def __publish_ground_actors_data(self, timestamp, watermark_msg):
# Get all the actors in the simulation.
actor_list = self._world.get_actors()
(vehicles, people, traffic_lights, speed_limits,
traffic_stops) = extract_data_in_pylot_format(actor_list)
# Send ground people and vehicles.
self.ground_obstacles_stream.send(
pylot.simulation.messages.GroundObstaclesMessage(
timestamp, vehicles + people))
self.ground_obstacles_stream.send(erdos.WatermarkMessage(timestamp))
# Send ground traffic lights.
self.ground_traffic_lights_stream.send(
pylot.simulation.messages.GroundTrafficLightsMessage(
timestamp, traffic_lights))
self.ground_traffic_lights_stream.send(
erdos.WatermarkMessage(timestamp))
# Send ground speed signs.
self.ground_speed_limit_signs_stream.send(
pylot.simulation.messages.GroundSpeedSignsMessage(
timestamp, speed_limits))
self.ground_speed_limit_signs_stream.send(
erdos.WatermarkMessage(timestamp))
# Send stop signs.
self.ground_stop_signs_stream.send(
pylot.simulation.messages.GroundStopSignsMessage(
timestamp, traffic_stops))
self.ground_stop_signs_stream.send(erdos.WatermarkMessage(timestamp))
def send_perfect_detections(self, perfect_obstacles_stream,
perfect_traffic_lights_stream, timestamp,
tl_camera_location):
"""Send perfect detections for agents and traffic lights.
This method first connects to the simulator to extract all the
agents and traffic light in a scenario. Next, it transforms them into
the types Pylot expects, and sends them on the streams for perfect
detections.
Note: This is only used when executing using a perfect perception
component.
"""
if not (FLAGS.simulator_obstacle_detection
or FLAGS.simulator_traffic_light_detection
or FLAGS.evaluate_obstacle_detection
or FLAGS.evaluate_obstacle_tracking):
return
from pylot.simulation.utils import extract_data_in_pylot_format
actor_list = self._world.get_actors()
(vehicles, people, traffic_lights, _,
_) = extract_data_in_pylot_format(actor_list)
if (FLAGS.simulator_obstacle_detection
or FLAGS.evaluate_obstacle_detection
or FLAGS.evaluate_obstacle_tracking):
perfect_obstacles_stream.send(
ObstaclesMessage(timestamp, vehicles + people))
perfect_obstacles_stream.send(erdos.WatermarkMessage(timestamp))
if FLAGS.simulator_traffic_light_detection:
vec_transform = pylot.utils.Transform.from_simulator_transform(
self._ego_vehicle.get_transform())
tl_camera_transform = pylot.utils.Transform(
tl_camera_location, pylot.utils.Rotation())
visible_tls = []
if self._town_name is None:
self._town_name = self._world.get_map().name
for tl in traffic_lights:
if tl.is_traffic_light_visible(
vec_transform * tl_camera_transform,
self._town_name,
distance_threshold=FLAGS.
static_obstacle_distance_threshold):
if self._town_name not in ['Town01', 'Town02']:
delta_y = -5
if self._town_name == 'Town04':
delta_y = -2
# Move the traffic light location to the road.
tl.transform = tl.transform * pylot.utils.Transform(
pylot.utils.Location(delta_y, 0, 5),
pylot.utils.Rotation())
visible_tls.append(tl)
perfect_traffic_lights_stream.send(
TrafficLightsMessage(timestamp, visible_tls))
perfect_traffic_lights_stream.send(
erdos.WatermarkMessage(timestamp))
def __publish_ground_actors_data(self, timestamp, watermark_msg):
# Get all the actors in the simulation.
actor_list = self._world.get_actors()
(vehicles, people, traffic_lights, speed_limits,
traffic_stops) = extract_data_in_pylot_format(actor_list)
obstacles_msg = ObstaclesMessage(timestamp, vehicles + people)
self._ground_obstacles_stream.send(obstacles_msg)
self._ground_obstacles_stream.send(watermark_msg)
traffic_lights_msg = TrafficLightsMessage(timestamp, traffic_lights)
self._ground_traffic_lights_stream.send(traffic_lights_msg)
self._ground_traffic_lights_stream.send(watermark_msg)
speed_limit_signs_msg = SpeedSignsMessage(timestamp, speed_limits)
self._ground_speed_limit_signs_stream.send(speed_limit_signs_msg)
self._ground_speed_limit_signs_stream.send(watermark_msg)
stop_signs_msg = StopSignsMessage(timestamp, traffic_stops)
self._ground_stop_signs_stream.send(stop_signs_msg)
self._ground_stop_signs_stream.send(watermark_msg)
