def _log_visuals(rgb_image, birdview, speed, command, loss, pred_locations, _pred_locations, _teac_locations, size=16):
import cv2
import numpy as np
import utils.carla_utils as cu
WHITE = [255, 255, 255]
BLUE = [0, 0, 255]
RED = [255, 0, 0]
_numpy = lambda x: x.detach().cpu().numpy().copy()
images = list()
for i in range(min(birdview.shape[0], size)):
loss_i = loss[i].sum()
canvas = np.uint8(_numpy(birdview[i]).transpose(1, 2, 0) * 255).copy()
canvas = cu.visualize_birdview(canvas)
rgb = np.uint8(_numpy(rgb_image[i]).transpose(1, 2, 0) * 255).copy()
rows = [x * (canvas.shape[0] // 10) for x in range(10+1)]
cols = [x * (canvas.shape[1] // 10) for x in range(10+1)]
def _write(text, i, j):
cv2.putText(
canvas, text, (cols[j], rows[i]),
cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255,255,255), 1)
def _dot(_canvas, i, j, color, radius=2):
x, y = int(j), int(i)
_canvas[x-radius:x+radius+1, y-radius:y+radius+1] = color
def _stick_together(a, b):
h = min(a.shape[0], b.shape[0])
r1 = h / a.shape[0]
r2 = h / b.shape[0]
a = cv2.resize(a, (int(r1 * a.shape[1]), int(r1 * a.shape[0])))
b = cv2.resize(b, (int(r2 * b.shape[1]), int(r2 * b.shape[0])))
return np.concatenate([a, b], 1)
_command = {
1: 'LEFT', 2: 'RIGHT',
3: 'STRAIGHT', 4: 'FOLLOW'}.get(torch.argmax(command[i]).item()+1, '???')
_dot(canvas, 0, 0, WHITE)
for x, y in (_teac_locations[i] + 1) * (0.5 * CROP_SIZE): _dot(canvas, x, y, BLUE)
for x, y in _pred_locations[i]: _dot(rgb, x, y, RED)
for x, y in pred_locations[i]: _dot(canvas, x, y, RED)
_write('Command: %s' % _command, 1, 0)
_write('Loss: %.2f' % loss[i].item(), 2, 0)
images.append((loss[i].item(), _stick_together(rgb, canvas)))
return [x[1] for x in sorted(images, reverse=True, key=lambda x: x[0])]
def _log_visuals(birdview,
speed,
command,
loss,
locations,
_locations,
size=16):
import cv2
import numpy as np
import utils.carla_utils as cu
WHITE = [255, 255, 255]
BLUE = [0, 0, 255]
RED = [255, 0, 0]
_numpy = lambda x: x.detach().cpu().numpy().copy()
images = list()
for i in range(min(birdview.shape[0], size)):
loss_i = loss[i].sum()
canvas = np.uint8(_numpy(birdview[i]).transpose(1, 2, 0) * 255).copy()
canvas = cu.visualize_birdview(canvas)
rows = [x * (canvas.shape[0] // 10) for x in range(10 + 1)]
cols = [x * (canvas.shape[1] // 10) for x in range(10 + 1)]
def _write(text, i, j):
cv2.putText(canvas, text, (cols[j], rows[i]),
cv2.FONT_HERSHEY_SIMPLEX, 0.35, (255, 255, 255), 1)
def _dot(i, j, color, radius=2):
x, y = int(j), int(i)
canvas[x - radius:x + radius + 1,
y - radius:y + radius + 1] = color
_command = {
1: 'LEFT',
2: 'RIGHT',
3: 'STRAIGHT',
4: 'FOLLOW'
}.get(torch.argmax(command[i]).item() + 1, '???')
_dot(0, 0, WHITE)
for x, y in locations[i]:
_dot(x, y, BLUE)
for x, y in (_locations[i] + 1) * (0.5 * 192):
_dot(x, y, RED)
_write('Command: %s' % _command, 1, 0)
_write('Loss: %.2f' % loss[i].item(), 2, 0)
images.append((loss[i].item(), canvas))
return [x[1] for x in sorted(images, reverse=True, key=lambda x: x[0])]