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mutate_scenarios.py
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mutate_scenarios.py
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import json
import math
import os
import random
import xml.etree.ElementTree as ET
import lgsvl
class MutateScenarios(object):
def __init__(self):
self.total_time_step = 6
def _convert_to_float(self, configuration):
if isinstance(configuration, dict):
return {key: self._convert_to_float(value) for key, value in configuration.items()}
elif isinstance(configuration, str):
return float(configuration)
else:
return configuration
def _get_all_objects_names(self, xml_content):
root = ET.fromstring(xml_content)
object_refs = []
for object_init in root.findall('.//ObjectInitialization'):
object_ref = object_init.attrib['objectRef']
object_refs.append(object_ref)
return object_refs
def original_scenarios_2json(self):
road_list = ["road1", "road2", "road3", "road4"]
weather_list = ["rain_day", "rain_night", "sunny_day", "clear_night"]
runner = lgsvl.scenariotoolset.ScenarioRunner()
for road in road_list:
for weather in weather_list:
randomly_select_scenarios_path = "./deepscenario/randomly_selected_scenarios/" + road + "-" + weather + "-scenarios/"
randomly_select_scenarios_names_list = [f for f in os.listdir(randomly_select_scenarios_path) if
os.path.isfile(os.path.join(randomly_select_scenarios_path,
f)) and not any(
param in f for param in
["original", "position", "rotation", "velocity",
"angular_velocity"])]
for randomly_select_scenario_name in randomly_select_scenarios_names_list:
randomly_select_scenario_name = os.path.join(randomly_select_scenarios_path,
randomly_select_scenario_name)
runner.load_scenario_file(scenario_filepath_or_buffer=randomly_select_scenario_name)
with open(randomly_select_scenario_name, 'r', encoding='utf-8') as file:
randomly_select_scenario_xml_content = file.read()
object_refs = self._get_all_objects_names(randomly_select_scenario_xml_content)
parameters_4timestep = {}
for time_step in range(1, self.total_time_step + 2):
info = json.loads(runner.get_scene_by_timestep(timestep=time_step))
parameters_4object = {}
for index_object, object_ref in enumerate(object_refs):
parameters_4final = {}
for index_parameter_object, parameter_object in enumerate(
["position", "rotation", "velocity", "angular_velocity"]):
if parameter_object == "position" or parameter_object == "rotation":
params_type = "geographic_parameters"
else:
params_type = "dynamic_parameters"
parameter_4final = self._convert_to_float(
info[object_ref][params_type][parameter_object])
parameters_4final[parameter_object] = parameter_4final
parameters_4object[object_ref] = parameters_4final
parameters_4timestep[f"timestep_{time_step - 1}"] = parameters_4object
with open(f"{randomly_select_scenario_name.split('.deepscenario')[0]}_original.json",
'w') as json_file:
json.dump(parameters_4timestep, json_file, indent=2)
def _extra_mutation(self, parameter, mutation_per=0.01):
return round(parameter * (1 + mutation_per), 3)
def extra_mutate_scenarios_7timestep(self):
road_list = ["road1", "road2", "road3", "road4"]
weather_list = ["rain_day", "rain_night", "sunny_day", "clear_night"]
parameter_list = ["position", "rotation", "velocity", "angular_velocity"]
object_list = ["Ego0", "NPC0"]
mutation_per_list = [0.01, -0.01]
mutation_dimension = False
for mutation_per in mutation_per_list:
for road in road_list:
for weather in weather_list:
randomly_select_scenarios_path = "./deepscenario/randomly_selected_scenarios/" + road + "-" + weather + "-scenarios/"
randomly_select_scenarios_names_list = [f for f in os.listdir(randomly_select_scenarios_path) if
os.path.isfile(os.path.join(randomly_select_scenarios_path,
f)) and "original.json" in f]
for randomly_select_scenario_name in randomly_select_scenarios_names_list:
with open(randomly_select_scenarios_path + randomly_select_scenario_name, 'r') as file:
randomly_select_scenario = json.load(file)
for parameter in parameter_list:
parameters_4timestep = {}
for time_step in range(1, self.total_time_step + 2):
parameters_4object = {}
for object in object_list:
parameters_4final = {}
if mutation_dimension:
index_parameter = random.choice(["x", "y", "z"])
for parameter_object in ["position", "rotation", "velocity",
"angular_velocity"]:
parameter_4final = self._convert_to_float(
randomly_select_scenario[f"timestep_{time_step - 1}"][object][
parameter_object])
if parameter == parameter_object:
mutated_parameter = self._extra_mutation(
parameter_4final[index_parameter], mutation_per)
parameter_4final[index_parameter] = mutated_parameter
parameters_4final[parameter_object] = parameter_4final
else:
for parameter_object in ["position", "rotation", "velocity",
"angular_velocity"]:
parameter_4final = self._convert_to_float(
randomly_select_scenario[f"timestep_{time_step - 1}"][object][
parameter_object])
if parameter == parameter_object and object == "NPC0":
for index_parameter in ["x", "y", "z"]:
mutated_parameter = self._extra_mutation(
parameter_4final[index_parameter], mutation_per)
parameter_4final[index_parameter] = mutated_parameter
parameters_4final[parameter_object] = parameter_4final
parameters_4object[object] = parameters_4final
parameters_4timestep[f"timestep_{time_step - 1}"] = parameters_4object
with open(
f"{randomly_select_scenarios_path}{randomly_select_scenario_name.split('_original.json')[0]}_extra_{'increase' if mutation_per == 0.01 else 'decrease'}_{parameter}.json",
'w') as json_file:
json.dump(parameters_4timestep, json_file, indent=2)
if parameter == "original":
continue
tree = ET.parse(
randomly_select_scenarios_path + randomly_select_scenario_name.split('_original.json')[
0] + ".deepscenario")
root = tree.getroot()
for time_step in range(1, self.total_time_step + 2):
for object_action in root.iter('ObjectAction'):
object_ref = object_action.get('name').split('_')[1]
object_parameters = parameters_4timestep[f'timestep_{time_step - 1}'][object_ref]
for waypoint in object_action.iter('WayPoint'):
timestamp = waypoint.get('timeStamp')
if int(timestamp) == time_step:
for index_parameter_object, parameter_object in enumerate(
["position", "rotation", "velocity",
"angular_velocity"]):
if parameter_object == "position" or parameter_object == "rotation":
parameter_type = 'GeographicParameters/Object'
else:
parameter_type = 'DynamicParameters/'
object_parameter = waypoint.find(
f'{parameter_type}{"AngularVelocity" if parameter_object == "angular_velocity" else parameter_object.capitalize()}')
if object_parameter is not None:
if parameter_object == "velocity":
speed = round(math.sqrt(
object_parameters[parameter_object]['x'] ** 2 +
object_parameters[parameter_object]['y'] ** 2 +
object_parameters[parameter_object]['z'] ** 2), 3)
waypoint.find(f'{parameter_type}Speed').set('speed', str(speed))
object_parameter.set(
f'{"angularVelocity" if parameter_object == "angular_velocity" else parameter_object}X',
str(object_parameters[parameter_object]['x']))
object_parameter.set(
f'{"angularVelocity" if parameter_object == "angular_velocity" else parameter_object}Y',
str(object_parameters[parameter_object]['y']))
object_parameter.set(
f'{"angularVelocity" if parameter_object == "angular_velocity" else parameter_object}Z',
str(object_parameters[parameter_object]['z']))
save_file = f"{randomly_select_scenarios_path}{randomly_select_scenario_name.split('_original.json')[0]}_extra_{'increase' if mutation_per == 0.01 else 'decrease'}_{parameter}.deepscenario"
tree.write(save_file)
with open(save_file, 'r') as file:
xml_content = file.read()
xml_content = '<?xml version="1.0" encoding="utf-8"?>\n' + xml_content
with open(save_file, 'w') as file:
file.write(xml_content)
if __name__ == '__main__':
mutate_scenarios = MutateScenarios()
mutate_scenarios.original_scenarios_2json()
mutate_scenarios.extra_mutate_scenarios_7timestep()