Vehicle Track Reading

INTERACTIONTrajdata The trajectory data stored in the original INTERACTION dataset format. The dataset is a csv file with columns: trackid - Int64 - Representing the id of the agent frameid - Int64 - Represents the frames in which the agent appears in the video timestampms - Int64 - represents the time the agent appears in the video. The unit is millisecond agenttype - String - Can be person, car, truck and so on x - Float64 - x position, in meter y - Float64 - y position in meter vx - Float64 - x velocity in m/s vy - Float64 - y velocity in m/s psi_rad - Float64 - yaw angle in radian length - Float64 - Length of the vehicle, in meter width - Float64 - Width of the vehicle, in meter

Example

tdraw = INTERACTIONTrajdata("vehicle_tracks_000.csv");

carsinframe(trajdata::INTERACTIONTrajdata, frame::Int)

• From the dictionary frame2cars which has frame number as key and all vector of car ids in that frame

as value, this function extracts the value corresponding to key given by frame

Example

# Return array with car ids in frame 1
carsinframe(tdraw,1)

function car_df_index

• Given frame and carid, find index of car in trajdata
• Returns 0 if it does not exist (CAVEAT THIS IS COMMENTED OUT)

function read_veh_tracks(;roadway)

• Reads the vehicle tracks information from ../dataset/vehicle_tracks_000.csv
• Modernize to stop using ListRecord and Trajdata
• Just use Vector of Scenes

Arguments

• roadway: Used in the vehicle state to create Frenet coords for the vehicle on the provided roadway

Example

road_ext = make_interaction_roadway_with_extensions()
trajdata = read_veh_tracks(roadway=road_ext)

# Then access a certain framenumber from the trajdata by
scene = trajdata[1]
render([road_ext,scene,IDOverlay(scene=scene)])