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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
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bundle/src/assembly/resources/scenarios/Barnim/application/application_config.json
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| { | ||
| "messageCacheTime": "30s", | ||
| "encodePayloads": true, | ||
| "eventSchedulerThreads": 1, | ||
| "navigationConfiguration": { | ||
| "type": "database" | ||
| }, | ||
| "perceptionConfiguration": { | ||
| "vehicleIndex": { | ||
| "enabled": true | ||
| }, | ||
| "trafficLightIndex": { | ||
| "enabled": true | ||
| }, | ||
| "wallIndex": { | ||
| "enabled": false | ||
| } | ||
| } | ||
| } |
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...saic/fed/application/ambassador/simulation/perception/errormodels/DimensionsModifier.java
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| /* | ||
| * 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: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.fed.application.ambassador.simulation.perception.errormodels; | ||
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| 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; | ||
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| import java.util.List; | ||
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| /** | ||
| * 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 { | ||
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| 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 | ||
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| private final double heightDeviation; | ||
| private final double widthDeviation; | ||
| private final double lengthDeviation; | ||
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| private final RandomNumberGenerator rng; | ||
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| public DimensionsModifier(RandomNumberGenerator rng, double lengthDeviation, double widthDeviation, double heightDeviation) { | ||
| this.rng = rng; | ||
| this.lengthDeviation = lengthDeviation; | ||
| this.widthDeviation = widthDeviation; | ||
| this.heightDeviation = heightDeviation; | ||
| } | ||
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| public DimensionsModifier(RandomNumberGenerator rng) { | ||
| this.rng = rng; | ||
| this.lengthDeviation = SIGMA_LENGTH_OFFSET; | ||
| this.widthDeviation = SIGMA_WIDTH_OFFSET; | ||
| this.heightDeviation = SIGMA_HEIGHT_OFFSET; | ||
| } | ||
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| @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; | ||
| } | ||
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| private void adjustDimensionsOfVehicle(VehicleObject vehicleObject) { | ||
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| double oldLength = vehicleObject.getLength(); | ||
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| vehicleObject.setDimensions( | ||
| Math.abs(rng.nextGaussian(vehicleObject.getLength(), lengthDeviation)), | ||
| Math.abs(rng.nextGaussian(vehicleObject.getWidth(), widthDeviation)), | ||
| Math.abs(rng.nextGaussian(vehicleObject.getHeight(), heightDeviation)) | ||
| ); | ||
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| double newLength = vehicleObject.getLength(); | ||
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| if (MathUtils.isFuzzyEqual(newLength, oldLength)) { | ||
| return; | ||
| } | ||
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| // 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 | ||
| ); | ||
| } | ||
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| } | ||
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