|
- # -*- coding: utf-8 -*-
- from ablkit.reasoning import KBBase
-
-
- class BDDKB(KBBase):
- def __init__(self, pseudo_label_list=None):
- if pseudo_label_list is None:
- pseudo_label_list = [0, 1]
- super().__init__(pseudo_label_list)
-
- def logic_forward(self, attrs):
- """
- Abduction space
- (0, 1, 0, 0) 610812
- (0, 1, 0, 1) 75012
- (0, 1, 1, 0) 75012
- (0, 1, 1, 1) 9212
- (1, 0, 0, 0) 12996
- (1, 0, 0, 1) 1596
- (1, 0, 1, 0) 1596
- (1, 0, 1, 1) 196
- """
- assert len(attrs) == 21
- (
- green_light,
- follow,
- road_clear,
- red_light,
- traffic_sign,
- car,
- person,
- rider,
- other_obstacle,
- left_lane,
- left_green_light,
- left_follow,
- no_left_lane,
- left_obstacle,
- left_solid_line,
- right_lane,
- right_green_light,
- right_follow,
- no_right_lane,
- right_obstacle,
- right_solid_line,
- ) = attrs
-
- illegal_return = (0, 0, 0, 0)
- if red_light == green_light == 1:
- return illegal_return
- obstacle = car or person or rider or other_obstacle
- if road_clear == obstacle:
- return illegal_return
- move_forward = green_light or follow or road_clear
- stop = red_light or traffic_sign or obstacle
- if stop:
- move_forward = 0
-
- can_turn_left = left_lane or left_green_light or left_follow
- cannot_turn_left = no_left_lane or left_obstacle or left_solid_line
- turn_left = can_turn_left and int(not cannot_turn_left)
-
- can_turn_right = right_lane or right_green_light or right_follow
- cannot_turn_right = no_right_lane or right_obstacle or right_solid_line
- turn_right = can_turn_right and int(not cannot_turn_right)
-
- return move_forward, stop, turn_left, turn_right
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