| #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; |
| } |
| } |
| } |
|
|
