def convert_scenario_name_number(measurements):
scenario = identify_scenario(measurements['distance_intersection'],
measurements['road_angle'])
if scenario == 'S0_lane_following':
return [1, 0, 0, 0]
elif scenario == 'S1_lane_following_curve':
return [0, 1, 0, 0]
elif scenario == 'S2_before_intersection':
return [0, 0, 1, 0]
elif scenario == 'S3_intersection':
return [0, 0, 0, 1]
else:
raise ValueError(f'Unexpected scenario identified: {scenario}')
def test_identification(world, N=100):
# I will spawn N vehicles
blueprint_library = world.get_blueprint_library()
spawn_points = world.get_map().get_spawn_points()
blueprint = random.choice(blueprint_library.filter('vehicle*'))
capture = time.time()
count = 1
for point in spawn_points[:N]:
vehicle = world.try_spawn_actor(blueprint, point)
if vehicle is None:
continue
print("Spawn pont %d distance %f scenario %s " %
(count,
distance_to_intersection(
vehicle, world.get_map(),
resolution=0.1), identify_scenario(vehicle)))
count += 1
print("Took %f seconds " % ((time.time() - capture) / count))
no_display=True)
status = {
'speed':
forward_speed(
data_point['measurements']['ego_actor']),
'directions':
2.0,
'distance_intersection':
data_point['measurements']
['distance_intersection'],
'road_angle':
data_point['measurements']['road_angle'],
'scenario':
identify_scenario(
data_point['measurements']
['distance_intersection'],
data_point['measurements']['road_angle'])
}
# if we make video we set something for output image
if args.make_videos:
output_image = os.path.join(
'_tmp_img',
'image' + str(count_images).zfill(5) + '.png')
else:
output_image = None
screen.plot_camera_steer(rgb_left,
screen_position=[0, 0])
screen.plot_camera_steer(rgb_center,
control=None,