diff --git a/flatland/envs/env_utils.py b/flatland/envs/env_utils.py
index fc2cdfba3b154e4da939b4294ec04d30176a3ed1..35e6560818acb0d5d7b2bf56bfd8feb33f26c87a 100644
--- a/flatland/envs/env_utils.py
+++ b/flatland/envs/env_utils.py
@@ -94,6 +94,7 @@ def coordinate_to_position(width, coords):
position.append((t[1] * width + t[0]))
return np.asarray(position).flatten()
+
class AStarNode():
"""A node class for A* Pathfinding"""
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 4b598c9336b2ca195ea26e5faaa5d596ce9d9eee..23a95ad63a798a7cc58e7272297e359c5c0f1f46 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -174,11 +174,11 @@ class TreeObsForRailEnv(ObservationBuilder):
in the `handles' list.
"""
-
if self.predictor:
self.predicted_pos = {}
self.predicted_dir = {}
self.predictions = self.predictor.get()
+
for t in range(len(self.predictions[0])):
pos_list = []
dir_list = []
@@ -187,6 +187,10 @@ class TreeObsForRailEnv(ObservationBuilder):
dir_list.append(self.predictions[a][t][3])
self.predicted_pos.update({t: coordinate_to_position(self.env.width, pos_list)})
self.predicted_dir.update({t: dir_list})
+
+ pred_pos = np.concatenate([[x[:, 1:3]] for x in list(self.predictions.values())], axis=0)
+ pred_pos = list(map(list, zip(*pred_pos)))
+
observations = {}
for h in handles:
observations[h] = self.get(h)
@@ -325,6 +329,7 @@ class TreeObsForRailEnv(ObservationBuilder):
other_agent_opposite_direction += 1
if self.predictor:
+ continue
# Register possible conflict
if position in self.location_has_target:
diff --git a/flatland/utils/graphics_layer.py b/flatland/utils/graphics_layer.py
index d00d8b3ed41ff03a39bea64111f6b56032a0b2f8..ed92249ca422fa837a447f2765c70864f79c00a8 100644
--- a/flatland/utils/graphics_layer.py
+++ b/flatland/utils/graphics_layer.py
@@ -82,6 +82,5 @@ class GraphicsLayer(object):
def resize(self, env):
pass
-
- def build_background_map(self,dTargets):
+ def build_background_map(self, dTargets):
pass
diff --git a/flatland/utils/graphics_pil.py b/flatland/utils/graphics_pil.py
index f8c96f1bd3d052aa5238ac563044acb6995e23a1..4019bb6d913a3bab1b57a9346c1196d634d18c1c 100644
--- a/flatland/utils/graphics_pil.py
+++ b/flatland/utils/graphics_pil.py
@@ -79,20 +79,18 @@ class PILGL(GraphicsLayer):
self.firstFrame = True
self.create_layers()
-
- def build_background_map(self,dTargets):
+ def build_background_map(self, dTargets):
self.background_grid = np.zeros(shape=(self.width, self.height))
for x in range(self.width):
for y in range(self.height):
- distance = int(np.floor(np.sqrt(self.width*2.0 + self.height)))
+ distance = int(np.floor(np.sqrt(self.width * 2.0 + self.height)))
for rc in dTargets:
r = rc[1]
c = rc[0]
- d = int(np.floor(np.sqrt((x-r)**2 + (y-c)**2)))
- distance = min(d,distance)
+ d = int(np.floor(np.sqrt((x - r) ** 2 + (y - c) ** 2)))
+ distance = min(d, distance)
self.background_grid[x][y] = distance
-
def rgb_s2i(self, sRGB):
""" convert a hex RGB string like 0091ea to 3-tuple of ints """
return tuple(int(sRGB[iRGB * 2:iRGB * 2 + 2], 16) for iRGB in [0, 1, 2])
@@ -236,7 +234,6 @@ class PILSVG(PILGL):
self.lwAgents = []
self.agents_prev = []
-
self.loadBuildingSVGs()
self.loadScenerySVGs()
self.loadRailSVGs()
@@ -273,12 +270,18 @@ class PILSVG(PILGL):
pil_img = Image.open(fIn)
return pil_img
-
-
def loadBuildingSVGs(self):
dBuildingFiles = [
"Buildings/Bank.svg",
"Buildings/Bar.svg",
+ "Buildings/Wohnhaus.svg",
+ "Buildings/Hochhaus.svg",
+ "Buildings/Hotel.svg",
+ "Buildings/Office.svg",
+ "Buildings/Polizei.svg",
+ "Buildings/Post.svg",
+ "Buildings/Supermarkt.svg",
+ "Buildings/Tankstelle.svg",
"Buildings/Fabrik_A.svg",
"Buildings/Fabrik_B.svg",
"Buildings/Fabrik_C.svg",
@@ -288,18 +291,14 @@ class PILSVG(PILGL):
"Buildings/Fabrik_G.svg",
"Buildings/Fabrik_H.svg",
"Buildings/Fabrik_I.svg",
- "Buildings/Hochhaus.svg",
- "Buildings/Hotel.svg",
- "Buildings/Office.svg",
- "Buildings/Polizei.svg",
- "Buildings/Post.svg",
- "Buildings/Supermarkt.svg",
- "Buildings/Tankstelle.svg",
- "Buildings/Wohnhaus.svg"]
+ ]
+
+ imgBg = self.pilFromSvgFile('svg', "Background_city.svg")
self.dBuildings = []
for sFile in dBuildingFiles:
- img = self.pilFromSvgFile('svg',sFile)
+ img = self.pilFromSvgFile('svg', sFile)
+ img = Image.alpha_composite(imgBg, img)
self.dBuildings.append(img)
def loadScenerySVGs(self):
@@ -316,16 +315,20 @@ class PILSVG(PILGL):
"Scenery/Bergwelt_A_Teil_2_mitte.svg",
"Scenery/Bergwelt_A_Teil_3_rechts.svg",
]
+
+ imgBg = self.pilFromSvgFile('svg', "Background_Light_green.svg")
+
self.dScenery = []
for sFile in dSceneryFiles:
- img = self.pilFromSvgFile('svg',sFile)
+ img = self.pilFromSvgFile('svg', sFile)
+ img = Image.alpha_composite(imgBg, img)
self.dScenery.append(img)
def loadRailSVGs(self):
""" Load the rail SVG images, apply rotations, and store as PIL images.
"""
dRailFiles = {
- "": "Background_#91D1DD.svg",
+ "": "Background_Light_green.svg",
"WE": "Gleis_Deadend.svg",
"WW EE NN SS": "Gleis_Diamond_Crossing.svg",
"WW EE": "Gleis_horizontal.svg",
@@ -355,16 +358,19 @@ class PILSVG(PILGL):
"NN SS": "Bahnhof_#d50000_Gleis_vertikal.svg"}
# Dict of rail cell images indexed by binary transitions
- self.dPilRail = self.loadSVGs(dRailFiles, rotate=True)
+ self.dPilRail = self.loadSVGs(dRailFiles, rotate=True, backgroundImage="Background_rail.svg",
+ whitefilter="Background_white_filter.svg")
# Load the target files (which have rails and transitions of their own)
# They are indexed by (binTrans, iAgent), ie a tuple of the binary transition and the agent index
- dPilRail2 = self.loadSVGs(dTargetFiles, rotate=False, agent_colors=self.ltAgentColors)
+ dPilRail2 = self.loadSVGs(dTargetFiles, rotate=False, agent_colors=self.ltAgentColors,
+ backgroundImage="Background_rail.svg",
+ whitefilter="Background_white_filter.svg")
# Merge them with the regular rails.
# https://stackoverflow.com/questions/38987/how-to-merge-two-dictionaries-in-a-single-expression
self.dPilRail = {**self.dPilRail, **dPilRail2}
- def loadSVGs(self, dDirFile, rotate=False, agent_colors=False):
+ def loadSVGs(self, dDirFile, rotate=False, agent_colors=False, backgroundImage=None, whitefilter=None):
dPil = {}
transitions = RailEnvTransitions()
@@ -387,6 +393,14 @@ class PILSVG(PILGL):
pilRail = self.pilFromSvgFile('svg', sFile)
+ if backgroundImage is not None:
+ imgBg = self.pilFromSvgFile('svg', backgroundImage)
+ pilRail = Image.alpha_composite(imgBg, pilRail)
+
+ if whitefilter is not None:
+ imgBg = self.pilFromSvgFile('svg', whitefilter)
+ pilRail = Image.alpha_composite(pilRail, imgBg)
+
if rotate:
# For rotations, we also store the base image
dPil[binTrans] = pilRail
@@ -412,14 +426,19 @@ class PILSVG(PILGL):
if binTrans in self.dPilRail:
pilTrack = self.dPilRail[binTrans]
- if binTrans == 0 :
+ if binTrans == 0:
if self.background_grid[col][row] < 4:
a = int(self.background_grid[col][row])
a = a % len(self.dBuildings)
- pilTrack = self.dBuildings[a]
- else:
- a = int(self.background_grid[col][row]) - 4
+ if (col + row) % 10 > 2:
+ pilTrack = self.dScenery[0]
+ else:
+ pilTrack = self.dBuildings[a]
+ elif (self.background_grid[col][row] > 5) or ((col ** 3 + row ** 2 + col * row) % 10 == 0):
+ a = int(self.background_grid[col][row]) - 5
a = a % len(self.dScenery)
+ if (col + row + col * row) % 10 > 2:
+ a = 0
pilTrack = self.dScenery[a]
self.drawImageRC(pilTrack, (row, col))
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 937580f4469aec68942f04dbaadf50b5ee2f40bb..9b04f9c1a536183bddc6b4618e01cc2c702d09ad 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -47,7 +47,6 @@ class RenderTool(object):
self.new_rail = True
self.update_background()
-
def update_background(self):
# create background map
dTargets = {}
@@ -509,19 +508,19 @@ class RenderTool(object):
)
def renderEnv(self,
- show=False, # whether to call matplotlib show() or equivalent after completion
- # use false when calling from Jupyter. (and matplotlib no longer supported!)
- curves=True, # draw turns as curves instead of straight diagonal lines
- spacing=False, # defunct - size of spacing between rails
- arrows=False, # defunct - draw arrows on rail lines
- agents=True, # whether to include agents
- show_observations=True, # whether to include observations
- sRailColor="gray", # color to use in drawing rails (not used with SVG)
- frames=False, # frame counter to show (intended since invocation)
- iEpisode=None, # int episode number to show
- iStep=None, # int step number to show in image
- iSelectedAgent=None, # indicate which agent is "selected" in the editor
- action_dict=None): # defunct - was used to indicate agent intention to turn
+ show=False, # whether to call matplotlib show() or equivalent after completion
+ # use false when calling from Jupyter. (and matplotlib no longer supported!)
+ curves=True, # draw turns as curves instead of straight diagonal lines
+ spacing=False, # defunct - size of spacing between rails
+ arrows=False, # defunct - draw arrows on rail lines
+ agents=True, # whether to include agents
+ show_observations=True, # whether to include observations
+ sRailColor="gray", # color to use in drawing rails (not used with SVG)
+ frames=False, # frame counter to show (intended since invocation)
+ iEpisode=None, # int episode number to show
+ iStep=None, # int step number to show in image
+ iSelectedAgent=None, # indicate which agent is "selected" in the editor
+ action_dict=None): # defunct - was used to indicate agent intention to turn
""" Draw the environment using the GraphicsLayer this RenderTool was created with.
(Use show=False from a Jupyter notebook with %matplotlib inline)
"""
diff --git a/notebooks/Scene_Editor.ipynb b/notebooks/Scene_Editor.ipynb
index 7a13a49202dcb2f836e8842a84cccbf2b692599f..250ad48a5d37bd875527abc8e6a01d6c7941827b 100644
--- a/notebooks/Scene_Editor.ipynb
+++ b/notebooks/Scene_Editor.ipynb
@@ -100,7 +100,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "2460d8e561a3407d8fe2a6f28773bc04",
+ "model_id": "7783247e5f2146e293236d2426248f90",
"version_major": 2,
"version_minor": 0
},
diff --git a/svg/Background_Light_green.svg b/svg/Background_Light_green.svg
new file mode 100644
index 0000000000000000000000000000000000000000..613995a291c91d514a2ffee798028a04873d6ba4
--- /dev/null
+++ b/svg/Background_Light_green.svg
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 23.0.3, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
+ id="Ebene_1"
+ x="0px"
+ y="0px"
+ viewBox="0 0 240 240"
+ style="enable-background:new 0 0 240 240;"
+ xml:space="preserve"
+ sodipodi:docname="Background_#DEBDA0 - Kopie.svg"
+ inkscape:version="0.92.4 (5da689c313, 2019-01-14)"><metadata
+ id="metadata11"><rdf:RDF><cc:Work
+ rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage"/></cc:Work></rdf:RDF></metadata>
+ <defs
+ id="defs9"/>
+ <sodipodi:namedview
+ pagecolor="#ffffff"
+ bordercolor="#666666"
+ borderopacity="1"
+ objecttolerance="10"
+ gridtolerance="10"
+ guidetolerance="10"
+ inkscape:pageopacity="0"
+ inkscape:pageshadow="2"
+ inkscape:window-width="1920"
+ inkscape:window-height="1137"
+ id="namedview7"
+ showgrid="false"
+ inkscape:zoom="0.98333333"
+ inkscape:cx="120"
+ inkscape:cy="120"
+ inkscape:window-x="-8"
+ inkscape:window-y="-8"
+ inkscape:window-maximized="1"
+ inkscape:current-layer="Ebene_1"/>
+ <style
+ type="text/css"
+ id="style2">
+ .st0{fill:#DEBDA0;}
+</style>
+
+ <rect
+ style="fill:#eef4d7"
+ id="rect13"
+ width="242.03391"
+ height="238.98306"
+ x="3.2327943e-08"
+ y="-1.1314779e-07"/></svg>
diff --git a/svg/Background_city.svg b/svg/Background_city.svg
new file mode 100644
index 0000000000000000000000000000000000000000..ba5d2ce94f3b025801108abe0900daf206e01c6c
--- /dev/null
+++ b/svg/Background_city.svg
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 23.0.3, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
+ id="Ebene_1"
+ x="0px"
+ y="0px"
+ viewBox="0 0 240 240"
+ style="enable-background:new 0 0 240 240;"
+ xml:space="preserve"
+ sodipodi:docname="Background_Light_gray.svg"
+ inkscape:version="0.92.4 (5da689c313, 2019-01-14)"><metadata
+ id="metadata11"><rdf:RDF><cc:Work
+ rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage"/></cc:Work></rdf:RDF></metadata>
+ <defs
+ id="defs9"/>
+ <sodipodi:namedview
+ pagecolor="#ffffff"
+ bordercolor="#666666"
+ borderopacity="1"
+ objecttolerance="10"
+ gridtolerance="10"
+ guidetolerance="10"
+ inkscape:pageopacity="0"
+ inkscape:pageshadow="2"
+ inkscape:window-width="1920"
+ inkscape:window-height="1137"
+ id="namedview7"
+ showgrid="false"
+ inkscape:zoom="0.98333333"
+ inkscape:cx="-102.20339"
+ inkscape:cy="120"
+ inkscape:window-x="-8"
+ inkscape:window-y="-8"
+ inkscape:window-maximized="1"
+ inkscape:current-layer="Ebene_1"/>
+ <style
+ type="text/css"
+ id="style2">
+ .st0{fill:#DEBDA0;}
+</style>
+
+ <rect
+ style="fill:#fdf7fa;fill-opacity:1"
+ id="rect13"
+ width="242.03391"
+ height="238.98306"
+ x="3.2327943e-08"
+ y="-1.1314779e-07"/></svg>
diff --git a/svg/Background_rail.svg b/svg/Background_rail.svg
new file mode 100644
index 0000000000000000000000000000000000000000..e1d70666299cc14b3d82450ba4817fd681bb1495
--- /dev/null
+++ b/svg/Background_rail.svg
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 23.0.3, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
+ id="Ebene_1"
+ x="0px"
+ y="0px"
+ viewBox="0 0 240 240"
+ style="enable-background:new 0 0 240 240;"
+ xml:space="preserve"
+ sodipodi:docname="Background_rail.svg"
+ inkscape:version="0.92.4 (5da689c313, 2019-01-14)"><metadata
+ id="metadata11"><rdf:RDF><cc:Work
+ rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage"/></cc:Work></rdf:RDF></metadata>
+ <defs
+ id="defs9"/>
+ <sodipodi:namedview
+ pagecolor="#ffffff"
+ bordercolor="#666666"
+ borderopacity="1"
+ objecttolerance="10"
+ gridtolerance="10"
+ guidetolerance="10"
+ inkscape:pageopacity="0"
+ inkscape:pageshadow="2"
+ inkscape:window-width="1920"
+ inkscape:window-height="1137"
+ id="namedview7"
+ showgrid="false"
+ inkscape:zoom="0.98333333"
+ inkscape:cx="-362.54237"
+ inkscape:cy="120"
+ inkscape:window-x="-8"
+ inkscape:window-y="-8"
+ inkscape:window-maximized="1"
+ inkscape:current-layer="Ebene_1"/>
+ <style
+ type="text/css"
+ id="style2">
+ .st0{fill:#DEBDA0;}
+</style>
+
+ <rect
+ style="fill:#fbf6f7;fill-opacity:1"
+ id="rect13"
+ width="242.03391"
+ height="238.98306"
+ x="3.2327943e-08"
+ y="-1.1314779e-07"/></svg>
diff --git a/svg/Background_white_filter.svg b/svg/Background_white_filter.svg
new file mode 100644
index 0000000000000000000000000000000000000000..895a97a513341decfe0f348172f5e05722984ce0
--- /dev/null
+++ b/svg/Background_white_filter.svg
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 23.0.3, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
+ id="Ebene_1"
+ x="0px"
+ y="0px"
+ viewBox="0 0 240 240"
+ style="enable-background:new 0 0 240 240;"
+ xml:space="preserve"
+ sodipodi:docname="Background_white_filter.svg"
+ inkscape:version="0.92.4 (5da689c313, 2019-01-14)"><metadata
+ id="metadata11"><rdf:RDF><cc:Work
+ rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage"/></cc:Work></rdf:RDF></metadata>
+ <defs
+ id="defs9"/>
+ <sodipodi:namedview
+ pagecolor="#ffffff"
+ bordercolor="#666666"
+ borderopacity="1"
+ objecttolerance="10"
+ gridtolerance="10"
+ guidetolerance="10"
+ inkscape:pageopacity="0"
+ inkscape:pageshadow="2"
+ inkscape:window-width="1920"
+ inkscape:window-height="1137"
+ id="namedview7"
+ showgrid="false"
+ inkscape:zoom="0.98333333"
+ inkscape:cx="-324.40678"
+ inkscape:cy="120"
+ inkscape:window-x="-8"
+ inkscape:window-y="-8"
+ inkscape:window-maximized="1"
+ inkscape:current-layer="Ebene_1"/>
+ <style
+ type="text/css"
+ id="style2">
+ .st0{fill:#DEBDA0;}
+</style>
+
+ <rect
+ style="fill:#ffffff;fill-opacity:0.50196081"
+ id="rect13"
+ width="242.03391"
+ height="238.98306"
+ x="3.2327943e-08"
+ y="-1.1314779e-07"/></svg>