Merge pull request #1511 from carla-simulator/fix/global_router
Fixed dangling segment issue
This commit is contained in:
germanros1987
GitHub
commit
37922ab530
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@ -39,6 +39,7 @@ class GlobalRoutePlanner(object):
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"""
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self._topology = self._dao.get_topology()
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self._graph, self._id_map, self._road_id_to_edge = self._build_graph()
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self._find_loose_ends()
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self._lane_change_link()
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def _build_graph(self):
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@ -67,7 +68,7 @@ class GlobalRoutePlanner(object):
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path = segment['path']
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entry_wp, exit_wp = segment['entry'], segment['exit']
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intersection = entry_wp.is_intersection
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road_id, lane_id = entry_wp.road_id, entry_wp.lane_id
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road_id, section_id, lane_id = entry_wp.road_id, entry_wp.section_id, entry_wp.lane_id
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for vertex in entry_xyz, exit_xyz:
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# Adding unique nodes and populating id_map
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@ -79,7 +80,9 @@ class GlobalRoutePlanner(object):
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n2 = id_map[exit_xyz]
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if road_id not in road_id_to_edge:
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road_id_to_edge[road_id] = dict()
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road_id_to_edge[road_id][lane_id] = (n1, n2)
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if section_id not in road_id_to_edge[road_id]:
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road_id_to_edge[road_id][section_id] = dict()
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road_id_to_edge[road_id][section_id][lane_id] = (n1, n2)
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# Adding edge with attributes
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graph.add_edge(
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@ -97,6 +100,49 @@ class GlobalRoutePlanner(object):
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return graph, id_map, road_id_to_edge
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def _find_loose_ends(self):
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"""
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This method finds road segments that have an unconnected end and
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adds them to the internal graph representation
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"""
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count_loose_ends = 0
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hop_resolution = self._dao.get_resolution()
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for segment in self._topology:
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end_wp = segment['exit']
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exit_xyz = segment['exitxyz']
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road_id, section_id, lane_id = end_wp.road_id, end_wp.section_id, end_wp.lane_id
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if road_id in self._road_id_to_edge and \
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section_id in self._road_id_to_edge[road_id] and \
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lane_id in self._road_id_to_edge[road_id][section_id]:
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pass
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else:
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count_loose_ends += 1
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if road_id not in self._road_id_to_edge:
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self._road_id_to_edge[road_id] = dict()
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if section_id not in self._road_id_to_edge[road_id]:
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self._road_id_to_edge[road_id][section_id] = dict()
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n1 = self._id_map[exit_xyz]
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n2 = -1*count_loose_ends
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self._road_id_to_edge[road_id][section_id][lane_id] = (n1, n2)
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next_wp = end_wp.next(hop_resolution)
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path = []
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while next_wp is not None and next_wp and \
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next_wp[0].road_id == road_id and \
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next_wp[0].section_id == section_id and \
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next_wp[0].lane_id == lane_id:
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path.append(next_wp[0])
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next_wp = next_wp[0].next(hop_resolution)
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n2_xyz = (path[-1].transform.location.x,
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path[-1].transform.location.y,
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path[-1].transform.location.z)
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self._graph.add_node(n2, vertex=n2_xyz)
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self._graph.add_edge(
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n1, n2,
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length=len(path) + 1, path=path,
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entry_waypoint=end_wp, exit_waypoint=path[-1],
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entry_vector=None, exit_vector=None, net_vector=None,
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intersection=end_wp.is_intersection, type=RoadOption.LANEFOLLOW)
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def _localize(self, location):
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"""
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This function finds the road segment closest to given location
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@ -104,7 +150,18 @@ class GlobalRoutePlanner(object):
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return : pair node ids representing an edge in the graph
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"""
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waypoint = self._dao.get_waypoint(location)
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return self._road_id_to_edge[waypoint.road_id][waypoint.lane_id]
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edge = None
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try:
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edge = self._road_id_to_edge[waypoint.road_id][waypoint.section_id][waypoint.lane_id]
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except KeyError:
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print(
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"Failed to localize! : ",
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"Road id : ", waypoint.road_id,
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"Section id : ", waypoint.section_id,
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"Lane id : ", waypoint.lane_id,
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"Location : ", waypoint.transform.location.x,
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waypoint.transform.location.y)
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return edge
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def _lane_change_link(self):
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"""
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@ -121,13 +178,11 @@ class GlobalRoutePlanner(object):
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if bool(waypoint.lane_change & carla.LaneChange.Right) and not right_found:
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next_waypoint = waypoint.get_right_lane()
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if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving and \
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waypoint.road_id == next_waypoint.road_id:
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if next_waypoint is not None and \
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next_waypoint.lane_type == carla.LaneType.Driving and \
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waypoint.road_id == next_waypoint.road_id:
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next_road_option = RoadOption.CHANGELANERIGHT
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try:
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next_segment = self._localize(next_waypoint.transform.location)
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except KeyError:
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print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
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next_segment = self._localize(next_waypoint.transform.location)
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if next_segment is not None:
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self._graph.add_edge(
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self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
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@ -140,10 +195,7 @@ class GlobalRoutePlanner(object):
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if next_waypoint is not None and next_waypoint.lane_type == carla.LaneType.Driving and \
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waypoint.road_id == next_waypoint.road_id:
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next_road_option = RoadOption.CHANGELANELEFT
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try:
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next_segment = self._localize(next_waypoint.transform.location)
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except KeyError:
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print("Failed to localize! : ", next_waypoint.road_id, next_waypoint.lane_id)
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next_segment = self._localize(next_waypoint.transform.location)
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if next_segment is not None:
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self._graph.add_edge(
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self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=segment['entry'],
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@ -272,8 +324,10 @@ class GlobalRoutePlanner(object):
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edge = self._graph.edges[route[i], route[i+1]]
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path = []
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if edge['type'].value != RoadOption.LANEFOLLOW.value and edge['type'].value != RoadOption.VOID.value:
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n1, n2 = self._road_id_to_edge[edge['exit_waypoint'].road_id][edge['exit_waypoint'].lane_id]
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if edge['type'].value != RoadOption.LANEFOLLOW.value and \
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edge['type'].value != RoadOption.VOID.value:
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exit_wp = edge['exit_waypoint']
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n1, n2 = self._road_id_to_edge[exit_wp.road_id][exit_wp.section_id][exit_wp.lane_id]
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next_edge = self._graph.edges[n1, n2]
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if next_edge['path']:
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closest_index = self._find_closest_in_list(current_waypoint, next_edge['path'])
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@ -289,7 +343,8 @@ class GlobalRoutePlanner(object):
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for waypoint in path[closest_index:]:
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current_waypoint = waypoint
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route_trace.append((current_waypoint, road_option))
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if len(route)-i <= 2 and waypoint.transform.location.distance(destination) < 2*resolution:
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if len(route)-i <= 2 and \
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waypoint.transform.location.distance(destination) < 2*resolution:
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break
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return route_trace
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