File size: 4,912 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 | #include "gtest/gtest.h"
#include "consts.hpp"
#include "mgr.hpp"
#include "test_utils.hpp"
#include <iostream>
#include <fstream>
#include <cmath>
#include <vector>
#include <random>
using namespace madrona;
using nlohmann::json;
class ObservationsTest : public ::testing::Test {
protected:
uint32_t num_worlds = 1;
madrona_gpudrive::Manager mgr = madrona_gpudrive::Manager({
.execMode = ExecMode::CPU,
.gpuID = 0,
.scenes = {"testJsons/test.json"},
.params = {
.polylineReductionThreshold = 0.0,
.observationRadius = 100.0,
.collisionBehaviour = madrona_gpudrive::CollisionBehaviour::Ignore,
.roadObservationAlgorithm = madrona_gpudrive::FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering
}
});
std::pair<float, float> mean = {0, 0};
std::ifstream data = std::ifstream("testJsons/test.json");
std::vector<std::vector<std::pair<float, float>>> roadGeoms;
std::vector<float> roadTypes;
void SetUp() override {
json rawJson;
data >> rawJson;
mean = test_utils::calcMean(rawJson);
std::cout<<"CTEST Mean x: "<<mean.first<<" Mean y: "<<mean.second<<std::endl;
int64_t n_roads = 0;
for (const auto &obj : rawJson["roads"]) {
std::vector<std::pair<float, float>> roadGeom;
for (const auto &point: obj["geometry"])
{
roadGeom.push_back({point["x"], point["y"]});
}
roadGeoms.push_back(roadGeom);
if(obj["type"] == "road_edge")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadEdge);
}
else if(obj["type"] == "road_line")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadLine);
}
else if(obj["type"] == "lane")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::RoadLane);
}
else if(obj["type"] == "crosswalk")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::CrossWalk);
}
else if(obj["type"] == "speed_bump")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::SpeedBump);
}
else if(obj["type"] == "stop_sign")
{
roadTypes.push_back((float)madrona_gpudrive::EntityType::StopSign);
}
else if(obj["type"] == "invalid")
{
roadTypes.push_back(0);
}
}
}
};
TEST_F(ObservationsTest, TestObservations) {
auto obs = mgr.mapObservationTensor();
auto flat_obs = test_utils::flatten_obs(obs);
int64_t idx = 0;
for(int64_t i = 0; i < roadGeoms.size(); i++)
{
std::vector<std::pair<float, float>> roadGeom = roadGeoms[i];
float roadType = roadTypes[i];
for(int64_t j = 0; j < roadGeom.size() - 1; j++)
{
if(roadType > (float)madrona_gpudrive::EntityType::RoadLane && roadType < (float)madrona_gpudrive::EntityType::StopSign)
{
float x = (roadGeom[j].first + roadGeom[j+1].first + roadGeom[j+2].first + roadGeom[j+3].first)/4 - mean.first;
float y = (roadGeom[j].second + roadGeom[j+1].second + roadGeom[j+2].second + roadGeom[j+3].second)/4 - mean.second;
ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON);
ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON);
ASSERT_EQ(flat_obs[idx+6], roadType);
idx += madrona_gpudrive::MapObservationExportSize;
break;
}
else if(roadType == (float)madrona_gpudrive::EntityType::StopSign)
{
float x = roadGeom[j].first - mean.first;
float y = roadGeom[j].second - mean.second;
ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON);
ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON);
ASSERT_EQ(flat_obs[idx+6], roadType);
idx += 7;
break;
}
float x1 = roadGeom[j].first - mean.first;
float y1 = roadGeom[j].second - mean.second;
float x2 = roadGeom[j+1].first - mean.first;
float y2 = roadGeom[j+1].second - mean.second;
float dx = (x2 + x1)/2;
float dy = (y2 + y1)/2;
ASSERT_NEAR(flat_obs[idx], dx, test_utils::EPSILON);
ASSERT_NEAR(flat_obs[idx+1], dy, test_utils::EPSILON);
ASSERT_FLOAT_EQ(flat_obs[idx+6], roadType) << "i = " << i << " j = " << j << " idx = " << idx;
idx += madrona_gpudrive::MapObservationExportSize;
}
if(idx >= flat_obs.size())
{
break;
}
}
}
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