Add function for rendering top-down trajectory from json file (#460)

* update * format * format * format * format * format * allow set state * _replay_done * foramt * fix height error * panda_replay * now allow show agent name with top down renderere * replay stop system * prefer track * color * global light * update * fix light pois * lane follow ! * vehicle color * format * cam para * camera dist * format * sync main Co-authored-by: pengzhenghao <pengzh@ie.cuhk.edu.hk>
decisionforce · Jun 29, 2021 · 3df10ea · 3df10ea
1 parent fe5df32
commit 3df10ea
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Showing 7 changed files with 34 additions and 28 deletions.
diff --git a/pgdrive/envs/base_env.py b/pgdrive/envs/base_env.py
@@ -41,6 +41,7 @@
     use_chase_camera=True,
     use_chase_camera_follow_lane=False,  # If true, then vision would be more stable.
     camera_height=1.8,
+    camera_dist=7,
     prefer_track_agent=None,
 
     # ===== Vehicle =====

diff --git a/pgdrive/envs/marl_envs/marl_bottleneck.py b/pgdrive/envs/marl_envs/marl_bottleneck.py
@@ -1,4 +1,5 @@
 from pgdrive.envs.multi_agent_pgdrive import pygame_replay
+from pgdrive.utils.math_utils import clip
 from pgdrive.envs.marl_envs.marl_inout_roundabout import LidarStateObservationMARound
 from pgdrive.envs.multi_agent_pgdrive import MultiAgentPGDrive
 from pgdrive.obs import ObservationType

diff --git a/pgdrive/envs/marl_envs/marl_intersection.py b/pgdrive/envs/marl_envs/marl_intersection.py
@@ -1,5 +1,5 @@
 import copy
-
+from pgdrive.envs.multi_agent_pgdrive import pygame_replay, panda_replay
 from pgdrive.envs.marl_envs.marl_inout_roundabout import LidarStateObservationMARound
 from pgdrive.envs.multi_agent_pgdrive import MultiAgentPGDrive
 from pgdrive.obs import ObservationType
@@ -204,8 +204,8 @@ def _vis():
                 },
                 "show_lidar": False,
             },
-            "fast": True,
-            "use_render": True,
+            # "fast": True,
+            # "use_render": True,
             "debug": True,
             "manual_control": True,
             "num_agents": 48,
@@ -218,7 +218,7 @@ def _vis():
     for i in range(1, 100000):
         actions = {k: [0.0, 1.0] for k in env.vehicles.keys()}
         if len(env.vehicles) == 1:
-            actions = {k: [-1.0, 1.0] for k in env.vehicles.keys()}
+            actions = {k: [-0, 1.0] for k in env.vehicles.keys()}
         o, r, d, info = env.step(actions)
         for r_ in r.values():
             total_r += r_
@@ -350,29 +350,21 @@ def show_map_and_traj():
     env.close()
 
 
-def pygame_replay():
-    import json
-    import pygame
-    env = MultiAgentIntersectionEnv({"use_topdown": True})
-    with open("metasvodist_inter_best.json", "r") as f:
-        traj = json.load(f)
-    o = env.reset(copy.deepcopy(traj))
-    frame_count = 0
-    while True:
-        o, r, d, i = env.step(env.action_space.sample())
-        env.pg_world.force_fps.toggle()
-        env.render(mode="top_down", num_stack=50, film_size=(4000, 4000), history_smooth=0)
-        pygame.image.save(env._top_down_renderer._runtime, "inter_{}.png".format(frame_count))
-        frame_count += 1
-        if len(env.scene_manager.replay_system.restore_episode_info) == 0:
-            env.close()
-
-
 if __name__ == "__main__":
     # _draw()
     _vis()
     # _vis_debug_respawn()
     # _profiwdle()
     # _long_run()
     # show_map_and_traj()
+    # pygame_replay("parking", MultiAgentParkingLotEnv, False, other_traj="metasvodist_parking_best.json")
+    # panda_replay(
+    #     "parking",
+    #     MultiAgentIntersectionEnv,
+    #     False,
+    #     other_traj="metasvodist_inter.json",
+    #     extra_config={"pg_world_config": {
+    #         "global_light": True
+    #     }}
+    # )
     # pygame_replay()
diff --git a/pgdrive/envs/marl_envs/marl_parking_lot.py b/pgdrive/envs/marl_envs/marl_parking_lot.py
@@ -2,7 +2,7 @@
 import logging
 
 from pgdrive.envs.marl_envs.marl_inout_roundabout import LidarStateObservationMARound
-from pgdrive.envs.multi_agent_pgdrive import MultiAgentPGDrive, pygame_replay
+from pgdrive.envs.multi_agent_pgdrive import MultiAgentPGDrive, pygame_replay, panda_replay
 from pgdrive.obs import ObservationType
 from pgdrive.scene_creator.blocks.first_block import FirstBlock
 from pgdrive.scene_creator.blocks.parking_lot import ParkingLot
@@ -386,7 +386,8 @@ def _vis():
                 "show_lidar": False,
             },
             "pg_world_config": {
-                "debug_static_world": True
+                "debug_static_world": True,
+                "global_light": True
             },
             "fast": True,
             "use_render": True,
@@ -542,8 +543,17 @@ def _long_run():
 
 if __name__ == "__main__":
     # _draw()
-    # _vis()
+    _vis()
     # _vis_debug_respawn()
     _profile()
     # _long_run()
-    pygame_replay("parking", MultiAgentParkingLotEnv, True, other_ckpt="metasvodist_parking_3.json")
+    # pygame_replay("parking", MultiAgentParkingLotEnv, False, other_traj="metasvodist_parking_best.json")
+    panda_replay(
+        "parking",
+        MultiAgentParkingLotEnv,
+        False,
+        other_traj="metasvodist_parking_best.json",
+        extra_config={"pg_world_config": {
+            "global_light": True
+        }}
+    )
diff --git a/pgdrive/envs/multi_agent_pgdrive.py b/pgdrive/envs/multi_agent_pgdrive.py
@@ -378,6 +378,7 @@ def pygame_replay(name, env_class, save=False, other_traj=None, film_size=(1000,
     with open(ckpt, "r") as f:
         traj = json.load(f)
     o = env.reset(copy.deepcopy(traj))
+    env.main_camera.set_follow_lane(True)
     frame_count = 0
     while True:
         o, r, d, i = env.step(env.action_space.sample())

diff --git a/pgdrive/envs/pgdrive_env.py b/pgdrive/envs/pgdrive_env.py
@@ -189,7 +189,9 @@ def _after_lazy_init(self):
 
         # for manual_control and main camera type
         if (self.config["use_render"] or self.config["use_image"]) and self.config["use_chase_camera"]:
-            self.main_camera = ChaseCamera(self.pg_world.cam, self.config["camera_height"], 7, self.pg_world)
+            self.main_camera = ChaseCamera(
+                self.pg_world.cam, self.config["camera_height"], self.config["camera_dist"], self.pg_world
+            )
             self.main_camera.set_follow_lane(self.config["use_chase_camera_follow_lane"])
             self.main_camera.track(self.current_track_vehicle, self.pg_world)
             self.pg_world.accept("b", self.bird_view_camera)

diff --git a/pgdrive/scene_creator/vehicle/base_vehicle.py b/pgdrive/scene_creator/vehicle/base_vehicle.py
@@ -892,7 +892,6 @@ def overspeed(self):
 
     @property
     def replay_done(self):
-        print(111)
         return self._replay_done if hasattr(self, "_replay_done") else (
             self.crash_building or self.crash_vehicle or
             # self.on_white_continuous_line or