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aim_mt_bev_agent.py
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aim_mt_bev_agent.py
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import os
import json
import datetime
import pathlib
import time
import cv2
import carla
from collections import deque
import torch
import carla
import numpy as np
from PIL import Image
from leaderboard.autoagents import autonomous_agent
from aim_mt_bev.architectures import MultiTaskImageBDNetwork
from aim_mt_bev.config import GlobalConfig
from team_code.planner import RoutePlanner
SAVE_PATH = os.environ.get('SAVE_PATH', None)
def get_entry_point():
return 'MultiTaskAgent'
def scale_and_crop_image(image, scale=1, crop=256):
"""
Scale and crop a PIL image, returning a channels-first numpy array.
"""
(width, height) = (image.width // scale, image.height // scale)
im_resized = image.resize((width, height))
image = np.asarray(im_resized)
start_x = height//2 - crop//2
start_y = width//2 - crop//2
cropped_image = image[start_x:start_x+crop, start_y:start_y+crop]
cropped_image = np.transpose(cropped_image, (2,0,1))
return cropped_image
class MultiTaskAgent(autonomous_agent.AutonomousAgent):
def setup(self, path_to_conf_file):
self.track = autonomous_agent.Track.SENSORS
self.config_path = path_to_conf_file
self.step = -1
self.wall_start = time.time()
self.initialized = False
self.input_buffer = {'rgb': deque(), 'gps': deque(), 'thetas': deque()}
self.config = GlobalConfig()
self.net = MultiTaskImageBDNetwork(self.config, 'cuda')
self.net.load_state_dict(torch.load(os.path.join(path_to_conf_file, 'best_model.pth')))
self.net.cuda()
self.net.eval()
self.save_path = None
if SAVE_PATH is not None:
now = datetime.datetime.now()
string = pathlib.Path(os.environ['ROUTES']).stem + '_'
string += '_'.join(map(lambda x: '%02d' % x, (now.month, now.day, now.hour, now.minute, now.second)))
print (string)
self.save_path = pathlib.Path(os.environ['SAVE_PATH']) / string
self.save_path.mkdir(parents=True, exist_ok=False)
(self.save_path / 'rgb').mkdir()
(self.save_path / 'meta').mkdir()
def _init(self):
self._route_planner = RoutePlanner(4.0, 50.0)
self._route_planner.set_route(self._global_plan, True)
self.initialized = True
def _get_position(self, tick_data):
gps = tick_data['gps']
gps = (gps - self._route_planner.mean) * self._route_planner.scale
return gps
def sensors(self):
return [
{
'type': 'sensor.camera.rgb',
'x': 1.3, 'y': 0.0, 'z':2.3,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 400, 'height': 300, 'fov': 100,
'id': 'rgb'
},
{
'type': 'sensor.camera.rgb',
'x': 1.3, 'y': 0.0, 'z':2.3,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 800, 'height': 600, 'fov': 100,
'id': 'rgb_front'
},
{
'type': 'sensor.other.imu',
'x': 0.0, 'y': 0.0, 'z': 0.0,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'sensor_tick': 0.05,
'id': 'imu'
},
{
'type': 'sensor.other.gnss',
'x': 0.0, 'y': 0.0, 'z': 0.0,
'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'sensor_tick': 0.01,
'id': 'gps'
},
{
'type': 'sensor.speedometer',
'reading_frequency': 20,
'id': 'speed'
}
]
def tick(self, input_data):
self.step += 1
rgb = cv2.cvtColor(input_data['rgb'][1][:, :, :3], cv2.COLOR_BGR2RGB)
rgb_front = cv2.cvtColor(input_data['rgb_front'][1][:, :, :3], cv2.COLOR_BGR2RGB)
gps = input_data['gps'][1][:2]
speed = input_data['speed'][1]['speed']
compass = input_data['imu'][1][-1]
result = {
'rgb': rgb,
'rgb_front': rgb_front,
'gps': gps,
'speed': speed,
'compass': compass,
}
pos = self._get_position(result)
result['gps'] = pos
next_wp, next_cmd = self._route_planner.run_step(pos)
result['next_command'] = next_cmd.value
theta = compass + np.pi/2
R = np.array([
[np.cos(theta), -np.sin(theta)],
[np.sin(theta), np.cos(theta)]
])
local_command_point = np.array([next_wp[0]-pos[0], next_wp[1]-pos[1]])
local_command_point = R.T.dot(local_command_point)
result['target_point'] = tuple(local_command_point)
return result
@torch.no_grad()
def run_step(self, input_data, timestamp):
if not self.initialized:
self._init()
tick_data = self.tick(input_data)
if self.step < self.config.seq_len:
rgb = torch.from_numpy(scale_and_crop_image(Image.fromarray(tick_data['rgb']), scale=self.config.scale, crop=self.config.input_resolution)).unsqueeze(0)
self.input_buffer['rgb'].append(rgb.to('cuda', dtype=torch.float32))
control = carla.VehicleControl()
control.steer = 0.0
control.throttle = 0.0
control.brake = 0.0
return control
gt_velocity = torch.FloatTensor([tick_data['speed']]).to('cuda', dtype=torch.float32)
command = torch.FloatTensor([tick_data['next_command']]).to('cuda', dtype=torch.float32)
tick_data['target_point'] = [torch.FloatTensor([tick_data['target_point'][0]]),
torch.FloatTensor([tick_data['target_point'][1]])]
target_point = torch.stack(tick_data['target_point'], dim=1).to('cuda', dtype=torch.float32)
encoding = []
rgb = torch.from_numpy(scale_and_crop_image(Image.fromarray(tick_data['rgb']), scale=self.config.scale, crop=self.config.input_resolution)).unsqueeze(0)
self.input_buffer['rgb'].popleft()
self.input_buffer['rgb'].append(rgb.to('cuda', dtype=torch.float32))
encoding.append(self.net.image_encoder(list(self.input_buffer['rgb'])))
pred_wp = self.net(encoding, target_point)
steer, throttle, brake, metadata = self.net.control_pid(pred_wp, gt_velocity)
self.pid_metadata = metadata
if brake < 0.05: brake = 0.0
if throttle > brake: brake = 0.0
control = carla.VehicleControl()
control.steer = float(steer)
control.throttle = float(throttle)
control.brake = float(brake)
if SAVE_PATH is not None and self.step % 10 == 0:
self.save(tick_data)
return control
def save(self, tick_data):
frame = self.step // 10
Image.fromarray(tick_data['rgb_front']).save(self.save_path / 'rgb' / ('%04d.png' % frame))
outfile = open(self.save_path / 'meta' / ('%04d.json' % frame), 'w')
json.dump(self.pid_metadata, outfile, indent=4)
outfile.close()
def destroy(self):
del self.net