Adding quality of life improvements, map area querying, fixing nuPlan lane ID format, and the ability to cache the data index.

Author: BorisIvanovic

examples/preprocess_maps.py

@@ -4,6 +4,7 @@
 # @profile
 def main():
     dataset = UnifiedDataset(
+        # TODO([email protected]) Remove lyft from default examples
         desired_data=["nusc_mini", "lyft_sample", "nuplan_mini"],
         rebuild_maps=True,
         data_dirs={  # Remember to change this to match your filesystem!

examples/simple_map_api_example.py

@@ -6,6 +6,8 @@
 import numpy as np
 
 from trajdata import MapAPI, VectorMap
+from trajdata.maps.vec_map_elements import MapElementType
+from trajdata.utils import map_utils
 
 
 def main():
@@ -23,12 +25,16 @@ def main():
     }
 
     start = time.perf_counter()
-    vec_map: VectorMap = map_api.get_map(f"{env_name}:{random_location_dict[env_name]}")
+    vec_map: VectorMap = map_api.get_map(
+        f"{env_name}:{random_location_dict[env_name]}", incl_road_areas=True
+    )
     end = time.perf_counter()
     print(f"Map loading took {(end - start)*1000:.2f} ms")
 
     start = time.perf_counter()
-    vec_map: VectorMap = map_api.get_map(f"{env_name}:{random_location_dict[env_name]}")
+    vec_map: VectorMap = map_api.get_map(
+        f"{env_name}:{random_location_dict[env_name]}", incl_road_areas=True
+    )
     end = time.perf_counter()
     print(f"Repeated (cached in memory) map loading took {(end - start)*1000:.2f} ms")
 
@@ -64,6 +70,35 @@ def main():
     end = time.perf_counter()
     print(f"Lane visualization took {(end - start)*1000:.2f} ms")
 
+    point = vec_map.lanes[lane_idx].center.xyz[0, :]
+    point_raster = map_utils.transform_points(
+        point[None, :], transf_mat=raster_from_world
+    )
+    ax.scatter(point_raster[:, 0], point_raster[:, 1])
+
+    print("Getting nearest road area...")
+    start = time.perf_counter()
+    area = vec_map.get_closest_area(point, elem_type=MapElementType.ROAD_AREA)
+    end = time.perf_counter()
+    print(f"Getting nearest area took {(end-start)*1000:.2f} ms")
+
+    raster_pts = map_utils.transform_points(area.exterior_polygon.xy, raster_from_world)
+    ax.fill(raster_pts[:, 0], raster_pts[:, 1], alpha=1.0, color="C0")
+
+    print("Getting road areas within 100m...")
+    start = time.perf_counter()
+    areas = vec_map.get_areas_within(
+        point, elem_type=MapElementType.ROAD_AREA, dist=100.0
+    )
+    end = time.perf_counter()
+    print(f"Getting areas within took {(end-start)*1000:.2f} ms")
+
+    for area in areas:
+        raster_pts = map_utils.transform_points(
+            area.exterior_polygon.xy, raster_from_world
+        )
+        ax.fill(raster_pts[:, 0], raster_pts[:, 1], alpha=0.2, color="C1")
+
     ax.axis("equal")
     ax.grid(None)
 

pyproject.toml

@@ -13,7 +13,7 @@ classifiers = [
     "License :: OSI Approved :: Apache Software License",
 ]
 name = "trajdata"
-version = "1.3.3"
+version = "1.4.0"
 authors = [{ name = "Boris Ivanovic", email = "[email protected]" }]
 description = "A unified interface to many trajectory forecasting datasets."
 readme = "README.md"
@@ -33,7 +33,8 @@ dependencies = [
     "geopandas>=0.13.2",
     "protobuf==3.19.4",
     "scipy>=1.9.0",
-    "opencv-python>=4.5.0"
+    "opencv-python>=4.5.0",
+    "shapely>=2.0.0",
 ]
 
 [project.optional-dependencies]

src/trajdata/caching/df_cache.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import warnings
 from decimal import Decimal
 from typing import TYPE_CHECKING
 
@@ -10,6 +11,7 @@
         VectorMap,
     )
     from trajdata.maps.map_kdtree import MapElementKDTree
+    from trajdata.maps.map_strtree import MapElementSTRTree
 
 import pickle
 from math import ceil, floor
@@ -654,7 +656,7 @@ def is_traffic_light_data_cached(self, desired_dt: Optional[float] = None) -> bo
 
     def get_traffic_light_status_dict(
         self, desired_dt: Optional[float] = None
-    ) -> Dict[Tuple[int, int], TrafficLightStatus]:
+    ) -> Dict[Tuple[str, int], TrafficLightStatus]:
         """
         Returns dict mapping Lane Id, scene_ts to traffic light status for the
         particular scene. If data doesn't exist for the current dt, interpolates and
@@ -704,18 +706,20 @@ def are_maps_cached(cache_path: Path, env_name: str) -> bool:
     @staticmethod
     def get_map_paths(
         cache_path: Path, env_name: str, map_name: str, resolution: float
-    ) -> Tuple[Path, Path, Path, Path, Path]:
+    ) -> Tuple[Path, Path, Path, Path, Path, Path]:
         maps_path: Path = DataFrameCache.get_maps_path(cache_path, env_name)
 
         vector_map_path: Path = maps_path / f"{map_name}.pb"
         kdtrees_path: Path = maps_path / f"{map_name}_kdtrees.dill"
+        rtrees_path: Path = maps_path / f"{map_name}_rtrees.dill"
         raster_map_path: Path = maps_path / f"{map_name}_{resolution:.2f}px_m.zarr"
         raster_metadata_path: Path = maps_path / f"{map_name}_{resolution:.2f}px_m.dill"
 
         return (
             maps_path,
             vector_map_path,
             kdtrees_path,
+            rtrees_path,
             raster_map_path,
             raster_metadata_path,
         )
@@ -728,13 +732,19 @@ def is_map_cached(
             maps_path,
             vector_map_path,
             kdtrees_path,
+            rtrees_path,
             raster_map_path,
             raster_metadata_path,
         ) = DataFrameCache.get_map_paths(cache_path, env_name, map_name, resolution)
+
+        # TODO(bivanovic): For now, rtrees are optional to have in the cache.
+        # In the future, they may be required (likely after we develop an
+        # incremental caching scheme or similar to handle additions like these).
         return (
             maps_path.exists()
             and vector_map_path.exists()
             and kdtrees_path.exists()
+            # and rtrees_path.exists()
             and raster_metadata_path.exists()
             and raster_map_path.exists()
         )
@@ -751,6 +761,7 @@ def finalize_and_cache_map(
             maps_path,
             vector_map_path,
             kdtrees_path,
+            rtrees_path,
             raster_map_path,
             raster_metadata_path,
         ) = DataFrameCache.get_map_paths(
@@ -775,6 +786,10 @@ def finalize_and_cache_map(
         with open(kdtrees_path, "wb") as f:
             dill.dump(vector_map.search_kdtrees, f)
 
+        # Saving precomputed map element rtrees.
+        with open(rtrees_path, "wb") as f:
+            dill.dump(vector_map.search_rtrees, f)
+
         # Saving the rasterized map data.
         zarr.save(raster_map_path, rasterized_map.data)
 
@@ -814,7 +829,7 @@ def pad_map_patch(
         return np.pad(patch, [(0, 0), (pad_top, pad_bot), (pad_left, pad_right)])
 
     def load_kdtrees(self) -> Dict[str, MapElementKDTree]:
-        _, _, kdtrees_path, _, _ = DataFrameCache.get_map_paths(
+        _, _, kdtrees_path, _, _, _ = DataFrameCache.get_map_paths(
             self.path, self.scene.env_name, self.scene.location, 0.0
         )
 
@@ -840,6 +855,47 @@ def get_kdtrees(self, load_only_once: bool = True):
         else:
             return self._kdtrees
 
+    def load_rtrees(self) -> MapElementSTRTree:
+        _, _, _, rtrees_path, _, _ = DataFrameCache.get_map_paths(
+            self.path, self.scene.env_name, self.scene.location, 0.0
+        )
+
+        if not rtrees_path.exists():
+            warnings.warn(
+                (
+                    "Trying to load cached RTree encoding 2D Map elements, "
+                    f"but {rtrees_path} does not exist. Earlier versions of "
+                    "trajdata did not build and cache this RTree. If area queries "
+                    "are needed, please rebuild the map cache (see "
+                    "examples/preprocess_maps.py for an example of how to do this). "
+                    "Otherwise, please ignore this warning."
+                ),
+                UserWarning,
+            )
+            return None
+
+        with open(rtrees_path, "rb") as f:
+            rtrees: MapElementSTRTree = dill.load(f)
+
+        return rtrees
+
+    def get_rtrees(self, load_only_once: bool = True):
+        """Loads and returns the rtrees object from the cache file.
+
+        Args:
+            load_only_once (bool): store the kdtree dictionary in self so that we
+                dont have to load it from the cache file more than once.
+        """
+        if self._rtrees is None:
+            rtrees = self.load_rtrees()
+            if load_only_once:
+                self._rtrees = rtrees
+
+            return rtrees
+
+        else:
+            return self._rtrees
+
     def load_map_patch(
         self,
         world_x: float,
@@ -856,6 +912,7 @@ def load_map_patch(
             maps_path,
             _,
             _,
+            _,
             raster_map_path,
             raster_metadata_path,
         ) = DataFrameCache.get_map_paths(

src/trajdata/caching/scene_cache.py

@@ -168,7 +168,7 @@ def is_traffic_light_data_cached(self, desired_dt: Optional[float] = None) -> bo
 
     def get_traffic_light_status_dict(
         self, desired_dt: Optional[float] = None
-    ) -> Dict[Tuple[int, int], TrafficLightStatus]:
+    ) -> Dict[Tuple[str, int], TrafficLightStatus]:
         """Returns lookup table for traffic light status in the current scene
         lane_id, scene_ts -> TrafficLightStatus"""
         raise NotImplementedError()

src/trajdata/data_structures/batch_element.py

@@ -441,8 +441,6 @@ def distance_limit(agent_types: np.ndarray, target_type: int) -> np.ndarray:
                 **vector_map_params if vector_map_params is not None else None,
             )
 
-        self.scene_id = scene_time.scene.name
-
         ### ROBOT DATA ###
         self.robot_future_np: Optional[StateArray] = None
 
@@ -506,7 +504,6 @@ def get_agents_future(
         future_sec: Tuple[Optional[float], Optional[float]],
         nearby_agents: List[AgentMetadata],
     ) -> Tuple[List[StateArray], List[np.ndarray], np.ndarray]:
-
         (
             agent_futures,
             agent_future_extents,

src/trajdata/data_structures/collation.py

@@ -182,7 +182,6 @@ def raster_map_collate_fn_scene(
     max_agent_num: Optional[int] = None,
     pad_value: Any = np.nan,
 ) -> Tuple[Optional[Tensor], Optional[Tensor], Optional[Tensor]]:
-
     if batch_elems[0].map_patches is None:
         return None, None, None, None
 

src/trajdata/data_structures/scene_tag.py

@@ -1,3 +1,4 @@
+import re
 from typing import Set, Tuple
 
 
@@ -8,6 +9,9 @@ def __init__(self, tag_tuple: Tuple[str, ...]) -> None:
     def contains(self, query: Set[str]) -> bool:
         return query.issubset(self._tag_tuple)
 
+    def matches_any(self, regex: re.Pattern) -> bool:
+        return any(regex.search(x) is not None for x in self._tag_tuple)
+
     def __contains__(self, item) -> bool:
         return item in self._tag_tuple