Fix image source config (#468)

* fix setting * add anotation * update script * format
decisionforce · Jul 9, 2021 · 2e84d33 · 2e84d33
1 parent be4bdbd
commit 2e84d33
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Showing 5 changed files with 14 additions and 18 deletions.
diff --git a/pgdrive/envs/pgdrive_env.py b/pgdrive/envs/pgdrive_env.py
@@ -74,8 +74,6 @@
 
         # ===== use image =====
         image_source="rgb_cam",  # take effect when only when use_image == True
-        # use_image=False,
-        # rgb_clip=True,
 
         # ===== vehicle spawn =====
         spawn_lane_index=(FirstBlock.NODE_1, FirstBlock.NODE_2, 0),

diff --git a/pgdrive/scene_manager/agent_manager.py b/pgdrive/scene_manager/agent_manager.py
@@ -2,7 +2,8 @@
 import logging
 from typing import Dict
 
-from gym.spaces import Box
+from gym.spaces import Box, Dict
+
 from pgdrive.scene_creator.vehicle.base_vehicle import BaseVehicle
 
 
@@ -112,7 +113,10 @@ def init(self, pg_world, config_dict: Dict):
 
             obs_space = self._init_observation_spaces[agent_id]
             self.observation_spaces[vehicle.name] = obs_space
-            assert isinstance(obs_space, Box)
+            if not vehicle.vehicle_config["use_image"]:
+                assert isinstance(obs_space, Box)
+            else:
+                assert isinstance(obs_space, Dict), "Multi-agent observation should be gym.Dict"
             action_space = self._init_action_spaces[agent_id]
             self.action_spaces[vehicle.name] = action_space
             assert isinstance(action_space, Box)

diff --git a/pgdrive/tests/vis_funtionality/vis_depth_cam_ground.py b/pgdrive/tests/vis_funtionality/vis_depth_cam_ground.py
@@ -9,12 +9,11 @@ def __init__(self):
                 "environment_num": 1,
                 "traffic_density": 0.1,
                 "start_seed": 4,
-                "image_source": "depth_cam",
                 "manual_control": True,
                 "use_render": True,
                 "use_image": True,
                 "rgb_clip": True,
-                "vehicle_config": dict(depth_cam=(200, 88, True)),
+                "vehicle_config": dict(depth_cam=(200, 88, True), image_source="depth_cam"),
                 "pg_world_config": {
                     "headless_image": False,
                 },
@@ -31,7 +30,7 @@ def __init__(self):
 if __name__ == "__main__":
 
     def get_image(env):
-        env.vehicle.image_sensors[env.config["image_source"]].save_image()
+        env.vehicle.image_sensors[env.vehicle.vehicle_config["image_source"]].save_image()
         env.pg_world.screenshot()
 
     env = TestEnv()

diff --git a/pgdrive/tests/vis_funtionality/vis_depth_cam_no_ground.py b/pgdrive/tests/vis_funtionality/vis_depth_cam_no_ground.py
@@ -9,12 +9,11 @@ def __init__(self):
                 "environment_num": 1,
                 "traffic_density": 0.1,
                 "start_seed": 4,
-                "image_source": "depth_cam",
                 "manual_control": True,
                 "use_render": True,
                 "use_image": True,
                 "rgb_clip": True,
-                "vehicle_config": dict(depth_cam=(200, 88, False)),
+                "vehicle_config": dict(depth_cam=(200, 88, False), image_source="depth_cam"),
                 "pg_world_config": {
                     "headless_image": False,
                 },
@@ -31,7 +30,7 @@ def __init__(self):
 if __name__ == "__main__":
     env = TestEnv()
     env.reset()
-    env.pg_world.accept("m", env.vehicle.image_sensors[env.config["image_source"]].save_image)
+    env.pg_world.accept("m", env.vehicle.image_sensors[env.vehicle.vehicle_config["image_source"]].save_image)
 
     for i in range(1, 100000):
         o, r, d, info = env.step([0, 1])

diff --git a/pgdrive/tests/vis_funtionality/vis_rgb_cam.py b/pgdrive/tests/vis_funtionality/vis_rgb_cam.py
@@ -8,23 +8,19 @@ def __init__(self):
                 "environment_num": 1,
                 "traffic_density": 0.1,
                 "start_seed": 4,
-                "image_source": "rgb_cam",
                 "manual_control": True,
                 "use_render": True,
-                "use_image": True,
-                "rgb_clip": True,
-                # "vehicle_config": dict(rgb_cam=(200, 88)),
-                "pg_world_config": {
-                    "headless_image": False
-                }
+                "use_image": True,  # it is a switch telling pgdrive to use rgb as observation
+                "rgb_clip": True,  # clip rgb to range(0,1) instead of (0, 255)
             }
         )
 
 
 if __name__ == "__main__":
     env = TestEnv()
     env.reset()
-    env.pg_world.accept("m", env.vehicle.image_sensors[env.config["image_source"]].save_image)
+    # print m to capture rgb observation
+    env.pg_world.accept("m", env.vehicle.image_sensors[env.vehicle.vehicle_config["image_source"]].save_image)
 
     for i in range(1, 100000):
         o, r, d, info = env.step([0, 1])