-
Notifications
You must be signed in to change notification settings - Fork 55
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(perception): simplified configuration for perception index (#351)
* feat: simplified configuration for perception index * use separate configuration class instead of inferring index implementations with configuration * removed simple index implementation based on for-loops, keep tree,grid,sumo as vehicle index implementations * removed measurement of index performance * simplified configuration of indexes, e.g. by enabling/disabling them via config option * use tree implementation for vehicle index by default * all indexes are disabled by default * use parametrized test instead of repeating test methods in SimplePerceptionModuleTest * fix: remove unused configuration option * feat: add example perception config for Barnim * fix: resolve spotbugs warning * feat: add perception modifier for heading and dimensions * clean: use convenient order of dimension attributes * feat: enable vehicle index by default
- Loading branch information
Showing
36 changed files
with
672 additions
and
716 deletions.
There are no files selected for viewing
19 changes: 19 additions & 0 deletions
19
bundle/src/assembly/resources/scenarios/Barnim/application/application_config.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| { | ||
| "messageCacheTime": "30s", | ||
| "encodePayloads": true, | ||
| "eventSchedulerThreads": 1, | ||
| "navigationConfiguration": { | ||
| "type": "database" | ||
| }, | ||
| "perceptionConfiguration": { | ||
| "vehicleIndex": { | ||
| "enabled": true | ||
| }, | ||
| "trafficLightIndex": { | ||
| "enabled": true | ||
| }, | ||
| "wallIndex": { | ||
| "enabled": false | ||
| } | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
96 changes: 96 additions & 0 deletions
96
...saic/fed/application/ambassador/simulation/perception/errormodels/DimensionsModifier.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| /* | ||
| * Copyright (c) 2022 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: mosaic@fokus.fraunhofer.de | ||
| */ | ||
|
|
||
| package org.eclipse.mosaic.fed.application.ambassador.simulation.perception.errormodels; | ||
|
|
||
| import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModuleOwner; | ||
| import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObject; | ||
| import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject; | ||
| import org.eclipse.mosaic.lib.math.MathUtils; | ||
| import org.eclipse.mosaic.lib.math.RandomNumberGenerator; | ||
| import org.eclipse.mosaic.lib.math.Vector3d; | ||
| import org.eclipse.mosaic.lib.math.VectorUtils; | ||
|
|
||
| import java.util.List; | ||
|
|
||
| /** | ||
| * Adjusts the dimensions of perceived {@link VehicleObject}s. Since the position | ||
| * of vehicles is assumed to refer to their front bumper instead of bounding box center, | ||
| * their position is adjusted accordingly when the length of the vehicle was changed. | ||
| */ | ||
| public class DimensionsModifier implements PerceptionModifier { | ||
|
|
||
| private static final double SIGMA_WIDTH_OFFSET = 0.2; // given in m | ||
| private static final double SIGMA_HEIGHT_OFFSET = 0.2; // given in m | ||
| private static final double SIGMA_LENGTH_OFFSET = 0.5; // given in m | ||
|
|
||
| private final double heightDeviation; | ||
| private final double widthDeviation; | ||
| private final double lengthDeviation; | ||
|
|
||
| private final RandomNumberGenerator rng; | ||
|
|
||
|
|
||
| public DimensionsModifier(RandomNumberGenerator rng, double lengthDeviation, double widthDeviation, double heightDeviation) { | ||
| this.rng = rng; | ||
| this.lengthDeviation = lengthDeviation; | ||
| this.widthDeviation = widthDeviation; | ||
| this.heightDeviation = heightDeviation; | ||
| } | ||
|
|
||
| public DimensionsModifier(RandomNumberGenerator rng) { | ||
| this.rng = rng; | ||
| this.lengthDeviation = SIGMA_LENGTH_OFFSET; | ||
| this.widthDeviation = SIGMA_WIDTH_OFFSET; | ||
| this.heightDeviation = SIGMA_HEIGHT_OFFSET; | ||
| } | ||
|
|
||
| @Override | ||
| public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) { | ||
| spatialObjects.stream() | ||
| .filter(o -> o instanceof VehicleObject) | ||
| .forEach(o -> adjustDimensionsOfVehicle((VehicleObject) o)); | ||
| return spatialObjects; | ||
| } | ||
|
|
||
| private void adjustDimensionsOfVehicle(VehicleObject vehicleObject) { | ||
|
|
||
| double oldLength = vehicleObject.getLength(); | ||
|
|
||
| vehicleObject.setDimensions( | ||
| Math.abs(rng.nextGaussian(vehicleObject.getLength(), lengthDeviation)), | ||
| Math.abs(rng.nextGaussian(vehicleObject.getWidth(), widthDeviation)), | ||
| Math.abs(rng.nextGaussian(vehicleObject.getHeight(), heightDeviation)) | ||
| ); | ||
|
|
||
| double newLength = vehicleObject.getLength(); | ||
|
|
||
| if (MathUtils.isFuzzyEqual(newLength, oldLength)) { | ||
| return; | ||
| } | ||
|
|
||
| // move position of vehicle based on length difference since vehicle position is assumed to refer to front bumper and we want to | ||
| // squeeze the length around bounding box center | ||
| Vector3d direction = VectorUtils.getDirectionVectorFromHeading(vehicleObject.getHeading(), new Vector3d()) | ||
| .multiply((newLength - oldLength) / 2); | ||
| vehicleObject.setPosition( | ||
| vehicleObject.getPosition().x + direction.x, | ||
| vehicleObject.getPosition().y + direction.y, | ||
| vehicleObject.getPosition().z + direction.z | ||
| ); | ||
| } | ||
|
|
||
| } | ||
|
|
Oops, something went wrong.