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renable loitering

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Ruben van de Ven 2025-11-08 13:46:07 +01:00
parent 3b9a7c033f
commit a387cae62c
3 changed files with 5 additions and 4 deletions
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3
supervisord.conf
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@ -59,7 +59,8 @@ environment=DISPLAY=":0"
directory=%(here)s
[program:predictor]
command=uv run trap_prediction --eval_device cuda:0 --model_dir EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/ --num-samples 1 --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof3-m2-ud-split-nostep-conv12-f2.0-map-2024-12-29_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
# command=uv run trap_prediction --eval_device cuda:0 --model_dir EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/ --num-samples 1 --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof3-m2-ud-split-nostep-conv12-f2.0-map-2024-12-29_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
command=uv run trap_prediction --eval_device cuda:0 --model_dir EXPERIMENTS/models/models_20251107_14_27_55_hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets1-f2.0-map-2025-11-07/ --num-samples 1 --map_encoding --eval_ata_dict EXPERIMENTS/trajectron-data/hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets1-f2.0-map-2025-11-07_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
# command=uv run trap_prediction --eval_device cuda:0 --model_dir EXPERIMENTS/models/models_20251106_11_51_00_hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06/ --num-samples 1 --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
# uv run trajectron_train --continue_training_from EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/ --eval_every 5 --train_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_train.pkl --eval_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_val.pkl --offline_scene_graph no --preprocess_workers 8 --log_dir EXPERIMENTS/models --log_tag _hof3-conv12-f2.0-map-2024-12-27 --train_epochs 10 --conf EXPERIMENTS/config.json --data_dir EXPERIMENTS/trajectron-data --map_encoding
directory=%(here)s

4
trap/prediction_server.py
View file

@ -114,7 +114,7 @@ def get_maps_for_input(input_dict, scene: Scene, hyperparams, device):
rotation=heading_angles,
device='cpu')
except Exception as e:
print(scene_maps)
# print(scene_maps)
logger.warning(f"Crash on getting maps for points: {scene_pts=} {heading_angles=} {patch_size=}")
raise e
@ -450,7 +450,7 @@ class PredictionServer(Node):
if not len(history) or np.isnan(history[-1]).any():
logger.warning(f'skip for no history @ {ts_key} [{len(prediction_dict)=}, {len(histories_dict)=}, {len(futures_dict)=}]')
logger.info(f"{preds=}")
# logger.info(f"{preds=}")
continue

2
trap/stage.py
View file

@ -459,7 +459,7 @@ class DrawnScenario(Scenario):
# special case: LOITERING
if False and self.scene is ScenarioScene.LOITERING: # or self.state_change_at:
if self.scene is ScenarioScene.LOITERING: # or self.state_change_at:
# logger.info('loitering')
transition = min(1, (time.perf_counter() - self.state_change_at)/1.4)
# print('loitering factor', transition)