def initialize_params(self, params):
super().initialize_params(params)
params_temp = \
self._params["Scenario"]["Generation"]["InteractionDatasetScenarioGeneration"]
self._map_file_name = params_temp["MapFilename",
"Path to the open drive map",
os.path.expanduser('~') + "/bark-simulator/interaction_dataset_fortiss_internal/DR_DEU_Merging_MT/map/DR_DEU_Merging_MT_v01_shifted.xodr"]
self._track_file_name = params_temp["TrackFilename",
"Path to track file (csv)",
os.path.expanduser('~') + "/bark-simulator/interaction_dataset_fortiss_internal/DR_DEU_Merging_MT/tracks/vehicle_tracks_013.csv"]
self._track_ids = params_temp["TrackIds",
"IDs of the vehicle tracks to import.",
[1]]
self._xy_offset = params_temp["XYOffset",
"offset in x and y direction.", [0, 0]]
self._start_time = params_temp["StartTs",
"Timestamp when to start the scenario (ms)", 0]
self._end_time = params_temp["EndTs",
"Timestamp when to end the scenario (ms)", None]
self._ego_track_id = params_temp["EgoTrackId", "TrackID of ego", -1]
self._behavior_models = params_temp["BehaviorModel",
"Overwrite static trajectory with prediction model", {}]
self._use_rectangle_shape = params_temp["RectangleShape",
"Use Rectangle vehicle shape", True]
self._interaction_ds_reader = InteractionDatasetReader()
def test_agent_from_trackfile_centered(self):
map_filename = os.path.join(
os.path.dirname(__file__),
"../tests/data/DR_DEU_Merging_MT_v01_centered.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"../tests/data/interaction_dataset_dummy_track.csv")
agent_track_info = AgentTrackInfo(track_filename,
track_id=1,
start_offset=500,
end_offset=1000)
params = ParameterServer()
params_id = params["Scenario"]["Generation"]["InteractionDataset"]
params_id["MapFilename", "", map_filename]
params_id["TrackFilename", "", track_filename]
params_id["BehaviorModel", "", {}]
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = None # world.map
track_params["behavior_model"] = None
scenario_info = ScenarioTrackInfo(map_filename,
track_filename,
agent_track_info,
xy_offset=[-900, -900])
ds_reader = InteractionDatasetReader()
agent = ds_reader.AgentFromTrackfile(track_params, params,
scenario_info,
agent_track_info.GetTrackId())
def __init__(self, params=None, num_scenarios=None, random_seed=None):
self.interaction_ds_reader = InteractionDatasetReader()
super().__init__(params, num_scenarios, random_seed)
self.initialize_params(params)
class InteractionDatasetScenarioGeneration(ScenarioGeneration):
def __init__(self, params=None, num_scenarios=None, random_seed=None):
self.interaction_ds_reader = InteractionDatasetReader()
super().__init__(params, num_scenarios, random_seed)
self.initialize_params(params)
def initialize_params(self, params):
super().initialize_params(params)
params_temp = \
self._params["Scenario"]["Generation"]["InteractionDatasetScenarioGeneration"]
self._map_file_name = params_temp[
"MapFilename", "Path to the open drive map",
os.path.expanduser('~') +
"/bark-simulator/interaction_dataset_fortiss_internal/DR_DEU_Merging_MT/map/DR_DEU_Merging_MT_v01_shifted.xodr"]
self._track_file_name = params_temp[
"TrackFilename", "Path to track file (csv)",
os.path.expanduser('~') +
"/bark-simulator/interaction_dataset_fortiss_internal/DR_DEU_Merging_MT/tracks/vehicle_tracks_013.csv"]
self._track_ids = params_temp["TrackIds",
"IDs of the vehicle tracks to import.",
[1]]
self._start_time = params_temp[
"StartTs", "Timestamp when to start the scenario (ms)", 0]
self._end_time = params_temp["EndTs",
"Timestamp when to end the scenario (ms)",
None]
self._ego_track_id = params_temp["EgoTrackId", "TrackID of ego", -1]
self._behavior_models = params_temp[
"BehaviorModel",
"Overwrite static trajectory with prediction model", {}]
# TODO: remove code duplication with configurable scenario generation
def create_scenarios(self, params, num_scenarios):
"""
see baseclass
"""
if num_scenarios != 1:
raise ValueError("Replay supports only 1 scenario")
scenario_track_info = self.__fill_scenario_track_info__()
scenario_list = [self.__create_single_scenario__(scenario_track_info)]
return scenario_list
def __fill_scenario_track_info__(self):
if self._ego_track_id == -1:
raise ValueError("No ego id has been defined")
ego_track_info = AgentTrackInfo(filename=self._track_file_name,
track_id=self._ego_track_id,
start_offset=self._start_time,
end_offset=self._end_time)
scenario_track_info = ScenarioTrackInfo(
map_filename=self._map_file_name,
track_filename=self._track_file_name,
ego_track_info=ego_track_info)
for track_id in self._track_ids:
new_agent = AgentTrackInfo(filename=self._track_file_name,
track_id=track_id,
start_offset=self._start_time,
end_offset=self._end_time)
scenario_track_info.AddTrackInfoOtherAgent(new_agent)
return scenario_track_info
def __create_single_scenario__(self, scenario_track_info):
scenario_track_info.TimeSanityCheck()
scenario = Scenario(map_file_name=self._map_file_name,
json_params=self._params.ConvertToDict())
world = scenario.GetWorldState()
agent_list = []
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = world.map
for id_other in scenario_track_info.GetOtherTrackInfos().keys():
if str(id_other) in self._behavior_models:
track_params["behavior_model"] = self._behavior_models[str(
id_other)]
else:
track_params["behavior_model"] = None
agent = self.interaction_ds_reader.AgentFromTrackfile(
track_params, self._params, scenario_track_info, id_other)
agent_list.append(agent)
id_ego = scenario_track_info.GetEgoTrackInfo().GetTrackId()
if str(id_ego) in self._behavior_models:
track_params["behavior_model"] = self._behavior_models[str(id_ego)]
else:
track_params["behavior_model"] = None
agent = self.interaction_ds_reader.AgentFromTrackfile(
track_params, self._params, scenario_track_info, id_ego)
agent_list.append(agent)
scenario._agent_list = agent_list # must contain all agents!
scenario._eval_agent_ids = [
scenario_track_info.GetEgoTrackInfo().GetTrackId()
]
return scenario