Move edt as part of track asset

examples/create_edt.py

@@ -0,0 +1,43 @@
+from f110_gym.envs.track import Track
+from scipy.ndimage import distance_transform_edt as edt
+import numpy as np
+
+DEFAULT_MAP_NAMES = [
+    "Austin",
+    "BrandsHatch",
+    "Budapest",
+    "Catalunya",
+    "Hockenheim",
+    "IMS",
+    "Melbourne",
+    "MexicoCity",
+    "Montreal",
+    "Monza",
+    "MoscowRaceway",
+    "Nuerburgring",
+    "Oschersleben",
+    "Sakhir",
+    "SaoPaulo",
+    "Sepang",
+    "Shanghai",
+    "Silverstone",
+    "Sochi",
+    "Spa",
+    "Spielberg",
+    "YasMarina",
+    "Zandvoort",
+]
+
+for track_name in DEFAULT_MAP_NAMES:
+    print("Loading a map without edt, a warning should appear")
+    track = Track.from_track_name(track_name)
+    occupancy_map = track.occupancy_map
+    resolution = track.spec.resolution
+
+    dt = resolution * edt(occupancy_map)
+
+    # saving
+    np.save(track.filepath, dt)
+
+    print("Loading a map with edt, warning should no longer appear")
+    track_wedt = Track.from_track_name(track_name)

gym/f110_gym/envs/laser_models.py

@@ -488,7 +488,10 @@ def set_map(self, map: str | Track):
         self.orig_c = np.cos(self.origin[2])
 
         # get the distance transform
-        self.dt = get_dt(self.map_img, self.map_resolution)
+        if self.track.edt is not None:
+            self.dt = self.track.edt
+        else:
+            self.dt = get_dt(self.map_img, self.map_resolution)
 
         return True
 

gym/f110_gym/envs/track/track.py

@@ -31,6 +31,7 @@ class Track:
     filepath: str
     ext: str
     occupancy_map: np.ndarray
+    edt: np.ndarray
     centerline: Raceline
     raceline: Raceline
 
@@ -40,6 +41,7 @@ def __init__(
         filepath: str,
         ext: str,
         occupancy_map: np.ndarray,
+        edt: Optional[np.ndarray] = None,
         centerline: Optional[Raceline] = None,
         raceline: Optional[Raceline] = None,
     ):
@@ -56,6 +58,8 @@ def __init__(
             file extension of the track image file
         occupancy_map : np.ndarray
             occupancy grid map
+        edt : np.ndarray
+            distance transform of the map
         centerline : Raceline, optional
             centerline of the track, by default None
         raceline : Raceline, optional
@@ -65,6 +69,7 @@ def __init__(
         self.filepath = filepath
         self.ext = ext
         self.occupancy_map = occupancy_map
+        self.edt = edt
         self.centerline = centerline
         self.raceline = raceline
 
@@ -125,6 +130,12 @@ def from_track_name(track: str):
             occupancy_map[occupancy_map <= 128] = 0.0
             occupancy_map[occupancy_map > 128] = 255.0
 
+            # if exists, load edt
+            if (track_dir / f"{track}_map.npy").exists():
+                edt = np.load(track_dir / f"{track}_map.npy")
+            else:
+                edt = None
+
             # if exists, load centerline
             if (track_dir / f"{track}_centerline.csv").exists():
                 centerline = Raceline.from_centerline_file(
@@ -146,6 +157,7 @@ def from_track_name(track: str):
                 filepath=str((track_dir / map_filename.stem).absolute()),
                 ext=map_filename.suffix,
                 occupancy_map=occupancy_map,
+                edt=edt,
                 centerline=centerline,
                 raceline=raceline,
             )

gym/f110_gym/envs/track/utils.py

@@ -24,7 +24,7 @@ def find_track_dir(track_name: str) -> pathlib.Path:
     FileNotFoundError
         if no map directory matching the track name is found
     """
-    map_dir = pathlib.Path(__file__).parent.parent.parent.parent / "maps"
+    map_dir = pathlib.Path(__file__).parent.parent.parent.parent.parent / "maps"
 
     if not (map_dir / track_name).exists():
         print("Downloading Files for: " + track_name)