Style changes, changing useless files
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felipecode
parent
edd4f20839
commit
e85f37fae9
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@ -1 +1 @@
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from .driving_benchmark import run_driving_benchmark
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from .driving_benchmark import run_driving_benchmark
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@ -179,7 +179,7 @@ class DrivingBenchmark(object):
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start_point.location.x, start_point.location.y, 0.22], [
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start_point.orientation.x, start_point.orientation.y, 0.22], [
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end_point.location.x, end_point.location.y, end_point.location.z], [
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end_point.orientation.x, end_point.orientation.y, end_point.orientation.z])
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end_point.orientation.x, end_point.orientation.y, end_point.orientation.z])
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def _run_navigation_episode(
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self,
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@ -271,7 +271,6 @@ def run_driving_benchmark(agent,
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host='127.0.0.1',
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port=2000
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):
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while True:
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try:
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@ -286,8 +285,8 @@ def run_driving_benchmark(agent,
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benchmark = DrivingBenchmark(city_name=city_name,
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name_to_save=log_name + '_'
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+ type(experiment_suite).__name__
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+ '_' + city_name,
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+ type(experiment_suite).__name__
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+ '_' + city_name,
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continue_experiment=continue_experiment)
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# This function performs the benchmark. It returns a dictionary summarizing
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# the entire execution.
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@ -19,6 +19,7 @@ class BasicExperimentSuite(ExperimentSuite):
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@property
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def train_weathers(self):
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return [1]
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@property
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def test_weathers(self):
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return [1]
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@ -8,19 +8,18 @@
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from __future__ import print_function
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from carla.driving_benchmark.experiment import Experiment
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from carla.sensor import Camera
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from carla.settings import CarlaSettings
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from carla.driving_benchmark.experiment_suites.experiment_suite import ExperimentSuite
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class CoRL2017(ExperimentSuite):
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@property
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def train_weathers(self):
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return [1, 3, 6, 8]
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@property
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def test_weathers(self):
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return [4, 14]
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@ -143,5 +142,3 @@ class CoRL2017(ExperimentSuite):
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experiments_vector.append(experiment)
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return experiments_vector
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@ -24,7 +24,6 @@ class ExperimentSuite(object):
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# Warning: assumes that all tasks have the same size
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return len(self._experiments[0].poses)
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def get_experiments(self):
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@ -45,8 +44,6 @@ class ExperimentSuite(object):
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return list(dynamic_tasks)
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@property
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def metrics_parameters(self):
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"""
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@ -76,7 +73,7 @@ class ExperimentSuite(object):
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'threshold': 300
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},
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}
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}
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@property
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def weathers(self):
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@ -91,6 +88,7 @@ class ExperimentSuite(object):
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Must be redefined in an inherited class.
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"""
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@abc.abstractproperty
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def train_weathers(self):
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"""
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@ -9,7 +9,6 @@ import numpy as np
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import math
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import os
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sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0]) ** 2 + (c2[1] - c1[1]) ** 2)
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flatten = lambda l: [item for sublist in l for item in sublist]
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@ -60,8 +59,7 @@ class Metrics(object):
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# If there is a change in the position it means it is a new episode for sure.
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if (current_start != prev_start and current_end != prev_end) \
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or current_exp_id != prev_exp_id:
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or current_exp_id != prev_exp_id:
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episode_matrix_metrics.append(measurements_matrix[prev_i_position:i, :])
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prev_i_position = i
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@ -156,7 +154,6 @@ class Metrics(object):
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def _get_out_of_road_lane(self, selected_matrix, header):
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"""
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Check for the situations were the agent goes out of the road.
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Args:
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@ -232,7 +229,6 @@ class Metrics(object):
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header_metrics = header_metrics.split(',')
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header_metrics[-1] = header_metrics[-1][:-1]
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result_matrix = np.loadtxt(os.path.join(path, 'summary.csv'), delimiter=",", skiprows=1)
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# Corner Case: The presented test just had one episode
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@ -256,9 +252,9 @@ class Metrics(object):
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'collision_vehicles': {w: [[] for i in range(len(tasks))] for w in
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all_weathers},
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'collision_other': {w: [[] for i in range(len(tasks))] for w in
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all_weathers},
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all_weathers},
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'episodes_fully_completed': {w: [0] * len(tasks) for w in
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all_weathers},
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all_weathers},
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'average_speed': {w: [0] * len(tasks) for w in all_weathers},
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'driven_kilometers': {w: [0] * len(tasks) for w in all_weathers}
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}
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@ -286,7 +282,7 @@ class Metrics(object):
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metrics_dictionary['episodes_completion'][w][t] = \
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((experiment_results_matrix[:, header.index('initial_distance')]
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- experiment_results_matrix[:, header.index('final_distance')])
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- experiment_results_matrix[:, header.index('final_distance')])
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/ experiment_results_matrix[:, header.index('initial_distance')]).tolist()
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# Now we divide the experiment metrics matrix
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@ -302,8 +298,9 @@ class Metrics(object):
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episode_experiment_metrics, header_metrics)
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metrics_dictionary['driven_kilometers'][w][t] += km_run_episodes
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metrics_dictionary['average_speed'][w][t] = \
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km_run_episodes/(experiment_results_matrix[count,
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header.index('final_time')] / 3600.0)
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km_run_episodes / (experiment_results_matrix[count,
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header.index(
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'final_time')] / 3600.0)
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count += 1
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lane_road = self._get_out_of_road_lane(
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@ -316,7 +313,8 @@ class Metrics(object):
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if tasks[t] in set(self._parameters['dynamic_tasks']):
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collisions = self._get_collisions(episode_experiment_metrics, header_metrics)
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collisions = self._get_collisions(episode_experiment_metrics,
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header_metrics)
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metrics_dictionary['collision_pedestrians'][
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w][t].append(collisions[2])
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@ -1,5 +1,3 @@
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import csv
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import datetime
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import os
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@ -148,14 +146,12 @@ class Recording(object):
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rw.writerow(self._dict_measurements)
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def _create_log_files(self):
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"""
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Just create the log files and add the necessary header for it.
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"""
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if not self._experiment_exist():
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os.mkdir(self._path)
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with open(os.path.join(self._path, 'summary.csv'), 'w') as ofd:
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@ -172,6 +168,7 @@ class Recording(object):
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If continue_experiment is false and experiment exist, generates a new file path
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"""
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def get_non_existent_path(f_name_path):
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"""
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Get the path to a filename which does not exist by incrementing path.
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@ -2,6 +2,7 @@ import os
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import numpy as np
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import json
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def print_summary(metrics_summary, weathers, path):
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"""
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We plot the summary of the testing for the set selected weathers.
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@ -113,7 +114,7 @@ def print_summary(metrics_summary, weathers, path):
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count += 1
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print (' Average Between Weathers')
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for i in range(len(metric_sum_values)):
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if metric_sum_values[i] == 0:
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if metric_sum_values[i] == 0:
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print(' Task ', i, ' -> more than ', summed_driven_kilometers[i])
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else:
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print(' Task ', i, ' -> ', summed_driven_kilometers[i] / metric_sum_values[i])
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@ -14,7 +14,6 @@ from carla.driving_benchmark.experiment_suites import CoRL2017
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from carla.driving_benchmark.experiment_suites import BasicExperimentSuite
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from carla.agent import ForwardAgent
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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@ -44,13 +43,13 @@ if __name__ == '__main__':
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metavar='C',
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default='Town01',
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help='The town that is going to be used on benchmark'
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+ '(needs to match active town in server, options: Town01 or Town02)')
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+ '(needs to match active town in server, options: Town01 or Town02)')
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argparser.add_argument(
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'-n', '--log_name',
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metavar='T',
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default='test',
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help='The name of the log file to be created by the benchmark'
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)
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)
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argparser.add_argument(
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'--corl-2017',
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action='store_true',
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@ -62,7 +61,6 @@ if __name__ == '__main__':
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help='If you want to continue the experiment with the same name'
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)
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args = argparser.parse_args()
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if args.debug:
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log_level = logging.DEBUG
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@ -84,8 +82,8 @@ if __name__ == '__main__':
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experiment_suite = CoRL2017(args.city_name)
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else:
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print (' WARNING: running the basic driving benchmark, to run for CoRL 2017'
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' experiment suites, you should run'
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' python driving_benchmark_example.py --corl-2017')
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' experiment suites, you should run'
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' python driving_benchmark_example.py --corl-2017')
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experiment_suite = BasicExperimentSuite(args.city_name)
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# Now actually run the driving_benchmark
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@ -1,11 +0,0 @@
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# For here we are going to test all this restarting and going on stuff.
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import unittest
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class testBenchmark(unittest.TestCase):
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def __init__(self):
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pass
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