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Commit 2f5298fd authored by Eli Henry Dykhne's avatar Eli Henry Dykhne
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added readout of unique intersections

parent 233b8ee8
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2 merge requests!21Major changes. convert nuplan devkit to handle occlusions for project,!20fixed notice bug. made test notebook copy for myself to stop overwriting sheas. added npsc file format and runners to take advantage of it.
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......@@ -10,6 +10,7 @@ from omegaconf import DictConfig
from nuplan.common.utils.distributed_scenario_filter import DistributedMode, DistributedScenarioFilter
from nuplan.planning.scenario_builder.nuplan_db.nuplan_scenario_builder import NuPlanScenarioBuilder
from nuplan.planning.scenario_builder.scenario_modifier.abstract_scenario_modifier import AbstractModification, AbstractScenarioModifier
from nuplan.planning.scenario_builder.scenario_modifier.occlusion_injection_modifier import OcclusionInjectionModifier
from nuplan.planning.script.builders.metric_builder import build_metrics_engines
from nuplan.planning.script.builders.observation_builder import build_observations
from nuplan.planning.script.builders.occlusion_manager_builder import build_occlusion_manager
......@@ -152,6 +153,7 @@ def build_simulations(
modification_file_path = 'modifications_for_second_testing_round.pkl'
offshoot_scenario_simulations = []
original_modified_tokens = []
road_block_ids = []
num_modifiable = 0
original_num_runners = len(simulations)
if 'second_testing_round' in cfg and cfg.second_testing_round:
......@@ -168,11 +170,22 @@ def build_simulations(
for mod in modifications_for_second_testing_round[sim.simulation.scenario.token]:
if 'scenarios_to_check' not in cfg or sim.simulation.scenario.token + mod.modifier_string in cfg.scenarios_to_check:
clone = copy.deepcopy(sim)
occmod = OcclusionInjectionModifier()
crossing_lane_connector = occmod.how_does_ego_cross_intersection(sim)
road_block_ids.append(crossing_lane_connector.get_roadblock_id())
clone.simulation.modification = mod
clone.scenario._modifier = mod.modifier_string
offshoot_scenario_simulations.append(clone)
original_modified_tokens.append(sim.simulation.scenario.token)
original_modified_tokens = list(dict.fromkeys(original_modified_tokens)) #deduplicate
print('# roadblock ids', len(road_block_ids))
road_block_ids = list(dict.fromkeys(road_block_ids))#deduplicate
print('# unique roadblock ids', len(road_block_ids))
print('unique roadblock ids', road_block_ids)
else:
num_gpus = cfg.number_of_gpus_allocated_per_simulation
num_cpus = cfg.number_of_cpus_allocated_per_simulation
......
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