def show_map_and_traj():
import matplotlib.pyplot as plt
from pgdrive.obs.top_down_renderer import draw_top_down_map, draw_top_down_trajectory
import json
import cv2
import pygame
env = MultiAgentIntersectionEnv()
env.reset()
with open("metasvodist_inter_best.json", "r") as f:
traj = json.load(f)
m = draw_top_down_map(env.current_map,
simple_draw=False,
return_surface=True,
reverse_color=True)
m = draw_top_down_trajectory(m,
traj,
entry_differ_color=True,
color_list=[(255, 0, 0), (0, 255, 0),
(0, 0, 255), (255, 255, 0)])
ret = cv2.resize(pygame.surfarray.pixels_red(m), (512, 512),
interpolation=cv2.INTER_LINEAR)
#
plt.imshow(ret)
plt.show()
pygame.image.save(m, "image.jpg")
env.close()
def _draw():
env = MultiAgentIntersectionEnv()
o = env.reset()
from pgdrive.utils.draw_top_down_map import draw_top_down_map
import matplotlib.pyplot as plt
plt.imshow(draw_top_down_map(env.current_map))
plt.show()
env.close()
def test_save_map_image():
os.makedirs("tmp_images", exist_ok=True)
setup_logger(debug=True)
env = PGDriveEnv(dict(environment_num=20, start_seed=0, map=10))
try:
for i in range(5):
env.reset()
surface = draw_top_down_map(env.current_map, resolution=(128, 128))
plt.imshow(surface, cmap="Greys")
plt.savefig("tmp_images/map_{}.png".format(i))
env.close()
finally:
env.close()
def _t(num_blocks):
default_config = PGDriveEnv.default_config()
initialize_engine(default_config)
set_global_random_seed(0)
try:
map_config = default_config["map_config"]
map_config.update(dict(type="block_num", config=num_blocks))
map = CityMap(map_config, random_seed=map_config["seed"])
fig = draw_top_down_map(map, (1024, 1024))
plt.imshow(fig, cmap="bone")
plt.xticks([])
plt.yticks([])
plt.title("Building a City with {} blocks!".format(num_blocks))
plt.show()
finally:
close_engine()
from pgdrive import PGDriveEnv
from pgdrive.component.map.base_map import BaseMap, MapGenerateMethod
from pgdrive.utils.draw_top_down_map import draw_top_down_map
if __name__ == '__main__':
env = PGDriveEnv(
dict(environment_num=1,
map_config={
BaseMap.GENERATE_TYPE: MapGenerateMethod.BIG_BLOCK_SEQUENCE,
BaseMap.GENERATE_CONFIG: "OCrRCTXRCCCCrOr",
BaseMap.LANE_WIDTH: 3.5,
BaseMap.LANE_NUM: 3,
}))
for i in range(100):
env.reset()
map = draw_top_down_map(env.current_map)
print("Finish {} maps!".format(i + 1))