Merge branch 'gl-dev' into main

opendilab · Nov 18, 2021 · f532c9e · f532c9e
2 parents eb93609 + e1c3011
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diff --git a/CHANGELOG b/CHANGELOG
@@ -1,3 +1,18 @@
+## v0.2.1 (2021.11.18)
+- Add NoCrash Carla099
+- Add bev dataset
+- Add Carla AD Challenge scenarios and routes
+- Add LBC data collection and BeV training doc
+- Add Latent RL BeV and RL training doc
+- Add validation in LBC training
+- Update Benchmark datasaver
+- Update VAE model
+- Update LBC Image policy learn mode
+- Fix bug in benchmark collector
+- Fix visualizer not closed after done
+- Fix not alived sensor killed bug
+
+
 ## v0.2.0 (2021.11.1)
 - Update DI-engine to version 0.2.0
 - Reformat CIL to CILRS

diff --git a/README.md b/README.md
@@ -2,7 +2,7 @@
 
 <img src="./docs/figs/DI-drive.png" width="200" alt="icon"/>
 
-Updated on 2021.11.01 DI-drive-v0.2.0 (beta)
+Updated on 2021.11.18 DI-drive-v0.2.1 (beta)
 
 DI-drive - Decision Intelligence Platform for Autonomous Driving simulation.
 

diff --git a/core/data/__init__.py b/core/data/__init__.py
@@ -3,3 +3,4 @@
 from .cilrs_dataset import CILRSDataset
 from .cict_dataset import CictDataset
 from .lbc_dataset import LBCBirdViewDataset, LBCImageDataset
+from .bev_vae_dataset import BeVVAEDataset
diff --git a/core/data/benchmark/carla100/099/nocrash_Town01.txt b/core/data/benchmark/carla100/099/nocrash_Town01.txt
@@ -0,0 +1,25 @@
+79 227
+105 21
+129 88
+19 105
+231 212
+252 192
+222 120
+202 226
+11 17
+79 247
+3 177
+191 114
+235 240
+4 54
+17 207
+223 212
+154 66
+187 123
+129 56
+114 6
+40 192
+176 123
+121 187
+238 225
+219 154
diff --git a/core/data/benchmark/carla100/099/nocrash_Town02.txt b/core/data/benchmark/carla100/099/nocrash_Town02.txt
@@ -0,0 +1,25 @@
+66 19
+6 71
+66 28
+46 32
+25 59
+32 9
+43 72
+54 14
+26 50
+38 69
+75 24
+19 82
+65 6
+71 29
+59 16
+6 66
+83 56
+69 71
+82 28
+8 17
+19 12
+39 18
+51 8
+24 36
+64 73
diff --git a/core/data/benchmark_dataset_saver.py b/core/data/benchmark_dataset_saver.py
@@ -3,7 +3,7 @@
 import glob
 import numpy as np
 from pathlib import Path
-from typing import Callable, List, Dict
+from typing import Callable, List, Dict, Optional
 
 from core.utils.data_utils.data_writter import write_json, write_episode_lmdb
 from core.utils.others.image_helper import save_image, is_image
@@ -28,27 +28,26 @@ class BenchmarkDatasetSaver():
         - save_dir (str): Dataset folder path.
         - obs_cfg (Dict): Observation config dict in simulator.
         - post_process_fn (Callable, optional): Post-process function defined by user. Defaults to None.
+        - lmdb_obs (List, optional): Observation types that saved as lmdb rather than image, default to ['lidar', 'bev']
 
     :Interfaces: make_dataset_path, save_episodes_data, make_index
     """
 
-    def __init__(self, save_dir: str, obs_cfg: Dict, post_process_fn: Callable = None):
-        """
-        [summary]
-
-        :Arguments:
-            - save_dir (str): [description]
-            - obs_cfg (Dict): [description]
-            - post_process_fn (Callable, optional): [description]. Defaults to None.
-        """
+    def __init__(
+            self,
+            save_dir: str,
+            obs_cfg: Dict,
+            post_process_fn: Optional[Callable] = None,
+            lmdb_obs: Optional[List] = ['lidar', 'birdview'],
+    ) -> None:
         self._save_dir = save_dir
         self._obs_cfg = obs_cfg
         self._post_process_fn = post_process_fn
-        self._lmdb_obs_type = []
+        self._lmdb_obs_type = lmdb_obs
         if self._post_process_fn is None:
             self._post_process_fn = default_post_process_fn
 
-    def save_episodes_data(self, episodes_data: List, start_episode: int = 0):
+    def save_episodes_data(self, episodes_data: List, start_episode: int = 0) -> None:
         """
         Save data from several episodes sampled from collector, with 'env_param' and 'data' key
         saved in each episode.
@@ -93,7 +92,7 @@ def save_episodes_data(self, episodes_data: List, start_episode: int = 0):
                 data.append((measurements, sensor_data, others))
             BenchmarkDatasetSaver._save_episode_data(episode_path, data, self._lmdb_obs_type)
 
-    def make_dataset_path(self, dataset_metainfo: Dict = dict()):
+    def make_dataset_path(self, dataset_metainfo: Dict = dict()) -> None:
         """
         Make dataset folder and write dataset meta infomation into a json file.
 
@@ -111,20 +110,18 @@ def make_dataset_path(self, dataset_metainfo: Dict = dict()):
                 obs_item = obs_item.copy()
                 obs_item.pop('name')
                 obs_metainfo.update({obs_name: obs_item})
-                if obs_item['type'] in ['lidar', 'bev']:
-                    self._lmdb_obs_type.append(obs_name)
 
         dataset_metainfo.update({'obs': obs_metainfo})
 
         write_json(os.path.join(self._save_dir, 'metainfo.json'), dataset_metainfo)
 
     @staticmethod
-    def _make_episode_path(episode_path, env_params):
+    def _make_episode_path(episode_path, env_params) -> None:
         os.makedirs(episode_path, exist_ok=True)
         write_json(os.path.join(episode_path, 'episode_metainfo.json'), env_params)
 
     @staticmethod
-    def _save_episode_data(episode_path, data, lmdb_obs_type=None):
+    def _save_episode_data(episode_path, data, lmdb_obs_type=None) -> None:
         write_episode_lmdb(episode_path, data, lmdb_obs_type)
         for i, x in enumerate(data):
             sensor_data = x[1]
@@ -134,7 +131,7 @@ def _save_episode_data(episode_path, data, lmdb_obs_type=None):
                 else:
                     save_image(os.path.join(episode_path, "%s_%05d.png" % (k, i)), v)
 
-    def make_index(self, command_index: int = 11):
+    def make_index(self, command_index: int = 11) -> None:
         """
         Make an index txt file to save all the command of each frame in dataset.
 

diff --git a/core/data/bev_vae_dataset.py b/core/data/bev_vae_dataset.py
@@ -0,0 +1,79 @@
+import os
+import lmdb
+import cv2
+import numpy as np
+from typing import Any, Dict
+import torch
+from torchvision import transforms
+from torch.utils.data import Dataset
+
+PIXEL_OFFSET = 10
+
+
+class BeVVAEDataset(Dataset):
+
+    def __init__(
+            self,
+            root_dir,
+            img_size=320,
+            crop_size=192,
+            crop_x_jitter=5,
+            crop_y_jitter=5,
+            angle_jitter=5,
+            down_ratio=4,
+            max_frames=None
+    ) -> None:
+        self._root_dir = root_dir
+        self._img_size = img_size
+        self._crop_size = crop_size
+        self._crop_x_jitter = crop_x_jitter
+        self._crop_y_jitter = crop_y_jitter
+        self._angle_jitter = angle_jitter
+        self._down_ratio = down_ratio
+        self._max_frames = max_frames
+        self.bird_view_transform = transforms.ToTensor()
+
+        epi_folder = [x for x in os.listdir(root_dir) if x.startswith('epi')]
+
+        self._lmdb_list = []
+        self._idx_list = []
+
+        for item in epi_folder:
+            lmdb_file = lmdb.open(os.path.join(root_dir, item, 'measurements.lmdb')).begin(write=False)
+            max_len = int(lmdb_file.get('len'.encode()))
+            for i in range(max_len):
+                self._lmdb_list.append(lmdb_file)
+                self._idx_list.append(i)
+
+    def __len__(self):
+        return len(self._lmdb_list)
+
+    def __getitem__(self, index) -> Any:
+        lmdb_txn = self._lmdb_list[index]
+        episode_index = self._idx_list[index]
+
+        birdview = np.frombuffer(lmdb_txn.get(('birdview_%05d' % episode_index).encode()),
+                                 np.uint8).reshape(320, 320, 7) * 255
+
+        delta_angle = np.random.randint(-self._angle_jitter, self._angle_jitter + 1)
+        dx = np.random.randint(-self._crop_x_jitter, self._crop_x_jitter + 1)
+        dy = np.random.randint(0, self._crop_y_jitter + 1) - PIXEL_OFFSET
+
+        pixel_ox = 160
+        pixel_oy = 260
+
+        birdview = cv2.warpAffine(
+            birdview,
+            cv2.getRotationMatrix2D((pixel_ox, pixel_oy), delta_angle, 1.0),
+            birdview.shape[1::-1],
+            flags=cv2.INTER_LINEAR
+        )
+
+        # random cropping
+        center_x, center_y = 160, 260 - self._crop_size // 2
+        birdview = birdview[dy + center_y - self._crop_size // 2:dy + center_y + self._crop_size // 2,
+                            dx + center_x - self._crop_size // 2:dx + center_x + self._crop_size // 2]
+
+        birdview = self.bird_view_transform(birdview)
+
+        return {'birdview': birdview}
diff --git a/core/data/carla_benchmark_collector.py b/core/data/carla_benchmark_collector.py
@@ -257,8 +257,9 @@ def collect(
                             reset_param_index = self._collect_suite_index_dict[next_suite]
                             reset_param = self._collect_suite_reset_params[next_suite][reset_param_index]
                             self._collect_suite_index_dict[next_suite] += 1
-                            if reset_param_index >= len(self._collect_suite_reset_params[next_suite]):
-                                self._collect_suite_index_dict[next_suite] = 0
+                            self._collect_suite_index_dict[next_suite] %= len(
+                                self._collect_suite_reset_params[next_suite]
+                            )
                             running_env_params[env_id] = reset_param
                             self._env_manager.reset({env_id: reset_param})
                         self._traj_cache[env_id].clear()

diff --git a/core/data/casezoo/configs/route01.json b/core/data/casezoo/configs/route01.json
@@ -14,7 +14,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [

diff --git a/core/data/casezoo/configs/route02.json b/core/data/casezoo/configs/route02.json
@@ -14,7 +14,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "ControlLoss"
+                    "scenario_type": "ControlLossNew"
                 },
                 {
                     "available_event_configurations": [
@@ -28,7 +28,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 }
             ]
         }

diff --git a/core/data/casezoo/configs/route03.json b/core/data/casezoo/configs/route03.json
@@ -46,7 +46,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [

diff --git a/core/data/casezoo/configs/route04.json b/core/data/casezoo/configs/route04.json
@@ -39,7 +39,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [
@@ -53,7 +53,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "ControlLoss"
+                    "scenario_type": "ControlLossNew"
                 },
                 {
                     "available_event_configurations": [

diff --git a/core/data/casezoo/configs/route06.json b/core/data/casezoo/configs/route06.json
@@ -14,7 +14,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [
@@ -85,7 +85,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [
@@ -99,7 +99,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "ControlLoss"
+                    "scenario_type": "ControlLossNew"
                 }
             ]
         }

diff --git a/core/data/casezoo/configs/route07.json b/core/data/casezoo/configs/route07.json
@@ -64,7 +64,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [
@@ -78,7 +78,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "ControlLoss"
+                    "scenario_type": "ControlLossNew"
                 }
             ]
         }

diff --git a/core/data/casezoo/configs/route09.json b/core/data/casezoo/configs/route09.json
@@ -93,7 +93,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [
@@ -107,7 +107,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "ControlLoss"
+                    "scenario_type": "ControlLossNew"
                 }
             ]
         }

diff --git a/core/data/casezoo/configs/town03_1.json b/core/data/casezoo/configs/town03_1.json
@@ -89,7 +89,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [

diff --git a/core/data/casezoo/configs/town04_1.json b/core/data/casezoo/configs/town04_1.json
@@ -48,7 +48,7 @@
                             }
                         }
                     ],
-                    "scenario_type": "FollowLeadingVehicle"
+                    "scenario_type": "FollowLeadingVehicleNew"
                 },
                 {
                     "available_event_configurations": [