Adding seed for better pedestrians reproducibility

CHANGELOG.md

@@ -8,6 +8,9 @@
   * Improved handling of collisions in Traffic Manager when driving at very high speeds.
   * Added open/close doors feature for vehicles.
   * Added API functions to 3D vectors: `squared_length`, `length`, `make_unit_vector`, `dot`, `dot_2d`, `distance`, `distance_2d`, `distance_squared`, `distance_squared_2d`, `get_vector_angle`
+  * Added a seed for better reproducibility of pedestrians
+    - New API function `set_pedestrians_seed`
+    - New parameter **--seedw** in generate_traffic.py script
   * Added API functions to 2D vectors: `squared_length`, `length`, `make_unit_vector`
   * Added missing dependency `libomp5` to Release.Dockerfile
   * Added API functions to interact with pedestrian bones:

LibCarla/source/carla/client/World.cpp

@@ -160,6 +160,10 @@ namespace client {
     _episode.Lock()->SetPedestriansCrossFactor(percentage);
   }
 
+  void World::SetPedestriansSeed(int seed) {
+    _episode.Lock()->SetPedestriansSeed(seed);
+  }
+
   SharedPtr<Actor> World::GetTrafficSign(const Landmark& landmark) const {
     SharedPtr<ActorList> actors = GetActors();
     SharedPtr<TrafficSign> result;

LibCarla/source/carla/client/World.h

@@ -145,6 +145,9 @@ namespace client {
     /// percentage of 1.0f means all pedestrians can cross roads if needed
     void SetPedestriansCrossFactor(float percentage);
 
+    /// set the seed to use with random numbers in the pedestrians module
+    void SetPedestriansSeed(int seed);
+
     SharedPtr<Actor> GetTrafficSign(const Landmark& landmark) const;
 
     SharedPtr<Actor> GetTrafficLight(const Landmark& landmark) const;

LibCarla/source/carla/client/detail/Episode.h

@@ -101,6 +101,12 @@ namespace detail {
       nav->SetPedestriansCrossFactor(percentage);
     }
 
+    void SetPedestriansSeed(int seed) {
+      auto nav = _navigation.load();
+      DEBUG_ASSERT(nav != nullptr);
+      nav->SetPedestriansSeed(seed);
+    }
+
     void AddPendingException(std::string e) {
       _pending_exceptions = true;
       _pending_exceptions_msg = e;

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -308,6 +308,13 @@ namespace detail {
     navigation->SetPedestriansCrossFactor(percentage);
   }
 
+  void Simulator::SetPedestriansSeed(int seed) {
+    DEBUG_ASSERT(_episode != nullptr);
+    auto navigation = _episode->CreateNavigationIfMissing();
+    DEBUG_ASSERT(navigation != nullptr);
+    navigation->SetPedestriansSeed(seed);
+  }
+
   // ===========================================================================
   // -- General operations with actors -----------------------------------------
   // ===========================================================================

LibCarla/source/carla/client/detail/Simulator.h

@@ -296,6 +296,8 @@ namespace detail {
 
     void SetPedestriansCrossFactor(float percentage);
 
+    void SetPedestriansSeed(int seed);
+
     /// @}
     // =========================================================================
     /// @name General operations with actors

LibCarla/source/carla/client/detail/WalkerNavigation.h

@@ -85,6 +85,10 @@ namespace detail {
       _nav.SetPedestriansCrossFactor(percentage);
     }
 
+    void SetPedestriansSeed(int seed) {
+      _nav.SetSeed(seed);
+    }
+
   private:
 
     Client &_client;

LibCarla/source/carla/nav/Navigation.cpp

@@ -67,6 +67,11 @@ namespace nav {
     dtFreeNavMesh(_nav_mesh);
   }
 
+  // set the seed to use with random numbers
+  void Navigation::SetSeed(unsigned int seed) {
+    srand(seed);
+  }
+
   // load navigation data
   bool Navigation::Load(const std::string &filename) {
     std::ifstream f;

LibCarla/source/carla/nav/Navigation.h

@@ -71,6 +71,8 @@ namespace nav {
     bool GetAgentRoute(ActorId id, carla::geom::Location from, carla::geom::Location to,
     std::vector<carla::geom::Location> &path, std::vector<unsigned char> &area);
 
+    /// set the seed to use with random numbers
+    void SetSeed(unsigned int seed);
     /// create the crowd object
     void CreateCrowd(void);
     /// create a new walker

PythonAPI/carla/source/libcarla/World.cpp

@@ -319,6 +319,7 @@ void export_world() {
     .def("remove_on_tick", &cc::World::RemoveOnTick, (arg("callback_id")))
     .def("tick", &Tick, (arg("seconds")=0.0))
     .def("set_pedestrians_cross_factor", CALL_WITHOUT_GIL_1(cc::World, SetPedestriansCrossFactor, float), (arg("percentage")))
+    .def("set_pedestrians_seed", CALL_WITHOUT_GIL_1(cc::World, SetPedestriansSeed, int), (arg("seed")))
     .def("get_traffic_sign", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficSign, cc::Landmark), arg("landmark"))
     .def("get_traffic_light", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficLight, cc::Landmark), arg("landmark"))
     .def("get_traffic_light_from_opendrive_id", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficLightFromOpenDRIVE, const carla::road::SignId&), arg("traffic_light_id"))

PythonAPI/examples/generate_traffic.py

@@ -122,6 +122,12 @@ def main():
         metavar='S',
         type=int,
         help='Set random device seed and deterministic mode for Traffic Manager')
+    argparser.add_argument(
+        '--seedw',
+        metavar='S',
+        default=0,
+        type=int,
+        help='Set the seed for pedestrians module')
     argparser.add_argument(
         '--car-lights-on',
         action='store_true',
@@ -259,6 +265,9 @@ def main():
         # some settings
         percentagePedestriansRunning = 0.0      # how many pedestrians will run
         percentagePedestriansCrossing = 0.0     # how many pedestrians will walk through the road
+        if args.seedw:
+            world.set_pedestrians_seed(args.seedw)
+            random.seed(args.seedw)
         # 1. take all the random locations to spawn
         spawn_points = []
         for i in range(args.number_of_walkers):