From 4edfd65835a38569273abdfc93214d17217dbcaa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?N=C3=A9stor=20Subir=C3=B3n?= Date: Mon, 2 Sep 2019 10:01:41 +0200 Subject: [PATCH] Tutorial for adding new sensors (#1884) * Tutorial for adding new sensors * Updated doc --- Docs/building_from_source.md | 4 + Docs/dev/how_to_add_a_new_sensor.md | 569 ++++++++++++++++++++++++++++ Docs/dev/index.md | 1 + Docs/img/pipeline.png | Bin 0 -> 43353 bytes Docs/img/safe_distance_sensor.jpg | Bin 0 -> 141399 bytes Docs/index.md | 1 + mkdocs.yml | 1 + 7 files changed, 576 insertions(+) create mode 100644 Docs/building_from_source.md create mode 100644 Docs/dev/how_to_add_a_new_sensor.md create mode 100644 Docs/img/pipeline.png create mode 100644 Docs/img/safe_distance_sensor.jpg diff --git a/Docs/building_from_source.md b/Docs/building_from_source.md new file mode 100644 index 000000000..a093fe6df --- /dev/null +++ b/Docs/building_from_source.md @@ -0,0 +1,4 @@ +

Building from source

+ + * [How to build on Linux](how_to_build_on_linux.md) + * [How to build on Windows](how_to_build_on_windows.md) diff --git a/Docs/dev/how_to_add_a_new_sensor.md b/Docs/dev/how_to_add_a_new_sensor.md new file mode 100644 index 000000000..699cb9850 --- /dev/null +++ b/Docs/dev/how_to_add_a_new_sensor.md @@ -0,0 +1,569 @@ +

How to add a new sensor

+ +This tutorial explains the basics for adding a new sensor to CARLA. It provides +the necessary steps to implement a sensor in Unreal Engine 4 (UE4) and expose +its data via CARLA's Python API. We'll follow all the steps by creating a new +sensor as an example. + +## Prerequisites + +In order to implement a new sensor, you'll need to compile CARLA source code, +for detailed instructions on how to achieve this see +[Building from source](../building_from_source.md). + +This tutorial also assumes the reader is fluent in C++ programming. + +## Introduction + +Sensors in CARLA are a special type of actor that produce a stream of data. Some +sensors produce data continuously, every time the sensor is updated, other +produce data only after certain events. For instance, a camera produces an image +on every update, but a collision sensor is only triggered in the event of a +collision. + +Although most sensors compute their measurements in the server side (UE4), it's +worth noticing that some sensors run in the client-side only. An example of such +sensor is the GNSS, it computes the simulated geo-location in the client-side +based on its 3D location. For further details see +[Appendix: Client-side sensors](#appendix-client-side-sensors). + +In this tutorial, we'll be focusing on server-side sensors. + +In order to have a sensor running inside UE4 sending data all the way to a +Python client, we need to cover the whole communication pipeline. + +![Communication pipeline](../img/pipeline.png) + +Thus we'll need the following classes covering the different steps of the +pipeline + + * **Sensor actor**
+ Actor in charge of measuring and/or simulating data. Running in Carla plugin + using UE4 framework. Accessible by the user as Sensor actor. + + * **Serializer**
+ Object containing methods for serializing and deserializing the data + generated by the sensor. Running in LibCarla, both server and client. + + * **Sensor data**
+ Object representing the data generated by the sensor. This is the object + that will be passed to the final user, both in C++ and Python APIs. + +!!! note + To ensure best performance, sensors are registered and dispatched using a + sort of "compile-time plugin system" based on template meta-programming. + Most likely, the code won't compile until all the pieces are present. + +## Creating a new sensor + +[**Full source code here.**](https://gist.github.com/nsubiron/011fd1b9767cd441b1d8467dc11e00f9) + +We're going to create a sensor that detects other actors around our vehicle. For +that we'll create a trigger box that detects objects within, and we'll be +reporting status to the client every time a vehicle is inside our trigger box. +Let's call it _Safe Distance Sensor_. + +![Trigger box](../img/safe_distance_sensor.jpg) + +_For the sake of simplicity we're not going to take into account all the edge +cases, nor it will be implemented in the most efficient way. This is just an +illustrative example._ + +### 1. The sensor actor + +This is the most complicated class we're going to create. Here we're running +inside Unreal Engine framework, knowledge of UE4 API will be very helpful but +not indispensable, we'll assume the reader has never worked with UE4 before. + +Inside UE4, we have a similar hierarchy as we have in the client-side, `ASensor` +derives from `AActor`, and an actor is roughly any object that can be dropped +into the world. `AActor` has a virtual function called `Tick` that we can use to +update our sensor on every simulator update. Higher in the hierarchy we have +`UObject`, base class for most of UE4 classes. It is important to know that +objects deriving from `UObject` are handle via pointers and are garbage +collected when they're no longer referenced. Class members pointing to +`UObject`s need to be marked with `UPROPERTY` macros or they'll be garbage +collected. + +Let's start. + +This class has to be located inside Carla plugin, we'll create two files for our +new C++ class + + * `Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SafeDistanceSensor.h` + * `Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SafeDistanceSensor.cpp` + +At the very minimum, the sensor is required to inherit `ASensor`, and provide a +static method `GetSensorDefinition`; but we'll be overriding also the `Set`, +`SetOwner`, and `Tick` methods. This sensor also needs a trigger box that will +be detecting other actors around us. With this and some required boiler-plate +UE4 code, the header file looks like + +```cpp +#pragma once + +#include "Carla/Sensor/Sensor.h" + +#include "Carla/Actor/ActorDefinition.h" +#include "Carla/Actor/ActorDescription.h" + +#include "Components/BoxComponent.h" + +#include "SafeDistanceSensor.generated.h" + +UCLASS() +class CARLA_API ASafeDistanceSensor : public ASensor +{ + GENERATED_BODY() + +public: + + ASafeDistanceSensor(const FObjectInitializer &ObjectInitializer); + + static FActorDefinition GetSensorDefinition(); + + void Set(const FActorDescription &ActorDescription) override; + + void SetOwner(AActor *Owner) override; + + void Tick(float DeltaSeconds) override; + +private: + + UPROPERTY() + UBoxComponent *Box = nullptr; +}; +``` + +In the cpp file, first we'll need some includes + +```cpp +#include "Carla.h" +#include "Carla/Sensor/SafeDistanceSensor.h" + +#include "Carla/Actor/ActorBlueprintFunctionLibrary.h" +#include "Carla/Game/CarlaEpisode.h" +#include "Carla/Util/BoundingBoxCalculator.h" +#include "Carla/Vehicle/CarlaWheeledVehicle.h" +``` + +Then we can proceed to implement the functionality. The constructor will create +the trigger box, and tell UE4 that we want our tick function to be called. If +our sensor were not using the tick function, we can disable it here to avoid +unnecessary ticks + +```cpp +ASafeDistanceSensor::ASafeDistanceSensor(const FObjectInitializer &ObjectInitializer) + : Super(ObjectInitializer) +{ + Box = CreateDefaultSubobject(TEXT("BoxOverlap")); + Box->SetupAttachment(RootComponent); + Box->SetHiddenInGame(true); // Disable for debugging. + Box->SetCollisionProfileName(FName("OverlapAll")); + + PrimaryActorTick.bCanEverTick = true; +} +``` + +Now we need to tell Carla what attributes this sensor has, this is going to be +used to create a new blueprint in our blueprint library, users can use this +blueprint to configure and spawn this sensor. We're going to define here the +attributes of our trigger box, in this example we'll expose only X and Y +safe distances + +```cpp +FActorDefinition ASafeDistanceSensor::GetSensorDefinition() +{ + auto Definition = UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition( + TEXT("other"), + TEXT("safe_distance")); + + FActorVariation Front; + Front.Id = TEXT("safe_distance_front"); + Front.Type = EActorAttributeType::Float; + Front.RecommendedValues = { TEXT("1.0") }; + Front.bRestrictToRecommended = false; + + FActorVariation Back; + Back.Id = TEXT("safe_distance_back"); + Back.Type = EActorAttributeType::Float; + Back.RecommendedValues = { TEXT("0.5") }; + Back.bRestrictToRecommended = false; + + FActorVariation Lateral; + Lateral.Id = TEXT("safe_distance_lateral"); + Lateral.Type = EActorAttributeType::Float; + Lateral.RecommendedValues = { TEXT("0.5") }; + Lateral.bRestrictToRecommended = false; + + Definition.Variations.Append({ Front, Back, Lateral }); + + return Definition; +} +``` + +With this, the sensor factory is able to create a _Safe Distance Sensor_ on user +demand. Immediately after the sensor is created, the `Set` function is called +with the parameters that the user requested + +```cpp +void ASafeDistanceSensor::Set(const FActorDescription &Description) +{ + Super::Set(Description); + + float Front = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat( + "safe_distance_front", + Description.Variations, + 1.0f); + float Back = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat( + "safe_distance_back", + Description.Variations, + 0.5f); + float Lateral = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat( + "safe_distance_lateral", + Description.Variations, + 0.5f); + + constexpr float M_TO_CM = 100.0f; // Unit conversion. + + float LocationX = M_TO_CM * (Front - Back) / 2.0f; + float ExtentX = M_TO_CM * (Front + Back) / 2.0f; + float ExtentY = M_TO_CM * Lateral; + + Box->SetRelativeLocation(FVector{LocationX, 0.0f, 0.0f}); + Box->SetBoxExtent(FVector{ExtentX, ExtentY, 0.0f}); +} +``` + +Note that the set function is called before UE4's `BeginPlay`, we won't use +this virtual function here, but it's important for other sensors. + +Now we're going to extend the box volume based on the bounding box of the actor +that we're attached to. For that, the most convenient method is to use the +`SetOwner` virtual function. This function is called when our sensor is attached +to another actor. + +```cpp +void ASafeDistanceSensor::SetOwner(AActor *Owner) +{ + Super::SetOwner(Owner); + + auto BoundingBox = UBoundingBoxCalculator::GetActorBoundingBox(Owner); + + Box->SetBoxExtent(BoundingBox.Extent + Box->GetUnscaledBoxExtent()); +} +``` + +The only thing left to do is the actual measurement, for that we'll use the +`Tick` function. We're going to look for all the vehicles currently overlapping +our box, and we'll send this list to client + +```cpp +void ASafeDistanceSensor::Tick(float DeltaSeconds) +{ + Super::Tick(DeltaSeconds); + + TSet DetectedActors; + Box->GetOverlappingActors(DetectedActors, ACarlaWheeledVehicle::StaticClass()); + DetectedActors.Remove(GetOwner()); + + if (DetectedActors.Num() > 0) + { + auto Stream = GetDataStream(*this); + Stream.Send(*this, GetEpisode(), DetectedActors); + } +} +``` + +!!! note + In production-ready sensors, the `Tick` function should be very optimized, + specially if the sensor sends big chunks of data. This function is called + every update in the game thread thus significantly affects the performance + of the simulator. + +Ok, a couple of things going on here that we haven't mentioned yet, what's this +stream? + +Every sensor has a data stream associated. This stream is used to send data down +to the client, and this is the stream you subscribe to when you use the +`sensor.listen(callback)` method in the Python API. Every time you send here +some data, the callback on the client-side is going to be triggered. But before +that, the data is going to travel through several layers. First of them will be +the serializer that we have to create next. We'll fully understand this part +once we have completed the `Serialize` function in the next section. + +### 2. The sensor data serializer + +This class is actually rather simple, it's only required to have two static +methods, `Serialize` and `Deserialize`. We'll add two files for it, this time to +LibCarla + + * `LibCarla/source/carla/sensor/s11n/SafeDistanceSerializer.h` + * `LibCarla/source/carla/sensor/s11n/SafeDistanceSerializer.cpp` + +Let's start with the `Serialize` function. This function is going to receive as +arguments whatever we pass to the `Stream.Send(...)` function, with the only +condition that the first argument has to be a sensor and it has to return a +buffer. + +```cpp +static Buffer Serialize(const Sensor &, ...); +``` + +A `carla::Buffer` is just a dynamically allocated piece of raw memory with some +convenient functionality, we're going to use it to send raw data to the client. + +In this example, we need to write the list of detected actors to a buffer in a +way that it can be meaningful in the client-side. That's why we passed the +episode object to this function. + +The `UCarlaEpisode` class represent the current _episode_ running in the +simulator, i.e. the state of the simulation since last time we loaded a map. It +contains all the relevant information to Carla, and among other things, it +allows searching for actor IDs. We can send these IDs to the client and the +client will be able to recognise these as actors + +```cpp +template +static Buffer Serialize( + const SensorT &, + const EpisodeT &episode, + const ActorListT &detected_actors) { + const uint32_t size_in_bytes = sizeof(ActorId) * detected_actors.Num(); + Buffer buffer{size_in_bytes}; + unsigned char *it = buffer.data(); + for (auto *actor : detected_actors) { + ActorId id = episode.FindActor(actor).GetActorId(); + std::memcpy(it, &id, sizeof(ActorId)); + it += sizeof(ActorId); + } + return buffer; +} +``` + +Note that we templatize the UE4 classes to avoid including these files within +LibCarla. + +This buffer we're returning is going to come back to us, except that this time +in the client-side, in the `Deserialize` function packed in a `RawData` object + +```cpp +static SharedPtr Deserialize(RawData &&data); +``` + +We'll implement this method in the cpp file, and it's rather simple + +```cpp +SharedPtr SafeDistanceSerializer::Deserialize(RawData &&data) { + return SharedPtr(new data::SafeDistanceEvent(std::move(data))); +} +``` + +except for the fact that we haven't defined yet what's a `SafeDistanceEvent`. + +### 3. The sensor data object + +We need to create a data object for the users of this sensor, representing the +data of a _safe distance event_. We'll add this file to + + * `LibCarla/source/carla/sensor/data/SafeDistanceEvent.h` + +This object is going to be equivalent to a list of actor IDs. For that, we'll +derive from the Array template + +```cpp +#pragma once + +#include "carla/rpc/ActorId.h" +#include "carla/sensor/data/Array.h" + +namespace carla { +namespace sensor { +namespace data { + + class SafeDistanceEvent : public Array { + public: + + explicit SafeDistanceEvent(RawData &&data) + : Array(std::move(data)) {} + }; + +} // namespace data +} // namespace sensor +} // namespace carla +``` + +The Array template is going to reinterpret the buffer we created in the +`Serialize` method as an array of actor IDs, and it's able to do so directly +from the buffer we received, without allocating any new memory. Although for +this small example may seem a bit overkill, this mechanism is also used for big +chunks of data; imagine we're sending HD images, we save a lot by reusing the +raw memory. + +Now we need to expose this class to Python. In our example, we haven't add any +extra methods, so we'll just expose the methods related to Array. We do so by +using Boost.Python bindings, add the following to +_PythonAPI/carla/source/libcarla/SensorData.cpp_. + +```cpp +class_< + csd::SafeDistanceEvent, // actual type. + bases, // parent type. + boost::noncopyable, // disable copy. + boost::shared_ptr // use as shared_ptr. + >("SafeDistanceEvent", no_init) // name, and disable construction. + .def("__len__", &csd::SafeDistanceEvent::size) + .def("__iter__", iterator()) + .def("__getitem__", +[](const csd::SafeDistanceEvent &self, size_t pos) -> cr::ActorId { + return self.at(pos); + }) +; +``` + +Note that `csd` is an alias for the namespace `carla::sensor::data`. + +What we're doing here is exposing some C++ methods in Python. Just with this, +the Python API will be able to recognise our new event and it'll behave similar +to an array in Python, except that cannot be modified. + +### 4. Register your sensor + +Now that the pipeline is complete, we're ready to register our new sensor. We do +so in _LibCarla/source/carla/sensor/SensorRegistry.h_. Follow the instruction in +this header file to add the different includes and forward declarations, and add +the following pair to the registry + +```cpp +std::pair +``` + +With this, the sensor registry now can do its magic to dispatch the right data +to the right serializer. + +Now recompile CARLA, hopefully everything goes ok and no errors. Unfortunately, +most of the errors here will be related to templates and the error messages can +be a bit cryptic. + +``` +make rebuild +``` + +### 5. Usage example + +Finally, we have the sensor included and we have finished recompiling, our +sensor by now should be available in Python. + +To spawn this sensor, we simply need to find it in the blueprint library, if +everything went right, the sensor factory should have added our sensor to the +library + +```py +blueprint = blueprint_library.find('sensor.other.safe_distance') +sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=vehicle) +``` + +and now we can start listening for events by registering a callback function + +```py +world_ref = weakref.ref(world) + +def callback(event): + for actor_id in event: + vehicle = world_ref().get_actor(actor_id) + print('Vehicle too close: %s' % vehicle.type_id) + +sensor.listen(callback) +``` + +This callback is going to execute every update that another vehicle is inside +our safety distance box, e.g. + +``` +Vehicle too close: vehicle.audi.a2 +Vehicle too close: vehicle.mercedes-benz.coupe +``` + +That's it, we have a new sensor working! + +- - - + +## Appendix: Reusing buffers + +In order to optimize memory usage, we can use the fact that each sensor sends +buffers of similar size; in particularly, in the case of cameras, the size of +the image is constant during execution. In those cases, we can save a lot by +reusing the allocated memory between frames. + +Each stream contains a _buffer pool_ that can be used to avoid unnecessary +memory allocations. Remember that each sensor has a stream associated thus each +sensor has its own buffer pool. + +Use the following to retrieve a buffer from the pool + +```cpp +auto Buffer = Stream.PopBufferFromPool(); +``` + +If the pool is empty, it returns an empty buffer, i.e. a buffer with no memory +allocated. In that case, when you resize the buffer new memory will be +allocated. This will happen a few times during the first frames. However, if a +buffer was retrieved from the pool, its memory will go back to the pool once the +buffer goes out of the scope. Next time you get another buffer from the pool, +it'll contain the allocated piece of memory from the previous buffer. As you can +see, a buffer object acts actually as an smart pointer to a contiguous piece of +raw memory. As long as you don't request more memory than the currently +allocated, the buffer reuses the memory. If you request more, then it'll have to +delete the current memory and allocate a bigger chunk. + +The following snippet illustrates how buffers work + +```cpp +Buffer buffer; +buffer.reset(1024u); // (size 1024 bytes, capacity 1024 bytes) -> allocates +buffer.reset(512u); // (size 512 bytes, capacity 1024 bytes) +buffer.reset(2048u); // (size 2048 bytes, capacity 2048 bytes) -> allocates +``` + +## Appendix: Sending data asynchronously + +Some sensors may require to send data asynchronously, either for performance or +because the data is generated in a different thread, for instance, camera sensors send +the images from the render thread. + +Using the data stream asynchronously is perfectly fine, as long as the stream +itself is created in the game thread. For instance + +```cpp +void MySensor::Tick(float DeltaSeconds) +{ + Super::Tick(DeltaSeconds); + + auto Stream = GetDataStream(*this); + + std::async(std::launch::async, [Stream=std::move(Stream)]() { + auto Data = ComputeData(); + Stream.Send(*this, Data); + }); +} +``` + +## Appendix: Client-side sensors + +Some sensors do not require the simulator to do their measurements, those +sensors may run completely in the client-side freeing the simulator from extra +computations. Examples of such sensors are the _GNSS_ and the _LaneInvasion_ +sensors. + +The usual approach is to create a "dummy" sensor in the server-side, just so the +simulator is aware that such actor exists. However, this dummy sensor doesn't tick +nor sends any sort of data. Its counterpart on the client-side however, +registers a "on tick" callback to execute some code on every new update. For +instance, the GNSS sensor registers a callback that converts the current 3D +location of the vehicle to a geo-location (latitude, longitude, altitude) every +tick. + +It is very important to take into account that the "on tick" callback in the +client-side is executed concurrently, i.e., the same method may be executed +simultaneously by different threads. Any data accessed must be properly +synchronized, either with a mutex, using atomics, or even better making sure all +the members accessed remain constant. diff --git a/Docs/dev/index.md b/Docs/dev/index.md index 52143ec4b..c6052fef6 100644 --- a/Docs/dev/index.md +++ b/Docs/dev/index.md @@ -2,5 +2,6 @@ * [Map customization](map_customization.md) * [Build system](build_system.md) + * [How to add a new sensor](how_to_add_a_new_sensor.md) * [How to upgrade content](how_to_upgrade_content.md) * [How to make a release](how_to_make_a_release.md) diff --git a/Docs/img/pipeline.png b/Docs/img/pipeline.png new file mode 100644 index 0000000000000000000000000000000000000000..8da8bd39d1a378796a8446c0dad7cfc699271e72 GIT binary patch literal 43353 zcma%iWmp_b)Ar&nL4r$gcXto&PH=a3cLl2L}!RnM2h({S){Wo|~k$o4BLBy}5%M zK-|UL*v;IG)YIC{iu9|Dg0faHDh>cZ3XqWyRrgvw+wk<#kbLR6z8r65>{JuG{O%?J z&EMuR@V&F8sivm09aPm$|In1yq;>ZDGgfhwG&AI^Ej*=Q>;3o}==Yz<(J~ z^n7h8n>>|X_)$Ozskc3X1ZKx%m>jKL2&Am}$z9(j+s0;+Co75qD(nX|nBAxx 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zDevbI1gfpU+Pd}g{{WZ?q|m{AGrLIKdBt@;xp8QLv&)Ux*u$2Qn|$GjH_j`K1%%u) znFI=Z+(v*N2dvGqid>K=9<|Am0dSu<>>$P|k`?7S!Vnq|!Zai2>5oPmORjJm9fP&N zK|}uk0GKEs47xkURou;nuGZlN8$de#)*WGi8S9J*v2OAsiAh>A3k@DUa6p??+mp~c zTaM!fZ1l%L;p-MWBR%tJ*@OyD;}+cyIIcjgPg{j$Fv8~%2sUGS2p^0H&026i4*ST+ R0D`n;nC31s{-@VJ|Jf9^GvfdN literal 0 HcmV?d00001 diff --git a/Docs/index.md b/Docs/index.md index 42b7c33d8..5b1173be6 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -46,6 +46,7 @@ * [Index](dev/index.md) * [Map customization](dev/map_customization.md) * [Build system](dev/build_system.md) + * [How to add a new sensor](dev/how_to_add_a_new_sensor.md) * [How to upgrade content](dev/how_to_upgrade_content.md) * [How to make a release](dev/how_to_make_a_release.md) diff --git a/mkdocs.yml b/mkdocs.yml index 2b86bdd0f..5d48af209 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -38,6 +38,7 @@ nav: - 'Index': 'dev/index.md' - 'Map customization': 'dev/map_customization.md' - 'Build system': 'dev/build_system.md' + - 'How to add a new sensor': 'dev/how_to_add_a_new_sensor.md' - "How to upgrade content": 'dev/how_to_upgrade_content.md' - "How to make a release": 'dev/how_to_make_a_release.md' - Art guidelines: