automatically download asset

.gitignore

@@ -37,4 +37,4 @@
 /metadrive/assets/textures/heightfield.png
 **/test_read_copy_waymo
 /metadrive/tests/vis_functionality/*.png
-/assets/
+**/assets/

metadrive/component/sensors/depth_camera.py

@@ -16,7 +16,7 @@ class DepthCamera(BaseCamera):
     GROUND = None
     GROUND_MODEL = None
 
-    def __init__(self, engine, width, height, cuda=False):
+    def __init__(self, engine, width, height, *, cuda=False):
         self.BUFFER_W, self.BUFFER_H = width, height
         self.VIEW_GROUND = True  # default true
         super(DepthCamera, self).__init__(engine, False, cuda)
@@ -48,11 +48,9 @@ def __init__(self, engine, width, height, cuda=False):
         if self.VIEW_GROUND:
             ground = PNMImage(257, 257, 4)
             ground.fill(1., 1., 1.)
-            ground_tex = Texture("white lane line")
-            ground_tex.load(ground)
 
             self.GROUND = GeoMipTerrain("mySimpleTerrain")
-            self.GROUND.setHeightfield(ground_tex)
+            self.GROUND.setHeightfield(ground)
             self.GROUND.setAutoFlatten(GeoMipTerrain.AFMStrong)
             # terrain.setBruteforce(True)
             # # Since the terrain is a texture, shader will not calculate the depth information, we add a moving terrain

metadrive/component/sensors/mini_map.py

@@ -9,7 +9,7 @@ class MiniMap(BaseCamera):
     CAM_MASK = CamMask.MiniMap
     display_region_size = [0., 1 / 3, 0.8, 1.0]
 
-    def __init__(self, engine, width, height, z_pos, cuda=False):
+    def __init__(self, engine, width, height, z_pos, *, cuda=False):
         self.BUFFER_W, self.BUFFER_H, height = width, height, z_pos
         super(MiniMap, self).__init__(engine=engine, need_cuda=cuda)
 

metadrive/component/sensors/rgb_camera.py

@@ -11,7 +11,7 @@ class RGBCamera(BaseCamera):
     CAM_MASK = CamMask.RgbCam
     PBR_ADAPT = False
 
-    def __init__(self, engine, width, height, cuda=False):
+    def __init__(self, engine, width, height, *, cuda=False):
         self.BUFFER_W, self.BUFFER_H = width, height
         super(RGBCamera, self).__init__(engine, True, cuda)
         cam = self.get_cam()

metadrive/engine/core/engine_core.py

@@ -1,5 +1,4 @@
 import logging
-from metadrive.render_pipeline.rpcore.rpobject import RPObject
 import sys
 import time
 from typing import Optional, Union, Tuple
@@ -22,6 +21,7 @@
 from metadrive.engine.core.sky_box import SkyBox
 from metadrive.engine.core.terrain import Terrain
 from metadrive.render_pipeline.rpcore import RenderPipeline
+from metadrive.render_pipeline.rpcore.rpobject import RPObject
 from metadrive.utils.utils import is_mac, setup_logger
 
 
@@ -502,7 +502,8 @@ def get_sensor(self, sensor_id):
 
     def add_image_sensor(self, name: str, cls, args):
         if self.global_config["image_on_cuda"] and name == self.global_config["vehicle_config"]["image_source"]:
-            args.append(True)
-        sensor = cls(self, *args)
+            sensor = cls(self, *args, cuda=True)
+        else:
+            sensor = cls(self, *args, cuda=False)
         assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
         self.sensors[name] = sensor

metadrive/tests/vis_functionality/vis_depth_cam_ground.py

@@ -28,8 +28,9 @@ def get_image(env):
             "use_render": True,
             "image_observation": True,
             "rgb_clip": True,
-            "interface_panel": [DepthCamera, VehiclePanel],
-            "vehicle_config": dict(depth_camera=(800, 600, True), rgb_camera=(800, 600), image_source="depth_camera"),
+            "interface_panel": ["depth_camera"],
+            "sensors": dict(depth_camera=(DepthCamera, 800, 600)),
+            "vehicle_config": dict(image_source="depth_camera"),
             # "map_config": {
             #     BaseMap.GENERATE_TYPE: MapGenerateMethod.BIG_BLOCK_NUM,
             #     BaseMap.GENERATE_CONFIG: 12,

setup.py

@@ -3,6 +3,9 @@
 import sys
 from os import path
 
+import os
+import zipfile
+import urllib.request
 from setuptools import setup, find_namespace_packages  # This should be place at top!
 
 ROOT_DIR = os.path.dirname(__file__)
@@ -28,23 +31,17 @@ def is_win():
 
 """ ===== Remember to modify the PG_EDITION at first ====="""
 version = "0.3.0.1"
-
-import os
-import zipfile
-import requests
-
+ASSET_URL = "https://github.com/metadriverse/metadrive/releases/download/MetaDrive-0.3.0.1/assets.zip"
 
 def post_install():
-    ASSET_URL = "https://github.com/metadriverse/metadrive/releases/download/MetaDrive-0.3.0.1/assets.zip"
-    TARGET_DIR = os.path.join(os.path.dirname(__file__), 'metadrive', 'assets')
-
-    # Fetch the zip file from Google Drive
-    response = requests.get(ASSET_URL, stream=True)
+    TARGET_DIR = os.path.join(os.path.dirname(__file__), 'metadrive')
+    if os.path.exists(os.path.join(TARGET_DIR, "assets")):
+        return
     zip_path = os.path.join(TARGET_DIR, 'assets.zip')
 
-    with open(zip_path, 'wb') as f:
-        for chunk in response.iter_content(chunk_size=8192):
-            f.write(chunk)
+    # Fetch the zip file
+    print("Retrieve the assets from {}".format(ASSET_URL))
+    urllib.request.urlretrieve(ASSET_URL, zip_path)
 
     # Extract the zip file to the desired location
     with zipfile.ZipFile(zip_path, 'r') as zip_ref:
@@ -91,7 +88,6 @@ def post_install():
     "aioboto3"
 ]
 
-
 # Or try:
 #   pip install git+https://github.com/waymo-research/waymo-open-dataset.git
 waymo_requirement = [
@@ -138,6 +134,8 @@ def post_install():
 """
 How to publish to pypi?  Noted by Zhenghao in Dec 27, 2020.
 
+Note: make sure you have the assets dir locally. we will include the assets with the .wheel file
+
 0. Rename version in metadrive/constants.py and setup.py
 
 1. Remove old files and ext_modules from setup() to get a clean wheel for all platforms in py3-none-any.wheel