added readout of unique intersections

nuplan/planning/script/builders/simulation_builder.py

@@ -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