| #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"]; |
| |
| 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"]; |
|
|
| |
| mean.first += (newX - mean.first) / numEntities; |
| mean.second += (newY - mean.second) / numEntities; |
| } |
| } |
| return mean; |
| } |
| } |
