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# THE SOFTWARE.
import base64
import glob
from collections import defaultdict
from itertools import groupby
from pathlib import Path
from typing import Dict
import cv2
import numpy as np
from PIL import Image
from smarts.core.utils.core_logging import isnotebook
[docs]def flatten_obs(sim_obs):
"""Convert the observation into tuples of observations (for purposes of flattening boids)."""
obs = []
for agent_id, agent_obs in sim_obs.items():
if agent_obs is None:
continue
elif isinstance(agent_obs, dict): # is_boid_agent
for vehicle_id, vehicle_obs in agent_obs.items():
obs.append((vehicle_id, vehicle_obs))
else:
obs.append((agent_id, agent_obs))
return obs
[docs]def vis_sim_obs(sim_obs) -> Dict[str, np.ndarray]:
"""Convert the observations into format for mp4 video output."""
vis_images = defaultdict(list)
for agent_id, agent_obs in flatten_obs(sim_obs):
drivable_area = getattr(agent_obs, "drivable_area_grid_map", None)
if drivable_area is not None:
image = drivable_area.data
image = image[:, :, [0, 0, 0]]
image = image.astype(np.uint8)
vis_images[f"{agent_id}-DrivableAreaGridMap"].append(image)
ogm = getattr(agent_obs, "occupancy_grid_map", None)
if ogm is not None:
image: np.ndarray = ogm.data
image = image[:, :, [0, 0, 0]]
image = image.astype(np.uint8)
vis_images[f"{agent_id}-OGM"].append(image)
rgb = getattr(agent_obs, "top_down_rgb", None)
if rgb is not None:
image = rgb.data
image = image.astype(np.uint8)
vis_images[f"{agent_id}-Top-Down-RGB"].append(image)
return {key: np.array(images) for key, images in vis_images.items()}
[docs]def show_notebook_videos(path="videos", height="400px", split_html=""):
"""Render a video in a python display. Usually for jupyter notebooks."""
if not isnotebook():
return
from IPython import display as ipythondisplay
html = []
for mp4 in Path(path).glob("*.mp4"):
video_b64 = base64.b64encode(mp4.read_bytes())
html.append(
"""<video alt="{}" autoplay
loop controls style="height: {};">
<source src="data:video/mp4;base64,{}" type="video/mp4" />
</video>""".format(
mp4, height, video_b64.decode("ascii")
)
)
ipythondisplay.display(ipythondisplay.HTML(data=split_html.join(html)))