From 0c144d62833cfed2e110ab7df4cb06f79b50f9f5 Mon Sep 17 00:00:00 2001
From: Henry <ehdykhne@uwaterloo.ca>
Date: Wed, 27 Dec 2023 06:49:58 -0500
Subject: [PATCH] code is a bit prettier but could still be improved
---
.../occlusion/abstract_occlusion_manager.py | 18 ++++++++----------
1 file changed, 8 insertions(+), 10 deletions(-)
diff --git a/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py b/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
index 6be3998..4d2a8df 100644
--- a/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
+++ b/nuplan/planning/simulation/occlusion/abstract_occlusion_manager.py
@@ -94,20 +94,18 @@ class AbstractOcclusionManager(metaclass=ABCMeta):
Fills out the latest uncloak window for the _noticed_agent_cache. agents that are noticed at a timestep will always be noticed at that timestep
"""
self._noticed_agent_cache[ego_state_buffer[-1].time_us] = set()
+ notice_threshold_over_sample_interval = int(self.notice_threshold / sample_interval)
time_us_at_begining_of_window = ego_state_buffer[0].time_us
+
+ initial_tokens = self._visible_agent_cache[time_us_at_begining_of_window].union(self._noticed_agent_cache[time_us_at_begining_of_window])
+
for agent in observations_buffer[0].tracked_objects.tracked_objects:
token = agent.metadata.track_token
- if (token in self._visible_agent_cache[time_us_at_begining_of_window]) or (token in self._noticed_agent_cache[time_us_at_begining_of_window]): #if we are visible or noticed at the begining of the window, we should check if we are noticed at later timesteps
- vis_count = 0
- for ego_state in ego_state_buffer: #now we loop forward to the present time to check how much we are visible. if we are visible for more than the notice_threshold, then we are "noticed"
- if token in self._visible_agent_cache[ego_state.time_us]:
- vis_count += 1
-
- if vis_count * sample_interval >= self.notice_threshold:
- for ego_state in ego_state_buffer: #now we loop forward to the present time to check how much we are visible. if we are visible for more than the notice_threshold, then we are "noticed"
+ if token in initial_tokens:
+ vis_count = sum(token in self._visible_agent_cache[ego_state.time_us] for ego_state in ego_state_buffer)
+ if vis_count >= notice_threshold_over_sample_interval:
+ for ego_state in ego_state_buffer:
self._noticed_agent_cache[ego_state.time_us].add(token)
- else:
- continue
####################################################################################################################################
def _mask_input(self, time_us: int, observations: DetectionsTracks) -> DetectionsTracks:
--
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