Make TopDownMultiChannel support ScenarioEnv #498
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| checkpoints = self.target_vehicle.navigation.checkpoints | ||
| for i, c in enumerate(checkpoints[:-1]): | ||
| lanes = self.road_network.graph[c][checkpoints[i + 1]] | ||
| for lane in lanes: | ||
| LaneGraphics.draw_drivable_area(lane, canvas, color=color) | ||
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| def draw_navigation_trajectory(self, canvas, color=(128, 128, 128)): | ||
| lane = PointLane(self.target_vehicle.navigation.checkpoints, DEFAULT_TRAJECTORY_LANE_WIDTH) |
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There is already an ego car trajectory in the simulator called engine.map_manager.current_sdc_route. But it is ok to use either of the two.
| @@ -162,6 +163,10 @@ def sdc_object_id(self): | |||
| def current_scenario_length(self): | |||
| return self.engine.data_manager.current_scenario_length | |||
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| @property | |||
| def vehicles(self): | |||
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As there are more objects in a traffic scenario now, drawing only vehicles is not enough. It would be better to draw all objects including cones, barriers, pedestrians, and bikes. So I suggest drawing all objects like what we did in the Top-Down renderer. This can be done by accessing all objects via engine._spawned_objects or engine.get_objects() and draw them.
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I have done so now!
| if hasattr(self.engine, "traffic_manager"): | ||
| vehicles = self.engine.traffic_manager.vehicles | ||
| elif hasattr(self.engine, "scenario_traffic_manager"): | ||
| vehicles = self.engine.scenario_traffic_manager.vehicles |
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As I said before, let's draw all other things besides vehicles. A suggestion here is that we can actually cancel this if condition. For both PGEnvironment and ScenarioEnvironment, all objects are actually in the engine._spawned_objects. What a manager does is a set of rules to add, delete, or actuate objects. Thus we can access all objects through env.engine directly, regardless of what the traffic manager is.
| elif hasattr(self.engine, "map_manager"): | ||
| for data in self.engine.map_manager.current_map.blocks[-1].map_data.values(): | ||
| if ScenarioDescription.POLYLINE in data: | ||
| LaneGraphics.display_scenario( |
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I don't remember what the figure drawn with this code looks like, so I am not sure if display_scenario achieves what you want. If not, just check this implementation in the if semantic_map:
It gives you filled polygons to show maps and lines to represent lines like this:
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When I use LaneGraphics.display_scenario_line to draw the lines, I get this image:
Ideally, it would have the same spacing between stripes as LaneGraphics.striped_line, so I'll work on ensuring that.
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Actually, this PR reminds me of a stale issue #455. We have almost the same set of functions/implementations for the top-down renderer and top-down observation. I think we should merge them someday. |
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@pengzhenghao Any suggestions? I think the top-down renderer and top-down obs are maintained by you. Could you reveal how many differences exist between these two sets of implementations? If not too much, we should merge them, and acquire the top down observation from the top-down renderer. |
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I changed the API |
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Also, it is good to add a test for this function. |
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Regarding #455, I'm working on a slightly larger change next to support traffic control elements (stop signs and traffic lights), so I might be able to do some unification when I send that PR. |
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Let me give you some hints. env.render(mode=‘top_down’, semantic_map=True) uses display_scenario_line API to draw strips in equal length.
…------------------ Original ------------------
From: Govind Pimpale ***@***.***>
Date: Fri, Sep 22, 2023 6:51 PM
To: metadriverse/metadrive ***@***.***>
Cc: Quanyi Li ***@***.***>, Comment ***@***.***>
Subject: Re: [metadriverse/metadrive] Make TopDownMultiChannel supportScenarioEnv (PR #498)
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What changes do you make in this PR?
In this PR, I add support for using the
TopDownMultiChannelobservation together withScenarioEnv.Changes:
Drawing lane boundaries: previously, TopDownMultiChannel only supported
NodeRoadNetwork.However, ScenarioEnv uses
EdgeRoadNetwork.My PR adds support for fetching the lane and road boundaries to draw from the map manager.
Drawing vehicles: previously, TopDownMultiChannel selected the vehicles to draw from the traffic manager. ScenarioEnv uses
scenario_traffic_manager, nottraffic_manager. I add support for usingscenario_traffic_manageriftraffic_managerdoes not exist.Checklist
bash scripts/format.shbefore merging.