Fix dt
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ec9bb357fd
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f3b8e031c1
1 changed files with 8 additions and 5 deletions
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@ -270,10 +270,10 @@ class PredictionServer:
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x = history[:, 0]
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y = history[:, 1]
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# TODO: calculate dt based on input
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vx = derivative_of(x, 0.2) #eval_scene.dt
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vy = derivative_of(y, 0.2)
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ax = derivative_of(vx, 0.2)
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ay = derivative_of(vy, 0.2)
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vx = derivative_of(x, 0.1) #eval_scene.dt
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vy = derivative_of(y, 0.1)
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ax = derivative_of(vx, 0.1)
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ay = derivative_of(vy, 0.1)
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data_dict = {('position', 'x'): x[:],
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('position', 'y'): y[:],
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@ -325,7 +325,7 @@ class PredictionServer:
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dists, preds = trajectron.incremental_forward(input_dict,
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maps,
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prediction_horizon=25, # TODO: make variable
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num_samples=20, # TODO: make variable
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num_samples=5, # TODO: make variable
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robot_present_and_future=robot_present_and_future,
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full_dist=True)
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end = time.time()
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@ -343,6 +343,7 @@ class PredictionServer:
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# prediction_dict provides the actual predictions
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# histories_dict provides the trajectory used for prediction
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# futures_dict is the Ground Truth, which is unvailable in an online setting
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prediction_dict, histories_dict, futures_dict = prediction_output_to_trajectories({timestep: preds},
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eval_scene.dt,
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hyperparams['maximum_history_length'],
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@ -371,6 +372,8 @@ class PredictionServer:
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response[node.id] = {
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'id': node.id,
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'det_conf': trajectory_data[node.id]['det_conf'],
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'bbox': trajectory_data[node.id]['bbox'],
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'history': history.tolist(),
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'predictions': predictions[0].tolist() # use batch 0
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}
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