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road_points.py
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from typing import List, Tuple
import numpy as np
from self_driving.beamng_pose import BeamNGPose
List4DTuple = List[Tuple[float, float, float, float]]
List2DTuple = List[Tuple[float, float]]
class RoadPoints:
@classmethod
def from_nodes(cls, middle_nodes: List4DTuple):
res = RoadPoints()
res.add_middle_nodes(middle_nodes)
return res
def __init__(self):
self.middle: List4DTuple = []
self.right: List2DTuple = []
self.left: List2DTuple = []
self.n = 0
def add_middle_nodes(self, middle_nodes):
n = len(self.middle) + len(middle_nodes)
assert n >= 2, f'At least, two nodes are needed'
assert all(len(point) >= 4 for point in middle_nodes), \
f'A node is a tuple of 4 elements (x,y,z,road_width)'
self.n = n
self.middle += list(middle_nodes)
self.left += [None] * len(middle_nodes)
self.right += [None] * len(middle_nodes)
self._recalculate_nodes()
return self
def _recalculate_nodes(self):
for i in range(self.n - 1):
l, r = self.calc_point_edges(self.middle[i], self.middle[i + 1])
self.left[i] = l
self.right[i] = r
# the last middle point
self.right[-1], self.left[-1] = self.calc_point_edges(self.middle[-1], self.middle[-2])
@classmethod
def calc_point_edges(cls, p1, p2) -> Tuple[Tuple, Tuple]:
origin = np.array(p1[0:2])
a = np.subtract(p2[0:2], origin)
# calculate the vector which length is half the road width
v = (a / np.linalg.norm(a)) * p1[3] / 2
# add normal vectors
l = origin + np.array([-v[1], v[0]])
r = origin + np.array([v[1], -v[0]])
return tuple(l), tuple(r)
@staticmethod
def angle_to_quat(angle: Tuple[float, float, float]) -> Tuple[float, float, float, float]:
"""
FIXME: copied from previous version of BeamNGpy
Converts an euler angle to a quaternion.
Args:
angle (tuple): Euler angle (degrees)
Return:
Quaterion with the order (x, y, z, w) with w representing the real
component
"""
angle = np.radians(angle)
cy = np.cos(angle[2] * 0.5)
sy = np.sin(angle[2] * 0.5)
cp = np.cos(angle[1] * 0.5)
sp = np.sin(angle[1] * 0.5)
cr = np.cos(angle[0] * 0.5)
sr = np.sin(angle[0] * 0.5)
w = cr * cp * cy + sr * sp * sy
x = sr * cp * cy - cr * sp * sy
y = cr * sp * cy + sr * cp * sy
z = cr * cp * sy - sr * sp * cy
return x, y, z, w
def vehicle_start_pose(self, meters_from_road_start=2.5, road_point_index=0) \
-> BeamNGPose:
assert self.n > road_point_index, f'road length is {self.n} it does not have index {road_point_index}'
p1 = self.middle[road_point_index]
p1r = self.right[road_point_index]
p2 = self.middle[road_point_index + 1]
p2v = np.subtract(p2[0:2], p1[0:2])
v = (p2v / np.linalg.norm(p2v)) * meters_from_road_start
origin = np.add(p1[0:2], p1r[0:2]) / 2
deg = np.degrees(np.arctan2([-v[0]], [-v[1]]))
angle = (0, 0, deg[0])
rot = self.angle_to_quat(angle=angle)
res = BeamNGPose(pos=tuple(origin + v) + (p1[2],), rot=rot)
return res
def new_imagery(self):
from .beamng_road_imagery import BeamNGRoadImagery
return BeamNGRoadImagery(self)
def plot_on_ax(self, ax):
def _plot_xy(points, color, linewidth):
tup = list(zip(*points))
ax.plot(tup[0], tup[1], color=color, linewidth=linewidth)
ax.set_facecolor('#7D9051') # green
_plot_xy(self.middle, '#FEA952', linewidth=1) # arancio
_plot_xy(self.left, 'white', linewidth=1)
_plot_xy(self.right, 'white', linewidth=1)
ax.axis('equal')
if __name__ == '__main__':
road_edges_by_beamng = [
{'right': [0, -4, -27.98419189453125], 'left': [0, 4, -27.98419189453125], 'middle': [0, 0, 0]},
{'right': [20, -4, -27.98419189453125], 'left': [20, 4, -27.98419189453125], 'middle': [20, 0, 0]},
{'right': [40, -4, -27.98419189453125], 'left': [40, 4, -27.98419189453125], 'middle': [40, 0, 0]},
{'right': [62.828426361083984, -2.828427314758301, -27.98419189453125],
'left': [57.171573638916016, 2.828427314758301, -27.98419189453125], 'middle': [60, 0, 0]},
{'right': [84, 20, -27.98419189453125], 'left': [76, 20, -27.98419189453125], 'middle': [80, 20, 0]},
{'right': [82.82843017578125, 42.828426361083984, -27.98419189453125],
'left': [77.17156982421875, 37.171573638916016, -27.98419189453125], 'middle': [80, 40, 0]},
{'right': [62.828426361083984, 62.828426361083984, -27.98419189453125],
'left': [57.171573638916016, 57.171573638916016, -27.98419189453125], 'middle': [60, 60, 0]}]
nodes = [(0, 0, -28, 8), (20, 0, -28, 8), (40, 0, -28, 8), (60, 0, -28, 8), (80, 20, -28, 8),
(80, 40, -28, 8), (60, 60, -28, 8)]
rd = RoadPoints.from_nodes(nodes)
assert len(rd.middle) == len(road_edges_by_beamng)
def distance(p1, p2):
return np.linalg.norm(np.subtract((p1[0], p1[1]), (p2[0], p2[1])))
max_dist = 0
for i in range(len(rd.middle)):
bng = road_edges_by_beamng[i]
l = rd.left[i]
r = rd.right[i]
m = rd.middle[i]
left_dist = distance(l, bng['left'])
right_dist = distance(r, bng['right'])
max_dist = max(left_dist, right_dist, max_dist)
print('middle', bng['middle'])
print(' ', m)
print(' ', 'left bng', bng['left'])
print(' ', 'left calc', l)
print(' ', 'right bng ', bng['right'])
print(' ', 'right calc', r)
print('max_dist', max_dist)
assert max_dist < 0.0001
print('success')