class GPDAgent(Agent):
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.depth_to_pointcloud_detector = GroundPlaneDetector(agent=self)
def run_step(self, vehicle: Vehicle,
sensors_data: SensorsData) -> VehicleControl:
super(GPDAgent, self).run_step(vehicle=vehicle,
sensors_data=sensors_data)
try:
self.depth_to_pointcloud_detector.run_step()
except Exception as e:
print(e)
# print(np.shape(points))
return VehicleControl()
@staticmethod
def visualize_pointcloud(points):
"""
:param points: Nx3 array
:return:
"""
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
o3d.visualization.draw_geometries([pcd])
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.output_file_path: Path = self.output_folder_path / "Users\James Cheney\git\ROAR\ROAR_Sim\data\easy_map_waypointsJAM1.txt"
self.output_file = self.output_file_path.open('w')
# self.depth_to_pointcloud_detector = DepthToPointCloudDetector(self)
self.gpd = GroundPlaneDetector(self,
should_compute_global_pointcloud=False)
class GPDFloodFillAgent(Agent):
def __init__(self,
vehicle: Vehicle,
agent_settings: AgentConfig,
target_speed=50):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.gpd_detector = GroundPlaneDetector(self)
def run_step(self, sensors_data: SensorsData,
vehicle: Vehicle) -> VehicleControl:
super(GPDFloodFillAgent, self).run_step(sensors_data=sensors_data,
vehicle=vehicle)
self.gpd_detector.run_in_series()
return VehicleControl()
class JSONWaypointGeneratigAgent(Agent):
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.output_file_path: Path = self.output_folder_path / "easy_map_waypoint_t.txt"
self.output_file = self.output_file_path.open('w')
# self.depth_to_pointcloud_detector = DepthToPointCloudDetector(self)
self.gpd = GroundPlaneDetector(self,
should_compute_global_pointcloud=False)
def run_step(self, sensors_data: SensorsData,
vehicle: Vehicle) -> VehicleControl:
super(JSONWaypointGeneratigAgent,
self).run_step(sensors_data=sensors_data, vehicle=vehicle)
try:
self.gpd.run_in_series()
except Exception as e:
self.logger.error(e)
return VehicleControl()
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, **kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
# initialize occupancy grid map content
self.occu_map = OccupancyGridMap(agent=self)
self.depth_to_pcd = DepthToPointCloudDetector(agent=self)
self.ground_plane_detector = GroundPlaneDetector(agent=self)
# initialize open3d related content
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(width=500, height=500)
self.pcd = o3d.geometry.PointCloud()
self.coordinate_frame = o3d.geometry.TriangleMesh.create_coordinate_frame()
self.points_added = False
class JSONWaypointGeneratingAgent(
Agent): #added n to "GeneratigAgent". below in line 22 also 201125
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.output_file_path: Path = self.output_folder_path / "Users\James Cheney\git\ROAR\ROAR_Sim\data\easy_map_waypointsJAM1.txt"
self.output_file = self.output_file_path.open('w')
# self.depth_to_pointcloud_detector = DepthToPointCloudDetector(self)
self.gpd = GroundPlaneDetector(self,
should_compute_global_pointcloud=False)
def run_step(self, sensors_data: SensorsData,
vehicle: Vehicle) -> VehicleControl:
super(JSONWaypointGeneratingAgent,
self).run_step(sensors_data=sensors_data, vehicle=vehicle)
try:
self.gpd.run_in_series()
ground_points = self.kwargs["ground_points"]
# using the next waypoint to find the line
except Exception as e:
self.logger.error(e)
return VehicleControl()
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.depth_to_pointcloud_detector = GroundPlaneDetector(agent=self)
def __init__(self,
vehicle: Vehicle,
agent_settings: AgentConfig,
target_speed=50):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.gpd_detector = GroundPlaneDetector(self)