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Add ego car color in top down view and fix expert bug. #718

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Add ego car color in top down view and fix expert bug. #718

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4299277
fix expert bug, cover side_detector and lane_line_detector setting
CarlDegio Feb 26, 2024
baa2901
add ego car color in top down view
CarlDegio May 20, 2024
62d060a
Merge branch 'main' into torch_expert_fix
pengzhenghao Aug 8, 2024
b4f23f8
Merge branch 'main' into torch_expert_fix
pengzhenghao Aug 20, 2024
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3 changes: 3 additions & 0 deletions metadrive/constants.py
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Original file line number Diff line number Diff line change
Expand Up @@ -459,6 +459,9 @@ def get_color(type):
# vehicle
elif MetaDriveType.is_vehicle(type):
ret = np.array([224, 177, 67])
# self vehicle
elif MetaDriveType.is_ego_vehicle(type):
ret = np.array([67, 177, 224])
Comment on lines 460 to +464
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Will this work if is_vehicle call before is_ego_vehicle?

# construction object
elif MetaDriveType.is_traffic_object(type):
ret = np.array([67, 143, 224])
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6 changes: 5 additions & 1 deletion metadrive/engine/top_down_renderer.py
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Expand Up @@ -409,10 +409,14 @@ def _append_frame_objects(objects):
"""
frame_objects = []
for name, obj in objects.items():
obj_type = obj.metadrive_type if hasattr(obj, "metadrive_type") else MetaDriveType.OTHER
if obj_type == MetaDriveType.VEHICLE:
obj_type = 'EGO_VEHICLE' if obj.class_name == 'DefaultVehicle' else MetaDriveType.VEHICLE

frame_objects.append(
history_object(
name=name,
type=obj.metadrive_type if hasattr(obj, "metadrive_type") else MetaDriveType.OTHER,
type=obj_type,
heading_theta=obj.heading_theta,
WIDTH=obj.top_down_width,
LENGTH=obj.top_down_length,
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5 changes: 5 additions & 0 deletions metadrive/type.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ class MetaDriveType:
# ===== Agent type =====
UNSET = "UNSET"
VEHICLE = "VEHICLE"
EGO_VEHICLE = "EGO_VEHICLE" # currently for top-down view
PEDESTRIAN = "PEDESTRIAN"
CYCLIST = "CYCLIST"
OTHER = "OTHER"
Expand Down Expand Up @@ -177,6 +178,10 @@ def is_crosswalk(cls, type):
def is_vehicle(cls, type):
return type == cls.VEHICLE

@classmethod
def is_ego_vehicle(cls, type):
return type == cls.EGO_VEHICLE

@classmethod
def is_pedestrian(cls, type):
return type == cls.PEDESTRIAN
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