Expose road maps to Python

Docs/python_api.md

@@ -18,6 +18,7 @@
 - `id`
 - `map_name`
 - `get_blueprint_library()`
+- `get_map()`
 - `get_spectator()`
 - `get_weather()`
 - `set_weather(weather_parameters)`
@@ -152,6 +153,18 @@
 - `__eq__(other)`
 - `__ne__(other)`
 
+## `carla.Map`
+
+- `name`
+- `get_spawn_points()`
+- `get_waypoint(location, project_to_road=True)`
+- `to_opendrive()`
+
+## `carla.Waypoint`
+
+- `transform`
+- `next(distance)`
+
 ## `carla.WeatherParameters`
 
 - `cloudyness`

LibCarla/source/carla/client/Map.cpp

@@ -4,27 +4,38 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-#include "carla/road/Map.h"
 #include "carla/client/Map.h"
+
+#include "carla/client/Waypoint.h"
 #include "carla/opendrive/OpenDrive.h"
+#include "carla/road/Map.h"
 
 namespace carla {
 namespace client {
 
-  Map::Map(std::string name, std::string open_drive)
-    : _name(std::move(name)),
-      _open_drive(std::move(open_drive)) {
-    _map = std::make_shared<road::Map>(opendrive::OpenDrive::Load(open_drive));
+  static auto MakeMap(const std::string &opendrive_contents) {
+    return opendrive::OpenDrive::Load(opendrive_contents);
   }
 
-  const std::string &Map::GetOpenDrive() const {
-    return _open_drive;
+  Map::Map(rpc::MapInfo description)
+    : _description(std::move(description)),
+      _map(MakeMap(_description.open_drive_file)) {}
+
+  Map::~Map() = default;
+
+  SharedPtr<Waypoint> Map::GetWaypoint(
+      const geom::Location &location,
+      bool project_to_road) const {
+    Optional<road::element::Waypoint> waypoint;
+    if (project_to_road) {
+      waypoint = _map->GetClosestWaypointOnRoad(location);
+    } else {
+      waypoint = _map->GetWaypoint(location);
+    }
+    return waypoint.has_value() ?
+        SharedPtr<Waypoint>(new Waypoint{shared_from_this(), *waypoint}) :
+        nullptr;
   }
 
-  // @todo
-  /*detail::Waypoint Map::GetWaypoint(const geom::Location &loc) const {
-
-  }*/
-
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Map.h

@@ -8,41 +8,46 @@
 
 #include "carla/Memory.h"
 #include "carla/NonCopyable.h"
-#include "carla/client/detail/Waypoint.h"
+#include "carla/rpc/MapInfo.h"
 
 #include <string>
 
 namespace carla {
-namespace road {
-  class Map;
-}
+namespace road { class Map; }
 namespace client {
 
+  class Waypoint;
+
   class Map
     : public EnableSharedFromThis<Map>,
       private NonCopyable {
-  private:
-
   public:
 
-    Map(Map &&) = default;
-    Map &operator=(Map &&) = default;
+    explicit Map(rpc::MapInfo description);
 
-    const std::string &GetOpenDrive() const;
+    ~Map();
 
-    detail::Waypoint GetWaypoint(const geom::Location &) const;
+    const std::string &GetName() const {
+      return _description.name;
+    }
+
+    const std::string &GetOpenDrive() const {
+      return _description.open_drive_file;
+    }
+
+    const std::vector<geom::Transform> &GetRecommendedSpawnPoints() const {
+      return _description.recommended_spawn_points;
+    }
+
+    SharedPtr<Waypoint> GetWaypoint(
+        const geom::Location &location,
+        bool project_to_road = true) const;
 
   private:
 
-    explicit Map(std::string name, std::string open_drive);
+    rpc::MapInfo _description;
 
-    explicit Map(std::shared_ptr<road::Map> map) : _map(map) {}
-
-    std::string _name;
-
-    std::string _open_drive;
-
-    std::shared_ptr<road::Map> _map;
+    SharedPtr<road::Map> _map;
   };
 
 } // namespace client

LibCarla/source/carla/client/Waypoint.cpp

@@ -0,0 +1,31 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/client/Waypoint.h"
+
+#include "carla/client/Map.h"
+
+namespace carla {
+namespace client {
+
+  Waypoint::Waypoint(SharedPtr<const Map> parent, road::element::Waypoint waypoint)
+    : _parent(std::move(parent)),
+      _waypoint(std::move(waypoint)) {}
+
+  Waypoint::~Waypoint() = default;
+
+  std::vector<SharedPtr<Waypoint>> Waypoint::Next(double distance) const {
+    auto waypoints = _waypoint.Next(distance);
+    std::vector<SharedPtr<Waypoint>> result;
+    result.reserve(waypoints.size());
+    for (auto &waypoint : waypoints) {
+      result.emplace_back(SharedPtr<Waypoint>(new Waypoint(_parent, std::move(waypoint))));
+    }
+    return result;
+  }
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/Waypoint.h

@@ -0,0 +1,43 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Memory.h"
+#include "carla/NonCopyable.h"
+#include "carla/road/element/Waypoint.h"
+
+namespace carla {
+namespace client {
+
+  class Map;
+
+  class Waypoint
+    : public EnableSharedFromThis<Waypoint>,
+      private NonCopyable {
+  public:
+
+    ~Waypoint();
+
+    const geom::Transform &GetTransform() const {
+      return _waypoint.GetTransform();
+    }
+
+    std::vector<SharedPtr<Waypoint>> Next(double distance) const;
+
+  private:
+
+    friend class Map;
+
+    Waypoint(SharedPtr<const Map> parent, road::element::Waypoint waypoint);
+
+    SharedPtr<const Map> _parent;
+
+    road::element::Waypoint _waypoint;
+  };
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/World.cpp

@@ -25,6 +25,10 @@ namespace client {
     return _episode.Lock()->GetCurrentMapName();
   }
 
+  SharedPtr<Map> World::GetMap() const {
+    return _episode.Lock()->GetCurrentMap();
+  }
+
   SharedPtr<BlueprintLibrary> World::GetBlueprintLibrary() const {
     return _episode.Lock()->GetBlueprintLibrary();
   }

LibCarla/source/carla/client/World.h

@@ -20,6 +20,7 @@ namespace client {
   class ActorBlueprint;
   class ActorList;
   class BlueprintLibrary;
+  class Map;
 
   class World {
   public:
@@ -41,6 +42,9 @@ namespace client {
     /// usual map name of the town.
     const std::string &GetMapName() const;
 
+    /// Return the map that describes this world.
+    SharedPtr<Map> GetMap() const;
+
     /// Return the list of blueprints available in this world. This blueprints
     /// can be used to spawning actor into the world.
     SharedPtr<BlueprintLibrary> GetBlueprintLibrary() const;

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

@@ -8,6 +8,7 @@
 
 #include "carla/Logging.h"
 #include "carla/client/BlueprintLibrary.h"
+#include "carla/client/Map.h"
 #include "carla/client/Sensor.h"
 #include "carla/client/detail/ActorFactory.h"
 #include "carla/sensor/Deserializer.h"
@@ -63,6 +64,10 @@ namespace detail {
     return EpisodeProxy{shared_from_this()};
   }
 
+  SharedPtr<Map> Simulator::GetCurrentMap() {
+    return MakeShared<Map>(_client.GetMapInfo());
+  }
+
   // ===========================================================================
   // -- Access to global objects in the episode --------------------------------
   // ===========================================================================

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

@@ -25,6 +25,7 @@ namespace client {
 
   class ActorBlueprint;
   class BlueprintLibrary;
+  class Map;
   class Sensor;
 
 namespace detail {
@@ -60,13 +61,15 @@ namespace detail {
       return _episode->GetId();
     }
 
-    const std::string &GetCurrentMapName() const {
+    const std::string &GetCurrentMapName() {
       DEBUG_ASSERT(_episode != nullptr);
       return _episode->GetMapName();
     }
 
     EpisodeProxy GetCurrentEpisode();
 
+    SharedPtr<Map> GetCurrentMap();
+
     /// @}
     // =========================================================================
     /// @name Garbage collection policy

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

@@ -1,24 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "carla/client/detail/Waypoint.h"
-
-namespace carla {
-namespace client {
-namespace detail {
-
-  Waypoint::~Waypoint() = default; // to ensure we delete _map
-
-  // @todo
-  /*std::vector<Waypoint> Waypoint::NextWaypoints(double dist) {
-    std::vector<Waypoint> v;
-
-    return v;
-  }*/
-
-} // namespace detail
-} // namespace client
-} // namespace carla

LibCarla/source/carla/client/detail/Waypoint.h

@@ -1,61 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "carla/Memory.h"
-#include "carla/geom/Location.h"
-
-namespace carla {
-namespace client {
-  class Map;
-namespace detail {
-
-  struct Info {
-    size_t _id;
-    double _speed_limit;
-    double _width;
-    double _heading;
-  };
-
-  class Waypoint {
-  public:
-
-    Waypoint()
-      : _pos(),
-        _heading(0.0) {}
-
-    Waypoint(const geom::Location &p)
-      : _pos(p),
-        _heading(0.0) {}
-
-    Waypoint(const geom::Location &p, double heading)
-      : _pos(p),
-        _heading(heading) {}
-
-    ~Waypoint();
-
-    std::vector<Waypoint> NextWaypoints(double dist);
-
-    const Info &GetInfo() {
-      return _info;
-    }
-
-  private:
-
-    geom::Location _pos;
-
-    double _heading;
-
-    Info _info;
-
-    SharedPtr<Map> _map;
-
-  };
-
-} // namespace detail
-} // namespace client
-} // namespace carla

LibCarla/source/carla/opendrive/OpenDrive.cpp

@@ -46,7 +46,7 @@ namespace opendrive {
     }
   }
 
-  road::Map OpenDrive::Load(const std::string &file) {
+  SharedPtr<road::Map> OpenDrive::Load(const std::string &file) {
     carla::opendrive::types::OpenDriveData open_drive_road;
     OpenDriveParser::Parse(file.c_str(), open_drive_road);
     carla::road::MapBuilder mapBuilder;
@@ -168,7 +168,7 @@ namespace opendrive {
     return mapBuilder.Build();
   }
 
-  road::Map OpenDrive::Load(std::istream &input) {
+  SharedPtr<road::Map> OpenDrive::Load(std::istream &input) {
     UNUSED(input);
 
     carla::road::MapBuilder mapBuilder;

LibCarla/source/carla/opendrive/OpenDrive.h

@@ -6,6 +6,7 @@
 
 #pragma once
 
+#include "carla/Memory.h"
 #include "carla/road/Map.h"
 
 #include <istream>
@@ -17,8 +18,8 @@ namespace opendrive {
     class OpenDrive {
     public:
 
-      static road::Map Load(std::istream &input);
-      static road::Map Load(const std::string &file);
+      static SharedPtr<road::Map> Load(std::istream &input);
+      static SharedPtr<road::Map> Load(const std::string &file);
 
       static void Dump(const road::Map &map, std::ostream &output);
     };

LibCarla/source/carla/road/Map.cpp

@@ -1,38 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "carla/road/Map.h"
-
-using namespace carla::road::element;
-
-namespace carla {
-namespace road {
-
-  bool Map::ExistId(id_type id) const {
-    return _elements.count(id);
-  }
-
-  const RoadSegment *Map::GetRoad(id_type id) const {
-    if (ExistId(id)) {
-      return _elements.find(id)->second.get();
-    }
-    return nullptr;
-  }
-
-  std::vector<id_type> Map::GetAllIds() const {
-    std::vector<id_type> result;
-    for (auto &&e : _elements) {
-      result.emplace_back(e.first);
-    }
-    return result;
-  }
-
-  uint32_t Map::GetRoadCount() const {
-    return _elements.size();
-  }
-
-} // namespace road
-} // namespace carla

LibCarla/source/carla/road/Map.h

@@ -7,17 +7,16 @@
 #pragma once
 
 #include "carla/Memory.h"
-#include "carla/Optional.h"
 #include "carla/NonCopyable.h"
+#include "carla/Optional.h"
 #include "carla/road/MapData.h"
 #include "carla/road/element/Waypoint.h"
 
-
 namespace carla {
 namespace road {
 
   class Map
-    : EnableSharedFromThis<Map>,
+    : public EnableSharedFromThis<Map>,
       private MovableNonCopyable {
   public:
 

LibCarla/source/carla/road/MapBuilder.cpp

@@ -16,7 +16,7 @@ namespace road {
     return true;
   }
 
-  Map MapBuilder::Build() {
+  SharedPtr<Map> MapBuilder::Build() {
     // Move the RoadSegmentDefinitions needed information to a RoadSegments
     for (auto &&id_seg : _temp_sections) {
       MakeElement<RoadSegment>(id_seg.first, std::move(id_seg.second));
@@ -44,7 +44,7 @@ namespace road {
     // _map_data is a memeber of MapBuilder so you must especify if
     // you want to keep it (will return copy -> Map(const Map &))
     // or move it (will return move -> Map(Map &&))
-    return Map(std::move(_map_data));
+    return SharedPtr<Map>(new Map{std::move(_map_data)});
   }
 
   bool MapBuilder::InterpretRoadFlow() {

LibCarla/source/carla/road/MapBuilder.h

@@ -19,7 +19,7 @@ namespace road {
 
     bool AddRoadSegmentDefinition(element::RoadSegmentDefinition &seg);
 
-    Map Build();
+    SharedPtr<Map> Build();
 
   private:
 

LibCarla/source/carla/road/element/RoadInfo.h

@@ -6,7 +6,6 @@
 
 #pragma once
 
-#include "carla/road/element/RoadSegment.h"
 #include "carla/road/element/RoadInfoVisitor.h"
 
 #include <string>

LibCarla/source/carla/road/element/RoadInfoVisitor.h

@@ -6,9 +6,6 @@
 
 #pragma once
 
-#include "carla/road/element/RoadSegment.h"
-#include "carla/road/element/RoadInfo.h"
-
 #include <iterator>
 
 namespace carla {

LibCarla/source/carla/road/element/Waypoint.cpp

@@ -6,6 +6,8 @@
 
 #include "carla/road/element/Waypoint.h"
 
+#include "carla/road/Map.h"
+
 namespace carla {
 namespace road {
 namespace element {
@@ -14,6 +16,8 @@ namespace element {
     return RoadInfoList(_map->GetData().GetRoad(_road_id)->GetInfos(_dist));
   }
 
+  Waypoint::~Waypoint() = default;
+
 } // namespace element
 } // namespace road
 } // namespace carla

LibCarla/source/carla/road/element/Waypoint.h

@@ -6,9 +6,10 @@
 
 #pragma once
 
-#include "carla/road/Map.h"
+#include "carla/Memory.h"
 #include "carla/geom/Transform.h"
 #include "carla/road/element/RoadInfoList.h"
+#include "carla/road/element/Types.h"
 
 namespace carla {
 namespace road {
@@ -22,6 +23,8 @@ namespace element {
 
     Waypoint() = default;
 
+    ~Waypoint();
+
     const geom::Transform &GetTransform() const {
       return _transform;
     }

LibCarla/source/carla/rpc/MapInfo.h

@@ -22,9 +22,9 @@ namespace rpc {
 
     std::string open_drive_file;
 
-    std::vector<geom::Transform> recommended_start_transforms;
+    std::vector<geom::Transform> recommended_spawn_points;
 
-    MSGPACK_DEFINE_ARRAY(name, open_drive_file, recommended_start_transforms);
+    MSGPACK_DEFINE_ARRAY(name, open_drive_file, recommended_spawn_points);
   };
 
 } // namespace rpc

LibCarla/source/test/test_road.cpp

@@ -39,7 +39,8 @@ TEST(road, add_information) {
   def.MakeInfo<element::RoadInfoLane>();
 
   builder.AddRoadSegmentDefinition(def);
-  Map m = builder.Build();
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
 
   const RoadInfoVelocity *r = m.GetData().GetRoad(0)->GetInfo<RoadInfoVelocity>(0.0);
   ASSERT_EQ(r->velocity, 50.0);
@@ -71,7 +72,8 @@ TEST(road, set_and_get_connections_for) {
     }
     builder.AddRoadSegmentDefinition(def);
   }
-  Map m = builder.Build();
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
   for (auto &&r : m.GetData().GetAllIds()) {
     for (size_t i = 0; i < 10; ++i) {
       ASSERT_EQ(m.GetData().GetRoad(r)->GetPredecessorsIds().at(i), i);
@@ -104,7 +106,8 @@ TEST(road, geom_line) {
 
   builder.AddRoadSegmentDefinition(def1);
 
-  Map m = builder.Build();
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
 
   ASSERT_EQ(m.GetData().GetRoad(1)->GetLength(), 20.0);
   AssertNear(m.GetData().GetRoad(1)->GetDirectedPointIn(0),
@@ -143,7 +146,8 @@ TEST(road, geom_arc) {
 
   builder.AddRoadSegmentDefinition(def1);
 
-  Map m = builder.Build();
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
 
   ASSERT_EQ(m.GetData().GetRoad(1)->GetLength(), 10.0);
 }
@@ -163,7 +167,8 @@ TEST(road, geom_spiral) {
 
   builder.AddRoadSegmentDefinition(def1);
 
-  Map m = builder.Build();
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
 
   ASSERT_EQ(m.GetData().GetRoad(1)->GetLength(), 10.0);
   // not implemented yet
@@ -189,8 +194,10 @@ TEST(road, get_information) {
   def.MakeInfo<element::RoadInfoLane>();
 
   builder.AddRoadSegmentDefinition(def);
-  Map m = builder.Build();
+
+  auto map_ptr = builder.Build();
+  Map &m = *map_ptr;
 
   const RoadInfoVelocity *r = m.GetData().GetRoad(0)->GetInfo<RoadInfoVelocity>(0.0);
   (void)r;
-}
+}

PythonAPI/source/libcarla/Map.cpp

@@ -0,0 +1,57 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include <carla/PythonUtil.h>
+#include <carla/client/Map.h>
+#include <carla/client/Waypoint.h>
+
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+
+namespace carla {
+namespace client {
+
+  std::ostream &operator<<(std::ostream &out, const Map &map) {
+    out << "Map(name=" << map.GetName() << ')';
+    return out;
+  }
+
+  std::ostream &operator<<(std::ostream &out, const Waypoint &waypoint) {
+    out << "Waypoint(" << waypoint.GetTransform() << ')';
+    return out;
+  }
+
+} // namespace client
+} // namespace carla
+
+void export_map() {
+  using namespace boost::python;
+  namespace cc = carla::client;
+  namespace cg = carla::geom;
+
+  class_<std::vector<cg::Transform>>("vector_of_transforms")
+    .def(vector_indexing_suite<std::vector<cg::Transform>>())
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  class_<std::vector<carla::SharedPtr<cc::Waypoint>>>("vector_of_waypoints")
+    .def(vector_indexing_suite<std::vector<carla::SharedPtr<cc::Waypoint>>>())
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  class_<cc::Map, boost::noncopyable, boost::shared_ptr<cc::Map>>("Map", no_init)
+    .add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
+    .def("get_spawn_points", CALL_RETURNING_COPY(cc::Map, GetRecommendedSpawnPoints))
+    .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true))
+    .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  class_<cc::Waypoint, boost::noncopyable, boost::shared_ptr<cc::Waypoint>>("Waypoint", no_init)
+    .add_property("transform", CALL_RETURNING_COPY(cc::Waypoint, GetTransform))
+    .def("next", &cc::Waypoint::Next, (args("distance")))
+    .def(self_ns::str(self_ns::self))
+  ;
+}

PythonAPI/source/libcarla/World.cpp

@@ -85,6 +85,7 @@ void export_world() {
     .add_property("id", &cc::World::GetId)
     .add_property("map_name", CALL_RETURNING_COPY(cc::World, GetMapName))
     .def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
+    .def("get_map", CONST_CALL_WITHOUT_GIL(cc::World, GetMap))
     .def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
     .def("get_weather", CONST_CALL_WITHOUT_GIL(cc::World, GetWeather))
     .def("set_weather", &cc::World::SetWeather)

PythonAPI/source/libcarla/libcarla.cpp

@@ -105,6 +105,7 @@ static auto MakeCallback(boost::python::object callback) {
 #include "Control.cpp"
 #include "Exception.cpp"
 #include "Geom.cpp"
+#include "Map.cpp"
 #include "Sensor.cpp"
 #include "SensorData.cpp"
 #include "Weather.cpp"
@@ -122,6 +123,7 @@ BOOST_PYTHON_MODULE(libcarla) {
   export_sensor_data();
   export_weather();
   export_world();
+  export_map();
   export_client();
   export_exception();
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDriveActor.cpp

@@ -41,7 +41,8 @@ AOpenDriveActor::AOpenDriveActor()
 void AOpenDriveActor::BeginPlay()
 {
     Super::BeginPlay();
-    carla::road::Map map = carla::opendrive::OpenDrive::Load("C:\\Users\\ajianu\\Desktop\\xodr\\test_03.xodr");
+    auto MapPtr = carla::opendrive::OpenDrive::Load("C:\\Users\\ajianu\\Desktop\\xodr\\test_03.xodr");
+    auto &map = MapPtr->GetData();
 
     std::vector<carla::road::element::id_type> roadIDs = map.GetAllIds();
     TArray<carla::road::element::id_type> processed;