(self, input_data)
| 200 | ] |
| 201 | |
| 202 | def tick(self, input_data): |
| 203 | self.step += 1 |
| 204 | |
| 205 | # affordances = self._get_affordances() |
| 206 | |
| 207 | # traffic_lights = self._find_obstacle('*traffic_light*') |
| 208 | # stop_signs = self._find_obstacle('*stop*') |
| 209 | |
| 210 | depth = {} |
| 211 | seg = {} |
| 212 | |
| 213 | # bb_3d = self._get_3d_bbs(max_distance=self._3d_bb_distance) |
| 214 | |
| 215 | bb_2d = {} |
| 216 | |
| 217 | # for pos in ['front', 'left', 'right', 'rear']: |
| 218 | # seg_cam = 'seg_' + pos |
| 219 | # depth_cam = 'depth_' + pos |
| 220 | # _segmentation = np.copy(input_data[seg_cam][1][:, :, 2]) |
| 221 | |
| 222 | # depth[pos] = self._get_depth(input_data[depth_cam][1][:, :, :3]) |
| 223 | |
| 224 | # self._change_seg_tl(_segmentation, depth[pos], traffic_lights) |
| 225 | # self._change_seg_stop(_segmentation, depth[pos], stop_signs, seg_cam) |
| 226 | |
| 227 | # bb_2d[pos] = self._get_2d_bbs(seg_cam, affordances, bb_3d, _segmentation) |
| 228 | |
| 229 | # #self._draw_2d_bbs(_segmentation, bb_2d[pos]) |
| 230 | |
| 231 | # seg[pos] = _segmentation |
| 232 | |
| 233 | |
| 234 | rgb_front = cv2.cvtColor(input_data['rgb_front'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 235 | # rgb_rear = cv2.cvtColor(input_data['rgb_rear'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 236 | # rgb_left = cv2.cvtColor(input_data['rgb_left'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 237 | # rgb_right = cv2.cvtColor(input_data['rgb_right'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 238 | gps = input_data['gps'][1][:2] |
| 239 | speed = input_data['speed'][1]['speed'] |
| 240 | compass = input_data['imu'][1][-1] |
| 241 | |
| 242 | # depth_front = cv2.cvtColor(input_data['depth_front'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 243 | # depth_left = cv2.cvtColor(input_data['depth_left'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 244 | # depth_right = cv2.cvtColor(input_data['depth_right'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 245 | # depth_rear = cv2.cvtColor(input_data['depth_rear'][1][:, :, :3], cv2.COLOR_BGR2RGB) |
| 246 | |
| 247 | weather = self._weather_to_dict(self._world.get_weather()) |
| 248 | |
| 249 | # return { |
| 250 | # 'rgb_front': rgb_front, |
| 251 | # 'seg_front': seg['front'], |
| 252 | # 'depth_front': depth_front, |
| 253 | # '2d_bbs_front': bb_2d['front'], |
| 254 | # 'rgb_rear': rgb_rear, |
| 255 | # 'seg_rear': seg['rear'], |
| 256 | # 'depth_rear': depth_rear, |
| 257 | # '2d_bbs_rear': bb_2d['rear'], |
| 258 | # 'rgb_left': rgb_left, |
| 259 | # 'seg_left': seg['left'], |
nothing calls this directly
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