Merge pull request #143 from inverted-ai/develop

Fixed a link in README pointing to correct Colab notebook

docs/source/cppapi/cpp-blame.md

@@ -0,0 +1,17 @@
+# BLAME (C++)
+
+
+```{eval-rst}
+.. doxygenfunction:: invertedai::blame
+   :project: InvertedAI-CPP
+```
+
+---
+```{eval-rst}
+.. doxygenclass:: invertedai::BlameRequest
+   :members:
+   :undoc-members:
+.. doxygenclass:: invertedai::BlameResponse
+   :members:
+   :undoc-members:
+```

docs/source/cppapi/index.md

@@ -7,6 +7,7 @@ accessed directly. Below are the key functions of the library, along with some c
 ```{toctree}
 :maxdepth: 1
 
+cpp-blame
 cpp-drive
 cpp-initialize
 cpp-location-info

docs/source/pythonapi/index.md

@@ -7,13 +7,13 @@ accessed directly. Below are the key functions of the library, along with some c
 ```{toctree}
 :maxdepth: 1
 
+sdk-blame
 sdk-drive
 sdk-initialize
-sdk-location-info
 sdk-light
-sdk-blame
-sdk-simulation
+sdk-location-info
 sdk-common
+sdk-simulation
 sdk-env-var
 ```
 

examples/carla/region_drive.py

@@ -1,6 +1,9 @@
+import sys
+sys.path.append('../')
+
 import argparse
 import invertedai as iai
-from invertedai.simulation.simulator import Simulation, SimulationConfig
+from simulation.simulator import Simulation, SimulationConfig
 import pathlib
 import pygame
 from tqdm import tqdm
@@ -17,7 +20,7 @@
 parser.add_argument("-cap", "--quadtree_capacity", type=int, default=15)
 parser.add_argument("-ad", "--agent_density", type=int, default=10)
 parser.add_argument("-ri", "--re_initialization", type=int, default=30)
-parser.add_argument("-len", "--simulation_length", type=int, default=10000)
+parser.add_argument("-len", "--simulation_length", type=int, default=600)
 args = parser.parse_args()
 
 
@@ -29,12 +32,12 @@
 
 cfg = SimulationConfig(location=args.location, map_center=(response.map_center.x, response.map_center.y),
                        map_fov=response.map_fov, rendered_static_map=rendered_static_map,
-                       map_width=response.map_fov+200, map_height=response.map_fov+200, agent_density=args.agent_density,
+                       map_width=response.map_fov, map_height=response.map_fov, agent_density=args.agent_density,
                        initialize_stride=50, quadtree_capacity=args.quadtree_capacity,
                        re_initialization_period=args.re_initialization)
 simulation = Simulation(cfg=cfg)
 
-fps = 100
+fps = 60
 clock = pygame.time.Clock()
 run = True
 start = perf_counter()

examples/simulation/regions.py

@@ -2,7 +2,7 @@
 from simulation.utils import Rectangle, RE_INITIALIZATION_PERIOD, DEBUG
 from typing import List, Optional, Callable
 from random import randint
-from invertedai import drive, async_drive
+from invertedai.api.drive import drive, async_drive
 from simulation.car import Car
 
 

invertedai/api/drive.py

@@ -41,7 +41,7 @@ class DriveResponse(BaseModel):
     is_inside_supported_area: List[
         bool
     ]  #: For each agent, indicates whether the predicted state is inside supported area.
-
+    model_version: str # Model version used for this API call
 
 @validate_arguments
 def drive(
@@ -55,6 +55,7 @@ def drive(
     rendering_fov: Optional[float] = None,
     get_infractions: bool = False,
     random_seed: Optional[int] = None,
+    model_version: Optional[str] = None
 ) -> DriveResponse:
     """
     Parameters
@@ -99,6 +100,8 @@ def drive(
     random_seed:
         Controls the stochastic aspects of agent behavior for reproducibility.
 
+    model_version:
+        Optionally specify the version of the model. If None is passed which is by default, the best model will be used.
     See Also
     --------
     :func:`initialize`
@@ -144,7 +147,8 @@ def _tolist(input_data: List):
         get_infractions=get_infractions,
         random_seed=random_seed,
         rendering_center=rendering_center,
-        rendering_fov=rendering_fov
+        rendering_fov=rendering_fov,
+        model_version=model_version
     )
     start = time.time()
     timeout = TIMEOUT
@@ -170,6 +174,7 @@ def _tolist(input_data: List):
                 if response["infraction_indicators"]
                 else [],
                 is_inside_supported_area=response["is_inside_supported_area"],
+                model_version=response["model_version"]
             )
 
             return response
@@ -193,6 +198,7 @@ async def async_drive(
     rendering_fov: Optional[float] = None,
     get_infractions: bool = False,
     random_seed: Optional[int] = None,
+    model_version: Optional[str] = None
 ) -> DriveResponse:
     """
     A light async version of :func:`drive`
@@ -216,7 +222,8 @@ def _tolist(input_data: List):
         get_infractions=get_infractions,
         random_seed=random_seed,
         rendering_center=rendering_center,
-        rendering_fov=rendering_fov
+        rendering_fov=rendering_fov,
+        model_version=model_version,
     )
     response = await iai.session.async_request(model="drive", data=model_inputs)
 
@@ -237,6 +244,7 @@ def _tolist(input_data: List):
         if response["infraction_indicators"]
         else [],
         is_inside_supported_area=response["is_inside_supported_area"],
+        model_version=response["model_version"]
     )
 
     return response

invertedai/api/initialize.py

@@ -41,6 +41,7 @@ class InitializeResponse(BaseModel):
     infractions: Optional[
         List[InfractionIndicators]
     ]  #: If `get_infractions` was set, they are returned here.
+    model_version: str # Model version used for this API call
 
 
 @validate_arguments
@@ -56,6 +57,7 @@ def initialize(
     get_infractions: bool = False,
     agent_count: Optional[int] = None,
     random_seed: Optional[int] = None,
+    model_version: Optional[str] = None  # Model version used for this API call
 ) -> InitializeResponse:
     """
     Initializes a simulation in a given location.
@@ -104,6 +106,9 @@ def initialize(
     random_seed:
         Controls the stochastic aspects of initialization for reproducibility.
 
+    model_version:
+        Optionally specify the version of the model. If None is passed which is by default, the best model will be used.
+
     See Also
     --------
     :func:`drive`
@@ -152,6 +157,7 @@ def initialize(
         location_of_interest=location_of_interest,
         get_infractions=get_infractions,
         random_seed=random_seed,
+        model_version=model_version
     )
     start = time.time()
     timeout = TIMEOUT
@@ -182,6 +188,7 @@ def initialize(
                 ]
                 if response["infraction_indicators"]
                 else [],
+                model_version=response["model_version"]
             )
             return response
         except TryAgain as e:
@@ -203,6 +210,7 @@ async def async_initialize(
     get_infractions: bool = False,
     agent_count: Optional[int] = None,
     random_seed: Optional[int] = None,
+    model_version: Optional[str] = None
 ) -> InitializeResponse:
     """
     The async version of :func:`initialize`
@@ -228,6 +236,7 @@ async def async_initialize(
         location_of_interest=location_of_interest,
         get_infractions=get_infractions,
         random_seed=random_seed,
+        model_version=model_version
     )
 
     response = await iai.session.async_request(model="initialize", data=model_inputs)
@@ -255,5 +264,6 @@ async def async_initialize(
         ]
         if response["infraction_indicators"]
         else [],
+        model_version=response["model_version"]
     )
     return response

invertedai_cpp/Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:22.10
+FROM ubuntu:22.04
 ENV DEBIAN_FRONTEND noninteractive
 RUN apt-get update && apt-get install -y \
     && apt-get install -y build-essential \

invertedai_cpp/examples/BUILD

@@ -30,3 +30,18 @@ cc_binary(
         "@opencv",
     ],
 )
+
+cc_binary(
+    name = "fps_control_demo",
+    srcs = ["fps_control_demo.cc"],
+    data = [
+        "drive_body.json",
+        "initialize_body.json",
+        "location_info_body.json",
+    ],
+    deps = [
+        "//invertedai:api",
+        "@boost//:beast",
+        "@opencv",
+    ],
+)

invertedai_cpp/examples/conditional_initialize_body.json

@@ -0,0 +1,26 @@
+{
+    "location": "iai:ubc_roundabout",
+    "num_agents_to_spawn": 10,
+    "states_history": null,
+    "agent_attributes": null,
+    "traffic_light_state_history": null,
+    "get_birdview": true,
+    "get_infractions": false,
+    "random_seed": null,
+    "location_of_interest": null,
+    "conditional_agent_states": [
+        [
+            -4.79,
+            -18.32,
+            -1.35,
+            6.62
+        ]
+    ],
+    "conditional_agent_attributes": [
+        [
+            4.4,
+            1.94,
+            1.41
+        ]
+    ]
+}

invertedai_cpp/examples/drive_body.json

@@ -1,5 +1,5 @@
 {
-    "location": "canada:vancouver:ubc_roundabout",
+    "location": "iai:ubc_roundabout",
     "agent_states": [
         [
             33.8,