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Commit a7cf0af3 authored by Egli Adrian (IT-SCI-API-PFI)'s avatar Egli Adrian (IT-SCI-API-PFI)
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realistic scene generator : done

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flatland/envs/generators.py
+ 71
− 87
View file @ a7cf0af3
...@@ -543,7 +543,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11): ...@@ -543,7 +543,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11):
return generator return generator
def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dist=99999, seed=0): def realistic_rail_generator(nr_start_goal=1, seed=0):
""" """
Parameters Parameters
------- -------
...@@ -572,18 +572,19 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis ...@@ -572,18 +572,19 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
int('1100000000100010', 2)] # Case 2b (10) - simple switch mirrored int('1100000000100010', 2)] # Case 2b (10) - simple switch mirrored
""" """
def min_max_cut(min_v,max_v,v):
return max(min_v,min(max_v,v))
def add_rail(width,height,grid_map, pt_from, pt_via, pt_to, bAddRemove=True): def min_max_cut(min_v, max_v, v):
return max(min_v, min(max_v, v))
def add_rail(width, height, grid_map, pt_from, pt_via, pt_to, bAddRemove=True):
gRCTrans = np.array([[-1, 0], [0, 1], [1, 0], [0, -1]]) # NESW in RC gRCTrans = np.array([[-1, 0], [0, 1], [1, 0], [0, -1]]) # NESW in RC
lrcStroke = [[min_max_cut(0,height-1,pt_from[0]), lrcStroke = [[min_max_cut(0, height - 1, pt_from[0]),
min_max_cut(0,width-1,pt_from[1])], min_max_cut(0, width - 1, pt_from[1])],
[min_max_cut(0,height-1,pt_via[0]), [min_max_cut(0, height - 1, pt_via[0]),
min_max_cut(0,width-1,pt_via[1])], min_max_cut(0, width - 1, pt_via[1])],
[min_max_cut(0,height-1,pt_to[0]), [min_max_cut(0, height - 1, pt_to[0]),
min_max_cut(0,width-1,pt_to[1])]] min_max_cut(0, width - 1, pt_to[1])]]
rc3Cells = np.array(lrcStroke[:3]) # the 3 cells rc3Cells = np.array(lrcStroke[:3]) # the 3 cells
rcMiddle = rc3Cells[1] # the middle cell which we will update rcMiddle = rc3Cells[1] # the middle cell which we will update
...@@ -622,27 +623,27 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis ...@@ -622,27 +623,27 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
grid_map.set_transition((*rcMiddle, mirror(liTrans[1])), grid_map.set_transition((*rcMiddle, mirror(liTrans[1])),
mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend) mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend)
def make_switch_w_e(width,height,grid_map, center): def make_switch_w_e(width, height, grid_map, center):
# e -> w # e -> w
start = (center[0]+1, center[1]-1) start = (center[0] + 1, center[1] - 1)
via = (center[0], center[1] - 1) via = (center[0], center[1] - 1)
goal = (center[0], center[1]) goal = (center[0], center[1])
add_rail(width,height,grid_map, start, via, goal) add_rail(width, height, grid_map, start, via, goal)
start = (center[0], center[1]-1) start = (center[0], center[1] - 1)
via = (center[0]+1, center[1]-1) via = (center[0] + 1, center[1] - 1)
goal = (center[0]+1, center[1]-2) goal = (center[0] + 1, center[1] - 2)
add_rail(width,height,grid_map, start, via, goal) add_rail(width, height, grid_map, start, via, goal)
def make_switch_e_w(width,height,grid_map, center): def make_switch_e_w(width, height, grid_map, center):
# e -> w # e -> w
start = (center[0] + 1, center[1]) start = (center[0] + 1, center[1])
via = (center[0] + 1, center[1] - 1) via = (center[0] + 1, center[1] - 1)
goal = (center[0], center[1] - 1) goal = (center[0], center[1] - 1)
add_rail(width,height,grid_map, start, via, goal) add_rail(width, height, grid_map, start, via, goal)
start = (center[0] + 1, center[1] - 1) start = (center[0] + 1, center[1] - 1)
via = (center[0], center[1] - 1) via = (center[0], center[1] - 1)
goal = (center[0], center[1] - 2) goal = (center[0], center[1] - 2)
add_rail(width,height,grid_map, start, via, goal) add_rail(width, height, grid_map, start, via, goal)
class Grid4TransitionsEnum(IntEnum): class Grid4TransitionsEnum(IntEnum):
NORTH = 0 NORTH = 0
...@@ -669,10 +670,8 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis ...@@ -669,10 +670,8 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
np.random.seed(seed + num_resets) np.random.seed(seed + num_resets)
max_n_track_seg = np.random.choice([3, 4, 5])
x_offsets = np.arange(0, height, max_n_track_seg).astype(int)
max_n_track_seg=4
x_offsets = np.arange(0,height,max_n_track_seg).astype(int)
agents_position = [] agents_position = []
agents_target = [] agents_target = []
...@@ -681,7 +680,7 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis ...@@ -681,7 +680,7 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
for off_set_loop in range(len(x_offsets)): for off_set_loop in range(len(x_offsets)):
off_set = x_offsets[off_set_loop] off_set = x_offsets[off_set_loop]
# second track # second track
data = np.arange(int((width -4- max_n_track_seg) / max_n_track_seg)) * max_n_track_seg + 4 data = np.arange(int((width - 4 - max_n_track_seg) / max_n_track_seg)) * max_n_track_seg + 4
n_track_seg = np.random.choice(max_n_track_seg) + 1 n_track_seg = np.random.choice(max_n_track_seg) + 1
start_track = (off_set, 0) start_track = (off_set, 0)
...@@ -691,86 +690,73 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis ...@@ -691,86 +690,73 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
# track one (full track : left right) # track one (full track : left right)
if off_set_loop > 0: if off_set_loop > 0:
if off_set_loop % 2 == 1: if off_set_loop % 2 == 1:
start_track = (x_offsets[off_set_loop-1]+1, width - 1) start_track = (x_offsets[off_set_loop - 1] + 1, width - 1)
goal_track = (x_offsets[off_set_loop]-1, width - 1) goal_track = (x_offsets[off_set_loop] - 1, width - 1)
new_path = connect_rail(rail_trans, rail_array, start_track, goal_track) new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop-1], width - 2), (x_offsets[off_set_loop - 1], width - 2),
(x_offsets[off_set_loop-1], width - 1), (x_offsets[off_set_loop - 1], width - 1),
(x_offsets[off_set_loop-1]+1, width - 1)) (x_offsets[off_set_loop - 1] + 1, width - 1))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop], width - 2), (x_offsets[off_set_loop], width - 2),
(x_offsets[off_set_loop], width - 1), (x_offsets[off_set_loop], width - 1),
(x_offsets[off_set_loop]-1, width - 1)) (x_offsets[off_set_loop] - 1, width - 1))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop-1], width - 1), (x_offsets[off_set_loop - 1], width - 1),
(x_offsets[off_set_loop-1]+1, width - 1), (x_offsets[off_set_loop - 1] + 1, width - 1),
(x_offsets[off_set_loop-1]+2, width - 1)) (x_offsets[off_set_loop - 1] + 2, width - 1))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop], width - 1), (x_offsets[off_set_loop], width - 1),
(x_offsets[off_set_loop]-1, width - 1), (x_offsets[off_set_loop] - 1, width - 1),
(x_offsets[off_set_loop]-2, width - 1)) (x_offsets[off_set_loop] - 2, width - 1))
else: else:
start_track = (x_offsets[off_set_loop-1]+1,0) start_track = (x_offsets[off_set_loop - 1] + 1, 0)
goal_track = (x_offsets[off_set_loop]-1, 0) goal_track = (x_offsets[off_set_loop] - 1, 0)
new_path = connect_rail(rail_trans, rail_array, start_track, goal_track) new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop-1], 1), (x_offsets[off_set_loop - 1], 1),
(x_offsets[off_set_loop-1], 0), (x_offsets[off_set_loop - 1], 0),
(x_offsets[off_set_loop-1]+1, 0)) (x_offsets[off_set_loop - 1] + 1, 0))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop], 1), (x_offsets[off_set_loop], 1),
(x_offsets[off_set_loop], 0), (x_offsets[off_set_loop], 0),
(x_offsets[off_set_loop]-1, 0)) (x_offsets[off_set_loop] - 1, 0))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop-1], 0), (x_offsets[off_set_loop - 1], 0),
(x_offsets[off_set_loop-1]+1, 0), (x_offsets[off_set_loop - 1] + 1, 0),
(x_offsets[off_set_loop-1]+2, 0)) (x_offsets[off_set_loop - 1] + 2, 0))
add_rail(width,height,grid_map, add_rail(width, height, grid_map,
(x_offsets[off_set_loop], 0), (x_offsets[off_set_loop], 0),
(x_offsets[off_set_loop]-1, 0), (x_offsets[off_set_loop] - 1, 0),
(x_offsets[off_set_loop]-2, 0)) (x_offsets[off_set_loop] - 2, 0))
for nbr_track_loop in range(height-1): for nbr_track_loop in range(height - 1):
if len(data) < 2*n_track_seg+1: if len(data) < 2 * n_track_seg + 1:
break break
x = np.sort(np.random.choice(data, 2 * n_track_seg, False)).astype(int) x = np.sort(np.random.choice(data, 2 * n_track_seg, False)).astype(int)
data = [] data = []
for x_loop in range(int(len(x) / 2)): for x_loop in range(int(len(x) / 2)):
start = (max(0,min(off_set+nbr_track_loop+1,height-1)), max(0,min(x[2 * x_loop],width-1))) start = (max(0, min(off_set + nbr_track_loop + 1, height - 1)), max(0, min(x[2 * x_loop], width - 1)))
goal = (max(0,min(off_set+nbr_track_loop+1,height-1)), max(0,min(x[2 * x_loop + 1],width-1))) goal = (max(0, min(off_set + nbr_track_loop + 1, height - 1)), max(0, min(x[2 * x_loop + 1], width - 1)))
d = np.arange(x[2 * x_loop]+1,x[2 * x_loop+1]-1,2) d = np.arange(x[2 * x_loop] + 1, x[2 * x_loop + 1] - 1, 2)
data.extend(d) data.extend(d)
new_path = connect_rail(rail_trans, rail_array, start, goal) new_path = connect_rail(rail_trans, rail_array, start, goal)
if len(new_path) >0: if len(new_path) > 0:
c = (off_set+nbr_track_loop, x[2 * x_loop] + 1) c = (off_set + nbr_track_loop, x[2 * x_loop] + 1)
make_switch_e_w(width,height,grid_map, c) make_switch_e_w(width, height, grid_map, c)
c = (off_set+nbr_track_loop, x[2 * x_loop + 1]+1) c = (off_set + nbr_track_loop, x[2 * x_loop + 1] + 1)
make_switch_w_e(width,height,grid_map, c) make_switch_w_e(width, height, grid_map, c)
if nbr_track_loop > 0:
add_pos = (int((start[0]+goal[0])/2),int((start[1]+goal[1])/2)) add_pos = (int((start[0] + goal[0]) / 2), int((start[1] + goal[1]) / 2))
agents_position.append(add_pos) agents_position.append(add_pos)
agents_target.append(add_pos) agents_target.append(add_pos)
agents_direction.append(np.random.choice([3,1])) agents_direction.append(np.random.choice([3, 1]))
print(agents_direction)
print(agents_position)
print(agents_target)
x = np.arange(len(agents_direction))
num_a = min(num_agents,np.floor(len(agents_direction)/2))
if num_a > 1:
filter_agent = np.random.choice(x,num_a,False)
agents_position = agents_position[filter_agent]
agents_direction = agents_direction[filter_agent]
np.delete(x,filter_agent)
filter_agent = np.random.choice(x,num_a,False)
agents_target = agents_target[filter_agent]
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position) return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
...@@ -838,8 +824,6 @@ def sparse_rail_generator(nr_nodes=100, max_neigbours=2, min_node_dist=20, node_ ...@@ -838,8 +824,6 @@ def sparse_rail_generator(nr_nodes=100, max_neigbours=2, min_node_dist=20, node_
new_path = connect_nodes(rail_trans, rail_array, node_positions[current_node], node_positions[neighb]) new_path = connect_nodes(rail_trans, rail_array, node_positions[current_node], node_positions[neighb])
node_stack.pop(0) node_stack.pop(0)
# Generate start and target node directory for all agents # Generate start and target node directory for all agents
agent_start_targets_nodes = [] agent_start_targets_nodes = []
for agent_idx in range(num_agents): for agent_idx in range(num_agents):
......
tests/test_flatland_env_sparse_rail_generator.py
+ 13
− 11
View file @ a7cf0af3
...@@ -5,19 +5,21 @@ from flatland.envs.observations import GlobalObsForRailEnv ...@@ -5,19 +5,21 @@ from flatland.envs.observations import GlobalObsForRailEnv
from flatland.envs.rail_env import RailEnv from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool from flatland.utils.rendertools import RenderTool
import numpy as np
def test_realistic_rail_generator(): def test_realistic_rail_generator():
for test_loop in range(20):
env = RailEnv(width=40, num_agents = np.random.randint(10,30)
height=16, env = RailEnv(width=np.random.randint(40,80),
rail_generator=realistic_rail_generator(), height=np.random.randint(10,20),
number_of_agents=15, rail_generator=realistic_rail_generator(nr_start_goal=num_agents+1,seed=test_loop),
obs_builder_object=GlobalObsForRailEnv()) number_of_agents=num_agents,
# reset to initialize agents_static obs_builder_object=GlobalObsForRailEnv())
env_renderer = RenderTool(env, gl="PILSVG", ) # reset to initialize agents_static
env_renderer.render_env(show=True, show_observations=True, show_predictions=False) env_renderer = RenderTool(env, gl="PILSVG", )
time.sleep(10) env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
time.sleep(1)
env_renderer.close_window()
def test_sparse_rail_generator(): def test_sparse_rail_generator():
......
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