LaneInvasionSensor stabilization

- Fix naming: Use 'LaneInvasionSensor'/'lane_invasion' instead of mixture with 'LaneDetector'/'lane_detector'
 - Create server-side LaneInvasionSensor (to be able to access it via ROS bridge)

CHANGELOG.md

@@ -1,5 +1,8 @@
 ## Latest Changes
 
+  * LaneInvasionSensor stabilization
+    - Fix naming: Use 'LaneInvasionSensor'/'lane_invasion' instead of mixture with 'LaneDetector'/'lane_detector'
+    - Create server-side LaneInvasionSensor (to be able to access it via ROS bridge)
   * Fix ActorList returned by ActorList.Filter(...)
   * Add --rolename to manual_control.py
   * Migrate Content to AWS

Docs/cameras_and_sensors.md

@@ -48,7 +48,7 @@ This is the list of sensors currently available
   * [sensor.camera.semantic_segmentation](#sensorcamerasemantic_segmentation)
   * [sensor.lidar.ray_cast](#sensorlidarray_cast)
   * [sensor.other.collision](#sensorothercollision)
-  * [sensor.other.lane_detector](#sensorotherlane_detector)
+  * [sensor.other.lane_invasion](#sensorotherlane_invasion)
   * [sensor.other.obstacle](#sensorotherobstacle)
 
 sensor.camera.rgb
@@ -268,14 +268,14 @@ object for each collision registered
 Note that several collision events might be registered during a single
 simulation update.
 
-sensor.other.lane_detector
+sensor.other.lane_invasion
 --------------------------
 
 > _This sensor is a work in progress, currently very limited._
 
 This sensor, when attached to an actor, it registers an event each time the
 actor crosses a lane marking. This sensor is somehow special as it works fully
-on the client-side. The lane detector uses the road data of the active map to
+on the client-side. The lane invasion uses the road data of the active map to
 determine whether a vehicle is invading another lane. This information is based
 on the OpenDrive file provided by the map, therefore it is subject to the
 fidelity of the OpenDrive description. In some places there might be

LibCarla/source/carla/client/GnssSensor.cpp

@@ -60,7 +60,7 @@ namespace client {
                _geo_reference.Transform(GetLocation()));
     } catch (const std::exception &e) {
       /// @todo We need to unsubscribe the sensor.
-      // log_error("LaneDetector:", e.what());
+      // log_error("GnssSensor:", e.what());
       return nullptr;
     }
   }

LibCarla/source/carla/client/LaneInvasionSensor.cpp

@@ -4,7 +4,7 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-#include "carla/client/LaneDetector.h"
+#include "carla/client/LaneInvasionSensor.h"
 
 #include "carla/Logging.h"
 #include "carla/client/Map.h"
@@ -40,9 +40,9 @@ namespace client {
         location + Rotate(yaw, geom::Location(-box.extent.x, -box.extent.y, 0.0f))};
   }
 
-  LaneDetector::~LaneDetector() = default;
+  LaneInvasionSensor::~LaneInvasionSensor() = default;
 
-  void LaneDetector::Listen(CallbackFunctionType callback) {
+  void LaneInvasionSensor::Listen(CallbackFunctionType callback) {
     if (_is_listening) {
       log_error(GetDisplayId(), ": already listening");
       return;
@@ -57,15 +57,15 @@ namespace client {
     _map = GetWorld().GetMap();
     DEBUG_ASSERT(_map != nullptr);
 
-    auto self = boost::static_pointer_cast<LaneDetector>(shared_from_this());
+    auto self = boost::static_pointer_cast<LaneInvasionSensor>(shared_from_this());
 
     log_debug(GetDisplayId(), ": subscribing to tick event");
     GetEpisode().Lock()->RegisterOnTickEvent([
         cb=std::move(callback),
-        weak_self=WeakPtr<LaneDetector>(self)](const auto &timestamp) {
+        weak_self=WeakPtr<LaneInvasionSensor>(self)](const auto &timestamp) {
       auto self = weak_self.lock();
       if (self != nullptr) {
-        auto data = self->TickLaneDetector(timestamp);
+        auto data = self->TickLaneInvasionSensor(timestamp);
         if (data != nullptr) {
           cb(std::move(data));
         }
@@ -74,11 +74,12 @@ namespace client {
     _is_listening = true;
   }
 
-  void LaneDetector::Stop() {
-    throw_exception(std::runtime_error("LaneDetector::Stop(): not implemented."));
+  void LaneInvasionSensor::Stop() {
+    /// @todo We need unsubscribe from the world on tick.
+    _is_listening = false;
   }
 
-  SharedPtr<sensor::SensorData> LaneDetector::TickLaneDetector(
+  SharedPtr<sensor::SensorData> LaneInvasionSensor::TickLaneInvasionSensor(
       const Timestamp &timestamp) {
     try {
       const auto new_bounds = GetVehicleBounds(*_vehicle);
@@ -98,7 +99,7 @@ namespace client {
               crossed_lanes);
     } catch (const std::exception &e) {
       /// @todo We need to unsubscribe the sensor.
-      // log_error("LaneDetector:", e.what());
+      // log_error("LaneInvasionSensor:", e.what());
       return nullptr;
     }
   }

LibCarla/source/carla/client/LaneInvasionSensor.h

@@ -17,12 +17,12 @@ namespace client {
   class Map;
   class Vehicle;
 
-  class LaneDetector final : public ClientSideSensor {
+  class LaneInvasionSensor final : public ClientSideSensor {
   public:
 
     using ClientSideSensor::ClientSideSensor;
 
-    ~LaneDetector();
+    ~LaneInvasionSensor();
 
     /// Register a @a callback to be executed each time a new measurement is
     /// received.
@@ -43,7 +43,7 @@ namespace client {
 
   private:
 
-    SharedPtr<sensor::SensorData> TickLaneDetector(const Timestamp &timestamp);
+    SharedPtr<sensor::SensorData> TickLaneInvasionSensor(const Timestamp &timestamp);
 
     bool _is_listening = false;
 

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

@@ -10,7 +10,7 @@
 #include "carla/StringUtil.h"
 #include "carla/client/Actor.h"
 #include "carla/client/GnssSensor.h"
-#include "carla/client/LaneDetector.h"
+#include "carla/client/LaneInvasionSensor.h"
 #include "carla/client/ServerSideSensor.h"
 #include "carla/client/TrafficLight.h"
 #include "carla/client/TrafficSign.h"
@@ -73,8 +73,8 @@ namespace detail {
       SharedPtr<Actor> parent,
       GarbageCollectionPolicy gc) {
     auto init = ActorInitializer{description, episode, parent};
-    if (description.description.id == "sensor.other.lane_detector") { /// @todo
-      return MakeActorImpl<LaneDetector>(std::move(init), gc);
+    if (description.description.id == "sensor.other.lane_invasion") { /// @todo
+      return MakeActorImpl<LaneInvasionSensor>(std::move(init), gc);
     } else if (description.description.id == "sensor.other.gnss") { /// @todo
       return MakeActorImpl<GnssSensor>(std::move(init), gc);
     } else if (description.HasAStream()) {

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

@@ -111,12 +111,6 @@ namespace detail {
 
   SharedPtr<BlueprintLibrary> Simulator::GetBlueprintLibrary() {
     auto defs = _client.GetActorDefinitions();
-    { /// @todo
-      rpc::ActorDefinition def;
-      def.id = "sensor.other.lane_detector";
-      def.tags = "sensor,other,lane_detector";
-      defs.emplace_back(def);
-    }
     return MakeShared<BlueprintLibrary>(std::move(defs));
   }
 
@@ -138,9 +132,7 @@ namespace detail {
       Actor *parent,
       GarbageCollectionPolicy gc) {
     rpc::Actor actor;
-    if (blueprint.GetId() == "sensor.other.lane_detector") { /// @todo
-      actor.description = blueprint.MakeActorDescription();
-    } else if (parent != nullptr) {
+    if (parent != nullptr) {
       actor = _client.SpawnActorWithParent(
           blueprint.MakeActorDescription(),
           transform,
@@ -165,9 +157,7 @@ namespace detail {
 
   bool Simulator::DestroyActor(Actor &actor) {
     bool success = true;
-    if (actor.GetTypeId() != "sensor.other.lane_detector") { /// @todo
     success = _client.DestroyActor(actor.GetId());
-    }
     if (success) {
       // Remove it's persistent state so it cannot access the client anymore.
       actor.GetEpisode().Clear();

LibCarla/source/carla/sensor/SensorRegistry.h

@@ -24,6 +24,7 @@
 class ACollisionSensor;
 class ADepthCamera;
 class AGnssSensor;
+class ALaneInvasionSensor;
 class AObstacleDetectionSensor;
 class ARayCastLidar;
 class ASceneCaptureCamera;
@@ -45,6 +46,7 @@ namespace sensor {
     std::pair<ARayCastLidar *, s11n::LidarSerializer>,
     std::pair<ACollisionSensor *, s11n::CollisionEventSerializer>,
     std::pair<AGnssSensor *, s11n::ImageSerializer>,
+    std::pair<ALaneInvasionSensor *, s11n::ImageSerializer>,
     std::pair<AObstacleDetectionSensor *, s11n::ObstacleDetectionEventSerializer>
   >;
 
@@ -63,6 +65,7 @@ namespace sensor {
 #include "Carla/Sensor/SemanticSegmentationCamera.h"
 #include "Carla/Sensor/WorldObserver.h"
 #include "Carla/Sensor/GnssSensor.h"
+#include "Carla/Sensor/LaneInvasionSensor.h"
 #include "Carla/Sensor/ObstacleDetectionSensor.h"
 
 #endif // LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES

PythonAPI/automatic_control.py

@@ -572,7 +572,7 @@ class LaneInvasionSensor(object):
         self._parent = parent_actor
         self.hud = hud
         world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.lane_detector')
+        bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
         self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
         # We need to pass the lambda a weak reference to self to avoid circular
         # reference.

PythonAPI/manual_control.py

@@ -605,7 +605,7 @@ class LaneInvasionSensor(object):
         self._parent = parent_actor
         self.hud = hud
         world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.lane_detector')
+        bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
         self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
         # We need to pass the lambda a weak reference to self to avoid circular
         # reference.

PythonAPI/manual_control_steeringwheel.py

@@ -617,7 +617,7 @@ class LaneInvasionSensor(object):
         self._parent = parent_actor
         self.hud = hud
         world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.lane_detector')
+        bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
         self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
         # We need to pass the lambda a weak reference to self to avoid circular
         # reference.

PythonAPI/source/libcarla/Sensor.cpp

@@ -7,7 +7,7 @@
 #include <carla/PythonUtil.h>
 #include <carla/client/ClientSideSensor.h>
 #include <carla/client/GnssSensor.h>
-#include <carla/client/LaneDetector.h>
+#include <carla/client/LaneInvasionSensor.h>
 #include <carla/client/Sensor.h>
 #include <carla/client/ServerSideSensor.h>
 
@@ -36,8 +36,8 @@ void export_sensor() {
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cc::LaneDetector, bases<cc::ClientSideSensor>, boost::noncopyable, boost::shared_ptr<cc::LaneDetector>>
-      ("LaneDetector", no_init)
+  class_<cc::LaneInvasionSensor, bases<cc::ClientSideSensor>, boost::noncopyable, boost::shared_ptr<cc::LaneInvasionSensor>>
+      ("LaneInvasionSensor", no_init)
     .def(self_ns::str(self_ns::self))
   ;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LaneInvasionSensor.cpp

@@ -0,0 +1,26 @@
+// Copyright (c) 2019 Intel Labs.
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Sensor/LaneInvasionSensor.h"
+#include "StaticMeshResources.h"
+
+FActorDefinition ALaneInvasionSensor::GetSensorDefinition()
+{
+  return UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition(TEXT("other"), TEXT("lane_invasion"));
+}
+
+ALaneInvasionSensor::ALaneInvasionSensor(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  PrimaryActorTick.bCanEverTick = false;
+
+  auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("RootComponent"));
+  MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
+  MeshComp->bHiddenInGame = true;
+  MeshComp->CastShadow = false;
+  MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
+  RootComponent = MeshComp;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LaneInvasionSensor.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2019 Intel Labs.
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla/Sensor/ShaderBasedSensor.h"
+
+#include "Carla/Actor/ActorDefinition.h"
+
+#include "LaneInvasionSensor.generated.h"
+
+/// LaneInvasion sensor representation
+/// The actual position calculation is done one client side
+UCLASS()
+class CARLA_API ALaneInvasionSensor : public ASensor
+{
+  GENERATED_BODY()
+
+public:
+
+  static FActorDefinition GetSensorDefinition();
+
+  ALaneInvasionSensor(const FObjectInitializer &ObjectInitializer);
+
+};