Added waypoint's junction_id (#1509)

* Added waypoint's junction_id and is_junction
* Updated changelog
* Removed unnecessary const

CHANGELOG.md

@@ -5,6 +5,8 @@
     - Camera following in playback was not working if a new map was needed to load.
     - API function 'show_recorder_file_info' was showing the wrong parent id.
     - Script 'start_recording.py' now properly saves destruction of actors at stop.
+  * API extension: waypoint's `junction_id` that returns de OpenDrive identifier of the current junction
+  * API change: deprecated waypoint's `is_intersection`, now is `is_junction`
   * New recorder features:
     - Added optional parameter to show more details about a recorder file (related to `show_recorder_file_info.py`)
     - Added playback speed (slow/fast motion) for the replayer

Docs/python_api.md

@@ -22,7 +22,7 @@
 - `show_recorder_actors_blocked(string filename, float min_time, float min_distance)`
 - `set_replayer_speed(float time_factor)`
 - `apply_batch(commands, do_tick=False)`
-- `apply_batch_sync(commands, do_tick=False) -> list(carla.command.Response)`
+- `apply_batch_sync(commands, do_tick=False)` -> list(carla.command.Response)
 
 ## `carla.World`
 
@@ -328,28 +328,30 @@
 
 ## `carla.LaneMarking`
 
-- `type -> carla.LaneMarking`
-- `color -> carla.RoadMarkColor`
-- `lane_change -> carla.LaneChange`
+- `type` -> carla.LaneMarking
+- `color` -> carla.RoadMarkColor
+- `lane_change` -> carla.LaneChange
 - `width`
 
 ## `carla.Waypoint`
 
 - `id`
 - `transform`
-- `is_intersection`
+- `is_intersection` _deprecated, use `is_junction` instead_
+- `is_junction`
 - `lane_width`
 - `road_id`
 - `section_id`
 - `lane_id`
+- `junction_id`
 - `s`
-- `lane_change -> carla.LaneChange`
-- `lane_type -> carla.LaneType`
-- `right_lane_marking -> carla.LaneMarking`
-- `left_lane_marking -> carla.LaneMarking`
-- `next(distance) -> list(carla.Waypoint)`
-- `get_right_lane() -> carla.Waypoint`
-- `get_left_lane() -> carla.Waypoint`
+- `lane_change` -> carla.LaneChange
+- `lane_type` -> carla.LaneType
+- `right_lane_marking` -> carla.LaneMarking
+- `left_lane_marking` -> carla.LaneMarking
+- `next(distance)` -> list(carla.Waypoint)
+- `get_right_lane()` -> carla.Waypoint
+- `get_left_lane()` -> carla.Waypoint
 
 ## `carla.WeatherParameters`
 

LibCarla/source/carla/client/Waypoint.cpp

@@ -19,7 +19,11 @@ namespace client {
 
   Waypoint::~Waypoint() = default;
 
-  bool Waypoint::IsIntersection() const {
+  road::JuncId Waypoint::GetJunctionId() const {
+    return _parent->GetMap().GetJunctionId(_waypoint.road_id);
+  }
+
+  bool Waypoint::IsJunction() const {
     return _parent->GetMap().IsJunction(_waypoint.road_id);
   }
 

LibCarla/source/carla/client/Waypoint.h

@@ -9,10 +9,11 @@
 #include "carla/Memory.h"
 #include "carla/NonCopyable.h"
 #include "carla/geom/Transform.h"
-#include "carla/road/Lane.h"
 #include "carla/road/element/LaneMarking.h"
 #include "carla/road/element/RoadInfoMarkRecord.h"
 #include "carla/road/element/Waypoint.h"
+#include "carla/road/Lane.h"
+#include "carla/road/RoadTypes.h"
 
 #include <boost/optional.hpp>
 
@@ -56,7 +57,9 @@ namespace client {
       return _transform;
     }
 
-    bool IsIntersection() const;
+    road::JuncId GetJunctionId() const;
+
+    bool IsJunction() const;
 
     double GetLaneWidth() const;
 

LibCarla/source/carla/road/Map.cpp

@@ -331,7 +331,11 @@ namespace road {
     return lane_width_info->GetPolynomial().Evaluate(s);
   }
 
-  bool Map::IsJunction(const RoadId road_id) const {
+  JuncId Map::GetJunctionId(RoadId road_id) const {
+    return _data.GetRoad(road_id).GetJunctionId();
+  }
+
+  bool Map::IsJunction(RoadId road_id) const {
     return _data.GetRoad(road_id).IsJunction();
   }
 

LibCarla/source/carla/road/Map.h

@@ -64,6 +64,8 @@ namespace road {
 
     double GetLaneWidth(Waypoint waypoint) const;
 
+    JuncId GetJunctionId(RoadId road_id) const;
+
     bool IsJunction(RoadId road_id) const;
 
     std::pair<const element::RoadInfoMarkRecord *, const element::RoadInfoMarkRecord *>

LibCarla/source/carla/road/Road.cpp

@@ -43,7 +43,7 @@ namespace road {
     return _is_junction;
   }
 
-  JuncId Road::GetJunction() const {
+  JuncId Road::GetJunctionId() const {
     return _junction_id;
   }
 

LibCarla/source/carla/road/Road.h

@@ -45,7 +45,7 @@ namespace road {
 
     bool IsJunction() const;
 
-    JuncId GetJunction() const;
+    JuncId GetJunctionId() const;
 
     Lane &GetLaneByDistance(double s, LaneId lane_id);
 

PythonAPI/carla/agents/navigation/agent.py

@@ -118,12 +118,12 @@ class Agent(object):
         ego_vehicle_location = self._vehicle.get_location()
         ego_vehicle_waypoint = self._map.get_waypoint(ego_vehicle_location)
 
-        if ego_vehicle_waypoint.is_intersection:
+        if ego_vehicle_waypoint.is_junction:
             # It is too late. Do not block the intersection! Keep going!
             return (False, None)
 
         if self._local_planner.target_waypoint is not None:
-            if self._local_planner.target_waypoint.is_intersection:
+            if self._local_planner.target_waypoint.is_junction:
                 min_angle = 180.0
                 sel_magnitude = 0.0
                 sel_traffic_light = None

PythonAPI/carla/agents/navigation/global_route_planner.py

@@ -69,7 +69,7 @@ class GlobalRoutePlanner(object):
             entry_xyz, exit_xyz = segment['entryxyz'], segment['exitxyz']
             path = segment['path']
             entry_wp, exit_wp = segment['entry'], segment['exit']
-            intersection = entry_wp.is_intersection
+            intersection = entry_wp.is_junction
             road_id, section_id, lane_id = entry_wp.road_id, entry_wp.section_id, entry_wp.lane_id
 
             for vertex in entry_xyz, exit_xyz:
@@ -176,7 +176,7 @@ class GlobalRoutePlanner(object):
             left_found, right_found = False, False
 
             for waypoint in segment['path']:
-                if not segment['entry'].is_intersection:
+                if not segment['entry'].is_junction:
                     next_waypoint, next_road_option, next_segment = None, None, None
 
                     if bool(waypoint.lane_change & carla.LaneChange.Right) and not right_found:

PythonAPI/carla/source/libcarla/Map.cpp

@@ -152,12 +152,14 @@ void export_map() {
   class_<cc::Waypoint, boost::noncopyable, boost::shared_ptr<cc::Waypoint>>("Waypoint", no_init)
     .add_property("id", &cc::Waypoint::GetId)
     .add_property("transform", CALL_RETURNING_COPY(cc::Waypoint, GetTransform))
-    .add_property("is_intersection", &cc::Waypoint::IsIntersection)
+    .add_property("is_intersection", &cc::Waypoint::IsJunction) // deprecated
+    .add_property("is_junction", &cc::Waypoint::IsJunction)
     .add_property("lane_width", &cc::Waypoint::GetLaneWidth)
     .add_property("road_id", &cc::Waypoint::GetRoadId)
     .add_property("section_id", &cc::Waypoint::GetSectionId)
     .add_property("lane_id", &cc::Waypoint::GetLaneId)
     .add_property("s", &cc::Waypoint::GetDistance)
+    .add_property("junction_id", &cc::Waypoint::GetJunctionId)
     .add_property("lane_change", &cc::Waypoint::GetLaneChange)
     .add_property("lane_type", &cc::Waypoint::GetType)
     .add_property("right_lane_marking", CALL_RETURNING_OPTIONAL(cc::Waypoint, GetRightLaneMarking))

PythonAPI/examples/no_rendering_mode.py

@@ -700,7 +700,7 @@ class MapImage(object):
                     True)
 
                 # Draw Lane Markings and Arrows
-                if not waypoint.is_intersection:
+                if not waypoint.is_junction:
                     draw_lane_marking(
                         map_surface,
                         waypoints,
@@ -725,7 +725,7 @@ class MapImage(object):
             dist = 1.5
             to_pixel = lambda wp: world_to_pixel(wp.transform.location)
             for wp in carla_map.generate_waypoints(dist):
-                col = (0, 255, 255) if wp.is_intersection else (0, 255, 0)
+                col = (0, 255, 255) if wp.is_junction else (0, 255, 0)
                 for nxt in wp.next(dist):
                     pygame.draw.line(map_surface, col, to_pixel(wp), to_pixel(nxt), 2)
                 if wp.lane_change & carla.LaneChange.Right:

PythonAPI/util/lane_explorer.py

@@ -143,7 +143,7 @@ def main():
 
             # Render some nice information, notice that you can't see the strings if you are using an editor camera
             draw_waypoint_info(debug, current_w, trail_life_time)
-            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_intersection else green, trail_life_time)
+            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, trail_life_time)
             draw_transform(debug, current_w.transform, white, trail_life_time)
 
             # print the remaining waypoints