File size: 1,670 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 | #include "test_utils.hpp"
namespace test_utils
{
std::vector<float> flatten_obs(const py::Tensor &obs)
{
int64_t num_elems = 1;
for (int i = 0; i < obs.numDims(); i++)
{
num_elems *= obs.dims()[i];
}
float *ptr = static_cast<float *>(obs.devicePtr());
std::vector<float> flattened;
for (int i = 0; i < num_elems; i++)
{
flattened.push_back(static_cast<float>(ptr[i]));
}
return flattened;
}
std::pair<float, float> calcMean(const nlohmann::json &rawJson)
{
std::pair<float, float> mean = {0, 0};
int64_t numEntities = 0;
for (const auto &obj : rawJson["objects"])
{
int i = 0;
for (const auto &pos : obj["position"])
{
if(obj["valid"][i++] == false)
continue;
numEntities++;
float newX = pos["x"];
float newY = pos["y"];
// Update mean incrementally
mean.first += (newX - mean.first) / numEntities;
mean.second += (newY - mean.second) / numEntities;
}
}
for (const auto &obj : rawJson["roads"])
{
for (const auto &point : obj["geometry"])
{
numEntities++;
float newX = point["x"];
float newY = point["y"];
// Update mean incrementally
mean.first += (newX - mean.first) / numEntities;
mean.second += (newY - mean.second) / numEntities;
}
}
return mean;
}
} |