0.0)
