Updated OpenDriveActor (#1593)
* Fixed OpenDriveActor * Fixed bebug lines of OpenDriveActor in UE4 editor * Updated changelog
This commit is contained in:
Marc Garcia Puig
Néstor Subirón
parent
413737887f
commit
8781712eb8
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@ -16,6 +16,7 @@
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- Walkers animation is simulated in playback (through speed of walker), so they walk properly.
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* Fixed Lidar effectiveness bug in manual_control.py
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* Added C++ client example using LibCarla
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* Updated OpenDriveActor to use the new Waypoint API
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* Fixed wrong units in VehiclePhysicsControl's center of mass
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* Several optimizations to the RPC server, now supports a bigger load of async messages
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@ -49,6 +49,14 @@ namespace road {
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}
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}
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static double GetDistanceAtEndOfLane(const Lane &lane) {
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if (lane.GetId() > 0) {
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return lane.GetDistance() + 10.0 * EPSILON;
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} else {
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return lane.GetDistance() + lane.GetLength() - 10.0 * EPSILON;
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}
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}
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/// Return a waypoint for each drivable lane on @a lane_section.
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template <typename FuncT>
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static void ForEachDrivableLaneImpl(
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@ -377,6 +385,24 @@ namespace road {
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return result;
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}
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std::vector<Waypoint> Map::GetPredecessors(const Waypoint waypoint) const {
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const auto &prev_lanes = GetLane(waypoint).GetPreviousLanes();
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std::vector<Waypoint> result;
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result.reserve(prev_lanes.size());
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for (auto *next_lane : prev_lanes) {
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RELEASE_ASSERT(next_lane != nullptr);
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const auto lane_id = next_lane->GetId();
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RELEASE_ASSERT(lane_id != 0);
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const auto *section = next_lane->GetLaneSection();
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RELEASE_ASSERT(section != nullptr);
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const auto *road = next_lane->GetRoad();
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RELEASE_ASSERT(road != nullptr);
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const auto distance = GetDistanceAtEndOfLane(*next_lane);
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result.emplace_back(Waypoint{road->GetId(), section->GetId(), lane_id, distance});
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}
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return result;
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}
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std::vector<Waypoint> Map::GetNext(
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const Waypoint waypoint,
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const double distance) const {
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@ -445,6 +471,33 @@ namespace road {
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return result;
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}
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std::vector<Waypoint> Map::GenerateWaypointsOnRoadEntries() const {
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std::vector<Waypoint> result;
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for (const auto &pair : _data.GetRoads()) {
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const auto &road = pair.second;
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// right lanes start at s 0
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for (const auto &lane_section : road.GetLaneSectionsAt(0.0)) {
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for (const auto &lane : lane_section.GetLanes()) {
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// add only the right (negative) lanes
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if (lane.first < 0 && lane.second.GetType() == Lane::LaneType::Driving) {
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result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), 0.0 });
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}
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}
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}
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// left lanes start at s max
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const auto road_len = road.GetLength();
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for (const auto &lane_section : road.GetLaneSectionsAt(road_len)) {
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for (const auto &lane : lane_section.GetLanes()) {
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// add only the left (positive) lanes
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if (lane.first > 0 && lane.second.GetType() == Lane::LaneType::Driving) {
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result.emplace_back(Waypoint{ road.GetId(), lane_section.GetId(), lane.second.GetId(), road_len });
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}
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}
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}
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}
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return result;
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}
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std::vector<std::pair<Waypoint, Waypoint>> Map::GenerateTopology() const {
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std::vector<std::pair<Waypoint, Waypoint>> result;
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for (const auto &pair : _data.GetRoads()) {
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@ -83,6 +83,7 @@ namespace road {
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/// successor lane; i.e., the list of each waypoint in the next road segment
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/// that a vehicle could drive from @a waypoint.
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std::vector<Waypoint> GetSuccessors(Waypoint waypoint) const;
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std::vector<Waypoint> GetPredecessors(Waypoint waypoint) const;
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/// Return the list of waypoints at @a distance such that a vehicle at @a
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/// waypoint could drive to.
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@ -97,6 +98,9 @@ namespace road {
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/// Generate all the waypoints in @a map separated by @a approx_distance.
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std::vector<Waypoint> GenerateWaypoints(double approx_distance) const;
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/// Generate waypoints on each @a lane at the start of each @a road
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std::vector<Waypoint> GenerateWaypointsOnRoadEntries() const;
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/// Generate the minimum set of waypoints that define the topology of @a
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/// map. The waypoints are placed at the entrance of each lane.
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std::vector<std::pair<Waypoint, Waypoint>> GenerateTopology() const;
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@ -63,9 +63,10 @@ namespace road {
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Lane *GetPrevLane(const double s, const LaneId lane_id);
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// get the start and end section with a lan id
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/// Get the start section (from road coordinates s) given a @a lane id
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LaneSection *GetStartSection(LaneId id);
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/// Get the end section (from road coordinates s) given a @a lane id
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LaneSection *GetEndSection(LaneId id);
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std::vector<Road *> GetNexts() const;
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@ -16,57 +16,13 @@
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#include <carla/rpc/String.h>
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#include <compiler/enable-ue4-macros.h>
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#include <algorithm>
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#include <unordered_set>
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/*static TArray<FVector> WaypointVector2FVectorArray(
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const std::vector<carla::road::element::Waypoint> &Waypoints,
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const float TriggersHeight)
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{
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TArray<FVector> Positions;
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Positions.Reserve(Waypoints.size());
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for (int i = 0; i < Waypoints.size(); ++i)
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{
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// Add the trigger height because the z position of the points does not
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// influence on the driver AI and is easy to visualize in the editor
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Positions.Add(Waypoints[i].ComputeTransform().location +
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FVector(0.f, 0.f, TriggersHeight));
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}
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return Positions;
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}*/
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AOpenDriveActor::AOpenDriveActor(const FObjectInitializer &ObjectInitializer)
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: Super(ObjectInitializer)
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{
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PrimaryActorTick.bCanEverTick = false;
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#if WITH_EDITORONLY_DATA
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficLightBP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/Streetlights_01/BP_TrafficLightPole.BP_TrafficLightPole'"));
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TrafficLightBlueprintClass = (UClass *) TrafficLightBP.Object->GeneratedClass;
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficGroupBP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/Streetlights_01/BP_TrafficLightPoleGroup.BP_TrafficLightPoleGroup'"));
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TrafficGroupBlueprintClass = (UClass *) TrafficGroupBP.Object->GeneratedClass;
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficSign30BP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/PostSigns/Round/SpeedLimiters/BP_SpeedLimit30.BP_SpeedLimit30'"));
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TrafficSign30BlueprintClass = (UClass *) TrafficSign30BP.Object->GeneratedClass;
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/*static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficSign40BP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/PostSigns/Round/SpeedLimiters/BP_SpeedLimit40.BP_SpeedLimit40'"));
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TrafficSign40BlueprintClass = (UClass *) TrafficSign40BP.Object->GeneratedClass;*/
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficSign60BP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/PostSigns/Round/SpeedLimiters/BP_SpeedLimit60.BP_SpeedLimit60'"));
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TrafficSign60BlueprintClass = (UClass *) TrafficSign60BP.Object->GeneratedClass;
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficSign90BP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/PostSigns/Round/SpeedLimiters/BP_SpeedLimit90.BP_SpeedLimit90'"));
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TrafficSign90BlueprintClass = (UClass *) TrafficSign90BP.Object->GeneratedClass;
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static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficSign100BP(TEXT(
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"Blueprint'/Game/Carla/Static/TrafficSigns/PostSigns/Round/SpeedLimiters/BP_SpeedLimit100.BP_SpeedLimit100'"));
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TrafficSign100BlueprintClass = (UClass *) TrafficSign100BP.Object->GeneratedClass;
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#endif // WITH_EDITORONLY_DATA
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// Structure to hold one-time initialization
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static struct FConstructorStatics
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@ -191,219 +147,90 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
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}
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// List with waypoints, each one at the end of each lane of the map
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const std::vector<std::pair<Waypoint, Waypoint>> Topology =
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map->GenerateTopology();
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const std::vector<Waypoint> LaneWaypoints =
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map->GenerateWaypointsOnRoadEntries();
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// Since we are going to iterate all the successors of all the lanes, we need
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// a vector to store the already visited lanes. Lanes can be successors of
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// multiple other lanes
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std::vector<Waypoint> AlreadyVisited;
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std::unordered_map<Waypoint, std::vector<Waypoint>> PredecessorMap;
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std::unordered_set<Waypoint> WpLaneStartList;
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for (auto &&WpPair : Topology)
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for (auto &Wp : LaneWaypoints)
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{
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WpLaneStartList.emplace(WpPair.first);
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WpLaneStartList.emplace(WpPair.second);
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const auto PredecessorsList = map->GetPredecessors(Wp);
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if (PredecessorsList.empty())
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{
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continue;
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}
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const auto MinRoadId = *std::min_element(
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PredecessorsList.begin(),
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PredecessorsList.end(),
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[](const auto &WaypointA, const auto &WaypointB) {
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return WaypointA.road_id < WaypointB.road_id;
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});
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PredecessorMap[MinRoadId].emplace_back(Wp);
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}
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for (auto &&Wp : WpLaneStartList)
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for (auto &&PredecessorWp : PredecessorMap)
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{
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std::vector<Waypoint> Successors = map->GetSuccessors(Wp);
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// // The RoutePlanner will be created only if some route must be added to it
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// // so no one will be created unnecessarily
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ARoutePlanner *RoutePlanner = nullptr;
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// // Fill the RoutePlanner with all the needed roads
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for (auto &&Successor : Successors)
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{
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const auto RoadId = Successor.road_id;
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const auto LaneId = Successor.lane_id;
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for (auto &&Wp : PredecessorWp.second)
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{
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std::vector<Waypoint> Waypoints;
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auto CurrentWp = Wp;
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// // Create an identifier of the current lane
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//const auto Identifier = std::make_pair(RoadId, LaneId);
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// // If Identifier does not exist in AlreadyVisited we haven't visited the
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// // lane
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if (!std::any_of(AlreadyVisited.begin(), AlreadyVisited.end(), [&](auto i) {
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return (i.road_id == Successor.road_id && i.lane_id == Successor.lane_id && i.section_id == Successor.section_id);
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}))
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do
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{
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Waypoints.emplace_back(CurrentWp);
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const auto Successors = map->GetNext(CurrentWp, RoadAccuracy);
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if (Successors.empty())
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{
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// Add the identifier as visited
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AlreadyVisited.emplace_back(Successor);
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break;
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}
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if (Successors.front().road_id != Wp.road_id)
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{
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break;
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}
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CurrentWp = Successors.front();
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} while (CurrentWp.road_id == Wp.road_id);
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const double MaxDist = map->GetLane(Successor).GetLength();
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//const double MaxDist = 0; // workarround while changing the WaypointAPI
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// connect the last wp of the current toad to the first wp of the following road
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const auto FollowingWp = map->GetSuccessors(CurrentWp);
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if (!FollowingWp.empty())
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{
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Waypoints.emplace_back(FollowingWp.front());
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}
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std::vector<Waypoint> Waypoints;
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// if(RoutePlanner==nullptr) {
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// AlreadyVisited.emplace_back(Wp);
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// Waypoints.emplace_back(Wp);
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// }
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Waypoints.emplace_back(Successor);
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if (Waypoints.size() >= 2)
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{
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TArray<FVector> Positions;
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Positions.Reserve(Waypoints.size());
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for (int i = 0; i < Waypoints.size(); ++i)
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{
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// Add the trigger height because the z position of the points does not
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// influence on the driver AI and is easy to visualize in the editor
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Positions.Add(map->ComputeTransform(Waypoints[i]).location +
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FVector(0.f, 0.f, TriggersHeight));
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}
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double Dist = RoadAccuracy;
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while (Dist < MaxDist) {
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auto NewWaypointList = map->GetNext(Successor, Dist);
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for(Waypoint distWP : NewWaypointList) {
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Waypoints.emplace_back(distWP);
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AlreadyVisited.emplace_back(distWP);
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}
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Dist += RoadAccuracy;
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}
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auto NewWaypointList = map->GetNext(Successor, MaxDist);
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// if((map->IsJunction(Successor.road_id) && NewWaypointList.size()>1) || (!map->IsJunction(Successor.road_id) && NewWaypointList.size()==1))
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for(Waypoint distWP : NewWaypointList) {
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Waypoints.emplace_back(NewWaypointList[0]);
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}
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// If the route planner does not exist, create it
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if (RoutePlanner == nullptr )
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{
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const auto WpTransform = map->ComputeTransform(Wp);
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RoutePlanner = GetWorld()->SpawnActor<ARoutePlanner>();
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RoutePlanner->bIsIntersection = map->IsJunction(Wp.road_id);
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RoutePlanner->SetBoxExtent(FVector(70.f, 70.f, 50.f));
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RoutePlanner->SetActorRotation(WpTransform.rotation);
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RoutePlanner->SetActorLocation(WpTransform.location +
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FVector(0.f, 0.f, TriggersHeight));
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}
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if(Waypoints.size() >= 2) {
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TArray<FVector> Positions;
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Positions.Reserve(Waypoints.size());
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for (int i = 0; i < Waypoints.size(); ++i)
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{
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// Add the trigger height because the z position of the points does not
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// influence on the driver AI and is easy to visualize in the editor
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Positions.Add(map->ComputeTransform(Waypoints[i]).location +
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FVector(0.f, 0.f, TriggersHeight));
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}
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// If the route planner does not exist, create it
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if (RoutePlanner == nullptr )
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{
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RoutePlanner = GetWorld()->SpawnActor<ARoutePlanner>();
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RoutePlanner->bIsIntersection = std::any_of(Successors.begin(), Successors.end(), [&map](auto w) {
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return map->IsJunction(w.road_id);
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});
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RoutePlanner->SetBoxExtent(FVector(70.f, 70.f, 50.f));
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RoutePlanner->SetActorRotation(map->ComputeTransform(Successor).rotation);
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RoutePlanner->SetActorLocation(map->ComputeTransform(Successor).location +
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FVector(0.f, 0.f, TriggersHeight));
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}
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if(RoutePlanner!=nullptr) RoutePlanner->AddRoute(1.f, Positions);
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if(RoutePlanner!=nullptr) RoutePlanners.Add(RoutePlanner);
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}
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if (RoutePlanner != nullptr)
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{
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RoutePlanner->AddRoute(1.f, Positions);
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RoutePlanners.Add(RoutePlanner);
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}
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}
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}
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}
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// const std::vector<TrafficGroup> TrafficLightGroup = map.GetTrafficGroups();
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// for (TrafficGroup CurrentTrafficLightGroup : TrafficLightGroup)
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// {
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// double RedTime = CurrentTrafficLightGroup.red_time;
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// double YellowTime = CurrentTrafficLightGroup.yellow_time;
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// double GreenTime = CurrentTrafficLightGroup.green_time;
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// FActorSpawnParameters SpawnParams;
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// FOutputDeviceNull ar;
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// AActor *SpawnedTrafficGroup = GetWorld()->SpawnActor<AActor>(TrafficGroupBlueprintClass,
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// FVector(0, 0, 0),
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// FRotator(0, 0, 0),
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// SpawnParams);
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// FString SetTrafficTimesCommand = FString::Printf(TEXT("SetTrafficTimes %f %f %f"),
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// RedTime, YellowTime, GreenTime);
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// SpawnedTrafficGroup->CallFunctionByNameWithArguments(*SetTrafficTimesCommand, ar, NULL, true);
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// for (TrafficLight CurrentTrafficLight : CurrentTrafficLightGroup.traffic_lights)
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// {
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// FVector TLPos =
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// FVector(CurrentTrafficLight.x_pos, CurrentTrafficLight.y_pos, CurrentTrafficLight.z_pos);
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// FRotator TLRot = FRotator(CurrentTrafficLight.x_rot,
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// CurrentTrafficLight.z_rot,
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// CurrentTrafficLight.y_rot);
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// AActor *SpawnedTrafficLight = GetWorld()->SpawnActor<AActor>(TrafficLightBlueprintClass,
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// TLPos,
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// TLRot,
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// SpawnParams);
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// FString AddTrafficLightCommand = FString::Printf(TEXT("AddTrafficLightPole %s"),
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// *SpawnedTrafficLight->GetName());
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// SpawnedTrafficGroup->CallFunctionByNameWithArguments(*AddTrafficLightCommand, ar, NULL, true);
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// PersistentTrafficLights.Push(SpawnedTrafficGroup);
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// SpawnedTrafficLight->CallFunctionByNameWithArguments(TEXT("InitData"), ar, NULL, true);
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// for (TrafficBoxComponent TfBoxComponent : CurrentTrafficLight.box_areas)
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// {
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// FVector TLBoxPos = FVector(TfBoxComponent.x_pos,
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// TfBoxComponent.y_pos,
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// TfBoxComponent.z_pos);
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// FRotator TLBoxRot = FRotator(TfBoxComponent.x_rot,
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// TfBoxComponent.z_rot,
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// TfBoxComponent.y_rot);
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// FString BoxCommand = FString::Printf(TEXT("SetBoxLocationAndRotation %f %f %f %f %f %f"),
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// TLBoxPos.X,
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// TLBoxPos.Y,
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// TLBoxPos.Z,
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// TLBoxRot.Pitch,
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// TLBoxRot.Roll,
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// TLBoxRot.Yaw);
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// SpawnedTrafficLight->CallFunctionByNameWithArguments(*BoxCommand, ar, NULL, true);
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// PersistentTrafficLights.Push(SpawnedTrafficLight);
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// }
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// }
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// }
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// const std::vector<TrafficSign> TrafficSigns = map.GetTrafficSigns();
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// for (TrafficSign CurrentTrafficSign : TrafficSigns)
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// {
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// //switch()
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// AActor* SignActor;
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// FOutputDeviceNull ar;
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// FVector TSLoc = FVector(CurrentTrafficSign.x_pos, CurrentTrafficSign.y_pos, CurrentTrafficSign.z_pos);
|
||||
// FRotator TSRot = FRotator(CurrentTrafficSign.x_rot, CurrentTrafficSign.z_rot, CurrentTrafficSign.y_rot);
|
||||
// FActorSpawnParameters SpawnParams;
|
||||
// switch(CurrentTrafficSign.speed) {
|
||||
// case 30:
|
||||
// SignActor = GetWorld()->SpawnActor<AActor>(TrafficSign30BlueprintClass,
|
||||
// TSLoc,
|
||||
// TSRot,
|
||||
// SpawnParams);
|
||||
// break;
|
||||
// case 60:
|
||||
// SignActor = GetWorld()->SpawnActor<AActor>(TrafficSign60BlueprintClass,
|
||||
// TSLoc,
|
||||
// TSRot,
|
||||
// SpawnParams);
|
||||
// break;
|
||||
// case 90:
|
||||
// SignActor = GetWorld()->SpawnActor<AActor>(TrafficSign90BlueprintClass,
|
||||
// TSLoc,
|
||||
// TSRot,
|
||||
// SpawnParams);
|
||||
// break;
|
||||
// case 100:
|
||||
// SignActor = GetWorld()->SpawnActor<AActor>(TrafficSign100BlueprintClass,
|
||||
// TSLoc,
|
||||
// TSRot,
|
||||
// SpawnParams);
|
||||
// break;
|
||||
// default:
|
||||
// FString errorMessage = "Traffic Sign not found. Posibilities: 30, 60, 90, 100";
|
||||
// UE_LOG(LogCarla, Warning, TEXT("%s"), *errorMessage);
|
||||
// break;
|
||||
// }
|
||||
// PersistentTrafficSigns.Push(SignActor);
|
||||
// for (TrafficBoxComponent TfBoxComponent : CurrentTrafficSign.box_areas)
|
||||
// {
|
||||
// FVector TLBoxPos = FVector(TfBoxComponent.x_pos,
|
||||
// TfBoxComponent.y_pos,
|
||||
// TfBoxComponent.z_pos);
|
||||
// FRotator TLBoxRot = FRotator(TfBoxComponent.x_rot,
|
||||
// TfBoxComponent.z_rot,
|
||||
// TfBoxComponent.y_rot);
|
||||
|
||||
// FString BoxCommand = FString::Printf(TEXT("SetBoxLocationAndRotation %f %f %f %f %f %f"),
|
||||
// TLBoxPos.X,
|
||||
// TLBoxPos.Y,
|
||||
// TLBoxPos.Z,
|
||||
// TLBoxRot.Pitch,
|
||||
// TLBoxRot.Roll,
|
||||
// TLBoxRot.Yaw);
|
||||
// SignActor->CallFunctionByNameWithArguments(*BoxCommand, ar, NULL, true);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
void AOpenDriveActor::RemoveRoutes()
|
||||
|
|
@ -417,22 +244,6 @@ void AOpenDriveActor::RemoveRoutes()
|
|||
}
|
||||
}
|
||||
RoutePlanners.Empty();
|
||||
const int tl_num = PersistentTrafficLights.Num();
|
||||
for (int i = 0; i < tl_num; i++)
|
||||
{
|
||||
if(PersistentTrafficLights[i] != nullptr) {
|
||||
PersistentTrafficLights[i]->Destroy();
|
||||
}
|
||||
}
|
||||
PersistentTrafficLights.Empty();
|
||||
const int ts_num = PersistentTrafficSigns.Num();
|
||||
for (int i = 0; i < ts_num; i++)
|
||||
{
|
||||
if(PersistentTrafficSigns[i] != nullptr) {
|
||||
PersistentTrafficSigns[i]->Destroy();
|
||||
}
|
||||
}
|
||||
PersistentTrafficSigns.Empty();
|
||||
}
|
||||
|
||||
void AOpenDriveActor::DebugRoutes() const
|
||||
|
|
@ -450,7 +261,7 @@ void AOpenDriveActor::RemoveDebugRoutes() const
|
|||
{
|
||||
#if WITH_EDITOR
|
||||
FlushPersistentDebugLines(GetWorld());
|
||||
#endif // WITH_EDITOR
|
||||
#endif // WITH_EDITOR
|
||||
}
|
||||
|
||||
void AOpenDriveActor::AddSpawners()
|
||||
|
|
|
|||
|
|
@ -39,33 +39,6 @@ private:
|
|||
UPROPERTY()
|
||||
TArray<AVehicleSpawnPoint *> VehicleSpawners;
|
||||
|
||||
UPROPERTY()
|
||||
TArray<AActor *> PersistentTrafficLights;
|
||||
|
||||
UPROPERTY()
|
||||
TArray<AActor *> PersistentTrafficSigns;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficLightBlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficGroupBlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficSign30BlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficSign40BlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficSign60BlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficSign90BlueprintClass;
|
||||
|
||||
UPROPERTY()
|
||||
TSubclassOf<class AActor> TrafficSign100BlueprintClass;
|
||||
|
||||
#if WITH_EDITORONLY_DATA
|
||||
/// Generate the road network using an OpenDrive file (named as the current
|
||||
/// .umap)
|
||||
|
|
|
|||
Loading…
Reference in New Issue