changing spaces. Debugging ploting
This commit is contained in:
felipecode
parent
1b89041375
commit
269979d0c7
|
|
@ -14,7 +14,7 @@ sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2)
|
|||
class Benchmark(object,):
|
||||
|
||||
# Param @name to be used for saving purposes
|
||||
def __init__(self,city_name,name):
|
||||
def __init__(self,city_name,name,starting_position=0):
|
||||
self._city_name = city_name # The name of the city that is going to be used.
|
||||
self._base_name = name # Sends a base name, the rest will be saved with respect to what the episode was about
|
||||
self._dict_stats = {'exp_id':-1,
|
||||
|
|
@ -45,6 +45,11 @@ class Benchmark(object,):
|
|||
'pos_y':-1
|
||||
}
|
||||
|
||||
# Returns a experiment class that is build from a benchmark inherited class
|
||||
self._experiments = self._build_experiments()
|
||||
|
||||
self._suffix_name = self._get_experiments_names(self._experiments)
|
||||
|
||||
|
||||
def run_navigation_episode(self, agent,carla, time_out, target):
|
||||
|
||||
|
|
@ -104,12 +109,10 @@ class Benchmark(object,):
|
|||
return (0, measurement_vec, time_out,distance)
|
||||
|
||||
|
||||
def benchmark_agent(self,agent,carla,starting_position=0):
|
||||
def benchmark_agent(self,agent,carla):
|
||||
|
||||
|
||||
# The fixed name considering all the experiments being run
|
||||
|
||||
experiments = self._build_experiments() # Returns a experiment class that is build from a benchmark inherited class
|
||||
self._suffix_name = self._get_experiments_names(experiments[starting_position:]) # The fixed name considering all the experiments being run
|
||||
with open(self._base_name + self._suffix_name , 'wb') as ofd:
|
||||
|
||||
w = csv.DictWriter(ofd, self._dict_stats.keys())
|
||||
|
|
@ -126,7 +129,7 @@ class Benchmark(object,):
|
|||
self.write_experiment() # write the experiment being run
|
||||
|
||||
|
||||
for experiment in experiments[starting_position:]:
|
||||
for experiment in self._experiments[starting_position:]:
|
||||
|
||||
|
||||
|
||||
|
|
@ -208,7 +211,7 @@ class Benchmark(object,):
|
|||
with open('rewards_' + self._base_name + self._suffix_name , 'a+') as rfd:
|
||||
|
||||
rw = csv.DictWriter(rfd, self._dict_rewards.keys())
|
||||
rw.writeheader()
|
||||
|
||||
|
||||
|
||||
for i in range(len(reward_vec)):
|
||||
|
|
@ -258,7 +261,7 @@ class Benchmark(object,):
|
|||
def _get_experiments_names(self,experiments):
|
||||
|
||||
name_cat ='_t'
|
||||
for experiment in experiments:
|
||||
for experiment in experiments:
|
||||
|
||||
name_cat += str(experiment.id) + '.'
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,11 @@
|
|||
# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
|
||||
# Barcelona (UAB), and the INTEL Visual Computing Lab.
|
||||
#
|
||||
# This work is licensed under the terms of the MIT license.
|
||||
# For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
# CORL experiment set.
|
||||
|
||||
|
||||
from .benchmark import Benchmark
|
||||
from .experiment import Experiment
|
||||
|
|
@ -11,130 +19,136 @@ from carla.settings import CarlaSettings
|
|||
|
||||
class CoRL(Benchmark):
|
||||
|
||||
def _calculate_time_out(self,path_distance):
|
||||
return ((path_distance/100000.0)/10.0)*3600.0 + 10.0
|
||||
def _calculate_time_out(self,path_distance):
|
||||
return ((path_distance/100000.0)/10.0)*3600.0 + 10.0
|
||||
|
||||
def _poses_town01(self):
|
||||
def _poses_town01(self):
|
||||
|
||||
return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\
|
||||
[68,50],[61,59],[47,64],[147,90],[33,87],\
|
||||
[26,19],[80,76],[45,49],[55,44],[29,107],\
|
||||
[95,104],[34,84],[51,67],[22,17],[91,148],\
|
||||
[20,107],[78,70],[95,102],[68,44],[45,69]],
|
||||
return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\
|
||||
[68,50],[61,59],[47,64],[147,90],[33,87],\
|
||||
[26,19],[80,76],[45,49],[55,44],[29,107],\
|
||||
[95,104],[34,84],[51,67],[22,17],[91,148],\
|
||||
[20,107],[78,70],[95,102],[68,44],[45,69]],
|
||||
|
||||
[[138,17],[46,16],[26,9],[42,49],[140,26],\
|
||||
[85,97],[65,133],[137,51],[76,66],[46,39],\
|
||||
[40,60],[1,28],[4,129],[121,107],[2,129],\
|
||||
[78,44],[68,85],[41,102],[95,70],[68,129],\
|
||||
[84,69],[47,79],[110,15],[130,17],[0,17]],
|
||||
[[138,17],[46,16],[26,9],[42,49],[140,26],\
|
||||
[85,97],[65,133],[137,51],[76,66],[46,39],\
|
||||
[40,60],[1,28],[4,129],[121,107],[2,129],\
|
||||
[78,44],[68,85],[41,102],[95,70],[68,129],\
|
||||
[84,69],[47,79],[110,15],[130,17],[0,17]],
|
||||
|
||||
[[105,29],[27,130],[102,87],[132,27],[24,44],\
|
||||
[96,26],[34,67],[28,1],[140,134],[105,9],\
|
||||
[148,129],[65,18],[21,16],[147,97],[42,51],\
|
||||
[30,41],[18,107],[69,45],[102,95],[18,145],\
|
||||
[111,64],[79,45],[84,69],[73,31],[37,81]],
|
||||
[[105,29],[27,130],[102,87],[132,27],[24,44],\
|
||||
[96,26],[34,67],[28,1],[140,134],[105,9],\
|
||||
[148,129],[65,18],[21,16],[147,97],[42,51],\
|
||||
[30,41],[18,107],[69,45],[102,95],[18,145],\
|
||||
[111,64],[79,45],[84,69],[73,31],[37,81]],
|
||||
|
||||
[[105,29],[27,130],[102,87],[132,27],[24,44],\
|
||||
[96,26],[34,67],[28,1],[140,134],[105,9],\
|
||||
[148,129],[65,18],[21,16],[147,97],[42,51],\
|
||||
[30,41],[18,107],[69,45],[102,95],[18,145],\
|
||||
[111,64],[79,45],[84,69],[73,31],[37,81]]
|
||||
[[105,29],[27,130],[102,87],[132,27],[24,44],\
|
||||
[96,26],[34,67],[28,1],[140,134],[105,9],\
|
||||
[148,129],[65,18],[21,16],[147,97],[42,51],\
|
||||
[30,41],[18,107],[69,45],[102,95],[18,145],\
|
||||
[111,64],[79,45],[84,69],[73,31],[37,81]]
|
||||
|
||||
]
|
||||
]
|
||||
|
||||
def _poses_town02(self):
|
||||
def _poses_town02(self):
|
||||
|
||||
return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\
|
||||
[64, 66], [78, 76],[59,57],[61,18],[35,39],\
|
||||
[12,8],[0,18],[75,68],[54,60],[45,49],\
|
||||
[46,42],[53,46],[80,29],[65,63],[0,81],\
|
||||
[54,63],[51,42],[16,19],[17,26],[77,68]],
|
||||
return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\
|
||||
[64, 66], [78, 76],[59,57],[61,18],[35,39],\
|
||||
[12,8],[0,18],[75,68],[54,60],[45,49],\
|
||||
[46,42],[53,46],[80,29],[65,63],[0,81],\
|
||||
[54,63],[51,42],[16,19],[17,26],[77,68]],
|
||||
|
||||
[[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\
|
||||
[58,71],[74,32],[44,0],[71,16],[14,24],\
|
||||
[34,11],[43,14],[75,16],[80,21],[3,23],\
|
||||
[75,59],[50,47],[11,19],[77,34],[79,25] ,\
|
||||
[40,63],[58,76],[79,55],[16,61],[27,11]],
|
||||
[[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\
|
||||
[58,71],[74,32],[44,0],[71,16],[14,24],\
|
||||
[34,11],[43,14],[75,16],[80,21],[3,23],\
|
||||
[75,59],[50,47],[11,19],[77,34],[79,25] ,\
|
||||
[40,63],[58,76],[79,55],[16,61],[27,11]],
|
||||
|
||||
[[19,66],[79,14],[19,57],[23,1],\
|
||||
[53,76],[42,13],[31,71],[33,5],\
|
||||
[54,30],[10,61],[66,3],[27,12],\
|
||||
[79,19],[2,29],[16,14],[5,57],\
|
||||
[70,73],[46,67],[57,50],[61,49],[21,12],\
|
||||
[51,81],[77,68],[56,65],[43,54]],
|
||||
[[19,66],[79,14],[19,57],[23,1],\
|
||||
[53,76],[42,13],[31,71],[33,5],\
|
||||
[54,30],[10,61],[66,3],[27,12],\
|
||||
[79,19],[2,29],[16,14],[5,57],\
|
||||
[70,73],[46,67],[57,50],[61,49],[21,12],\
|
||||
[51,81],[77,68],[56,65],[43,54]],
|
||||
|
||||
[[19,66],[79,14],[19,57],[23,1],\
|
||||
[53,76],[42,13],[31,71],[33,5],\
|
||||
[54,30],[10,61],[66,3],[27,12],\
|
||||
[79,19],[2,29],[16,14],[5,57],\
|
||||
[70,73],[46,67],[57,50],[61,49],[21,12],\
|
||||
[51,81],[77,68],[56,65],[43,54]]
|
||||
[[19,66],[79,14],[19,57],[23,1],\
|
||||
[53,76],[42,13],[31,71],[33,5],\
|
||||
[54,30],[10,61],[66,3],[27,12],\
|
||||
[79,19],[2,29],[16,14],[5,57],\
|
||||
[70,73],[46,67],[57,50],[61,49],[21,12],\
|
||||
[51,81],[77,68],[56,65],[43,54]]
|
||||
|
||||
]
|
||||
]
|
||||
|
||||
|
||||
def _build_experiments(self):
|
||||
def _build_experiments(self):
|
||||
""" Creates the whole set of experiment objects,
|
||||
The experiments created depend on the selected Town.
|
||||
"""
|
||||
|
||||
# We set the camera
|
||||
# This single RGB camera is used on every experiment
|
||||
|
||||
camera = Camera('CameraRGB')
|
||||
camera.set(CameraFOV=100)
|
||||
|
||||
|
||||
# We set the camera that is going to be used for all experiments
|
||||
camera = Camera('CameraRGB')
|
||||
camera.set(CameraFOV=100)
|
||||
camera.set_image_size(800, 600)
|
||||
|
||||
camera.set_position(200, 0, 140)
|
||||
camera.set_rotation(-15.0,0,0)
|
||||
|
||||
camera.set_image_size(800, 600)
|
||||
|
||||
camera.set_position(200, 0, 140)
|
||||
camera.set_rotation(-15.0,0,0)
|
||||
|
||||
weathers = [1,3,6,8,4,14]
|
||||
if self._city_name == 'Town01':
|
||||
poses_tasks = self._poses_town01()
|
||||
vehicles_tasks =[0,0,0,20]
|
||||
pedestrians_tasks = [0,0,0,50]
|
||||
else:
|
||||
poses_tasks = self._poses_town02()
|
||||
vehicles_tasks =[0,0,0,15]
|
||||
pedestrians_tasks = [0,0,0,50]
|
||||
weathers = [1,3,6,8,4,14]
|
||||
if self._city_name == 'Town01':
|
||||
poses_tasks = self._poses_town01()
|
||||
vehicles_tasks =[0,0,0,20]
|
||||
pedestrians_tasks = [0,0,0,50]
|
||||
else:
|
||||
poses_tasks = self._poses_town02()
|
||||
vehicles_tasks =[0,0,0,15]
|
||||
pedestrians_tasks = [0,0,0,50]
|
||||
|
||||
|
||||
|
||||
experiments_vector = []
|
||||
experiments_vector = []
|
||||
|
||||
|
||||
for weather in weathers:
|
||||
for weather in weathers:
|
||||
|
||||
|
||||
for iteration in range(len(poses_tasks)):
|
||||
for iteration in range(len(poses_tasks)):
|
||||
|
||||
poses = poses_tasks[iteration]
|
||||
vehicles = vehicles_tasks[iteration]
|
||||
pedestrians = pedestrians_tasks[iteration]
|
||||
poses = poses_tasks[iteration]
|
||||
vehicles = vehicles_tasks[iteration]
|
||||
pedestrians = pedestrians_tasks[iteration]
|
||||
|
||||
|
||||
|
||||
conditions = CarlaSettings()
|
||||
conditions.set(
|
||||
SynchronousMode=True,
|
||||
SendNonPlayerAgentsInfo=True,
|
||||
NumberOfVehicles=vehicles,
|
||||
NumberOfPedestrians=pedestrians,
|
||||
WeatherId=weather,
|
||||
SeedVehicles=123456789,
|
||||
SeedPedestrians=123456789
|
||||
)
|
||||
# Add all the cameras that were set for this experiments
|
||||
conditions = CarlaSettings()
|
||||
conditions.set(
|
||||
SynchronousMode=True,
|
||||
SendNonPlayerAgentsInfo=True,
|
||||
NumberOfVehicles=vehicles,
|
||||
NumberOfPedestrians=pedestrians,
|
||||
WeatherId=weather,
|
||||
SeedVehicles=123456789,
|
||||
SeedPedestrians=123456789
|
||||
)
|
||||
# Add all the cameras that were set for this experiments
|
||||
|
||||
conditions.add_sensor(camera)
|
||||
conditions.add_sensor(camera)
|
||||
|
||||
experiment = Experiment()
|
||||
experiment.set(
|
||||
Conditions=conditions,
|
||||
Poses= poses,
|
||||
Id = iteration,
|
||||
Repetitions = 1
|
||||
)
|
||||
experiments_vector.append(experiment)
|
||||
experiment = Experiment()
|
||||
experiment.set(
|
||||
Conditions=conditions,
|
||||
Poses= poses,
|
||||
Id = iteration,
|
||||
Repetitions = 1
|
||||
)
|
||||
experiments_vector.append(experiment)
|
||||
|
||||
return experiments_vector
|
||||
def _get_details(self): # Function to get automatic information from the experiment for writing purposes
|
||||
return 'corl_' + self._city_name
|
||||
return experiments_vector
|
||||
|
||||
def _get_details(self):
|
||||
# Function to get automatic information from the experiment for writing purposes
|
||||
return 'corl_' + self._city_name
|
||||
|
|
@ -278,12 +278,7 @@ def plot_summary(file,summary_weathers):
|
|||
print 'Avg completion', summaries[sw]['completion']/summaries[sw]['num_weathers']
|
||||
print 'Avg infractions'
|
||||
print_infractions(summaries[sw]['infractions']/summaries[sw]['num_weathers'])
|
||||
#
|
||||
#
|
||||
#infractions_vec = [sum(x) for x in zip(infractions, infractions_vec)]
|
||||
#print 'Non_Colisions/Km', (infractions[1]+ infractions[0])/2.0 ,'Lane Cross/Km ',infractions[0],'Side Cross/Km ',infractions[1],'Col Gen /Km ',infractions[2]\
|
||||
#,'Col Ped /Km ',infractions[3],'Col Ped /Km ',infractions[4], 'Acidents/Km ', (infractions[4] +infractions[2] + infractions[3])/3,\
|
||||
#'total', 1/((infractions[4] +infractions[2] + infractions[3] + infractions[1] + infractions[0])/5.0)
|
||||
|
||||
|
||||
return summaries
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue