class PerfectLaneDetectionOperator(erdos.Operator):
"""Operator that uses the simulator to perfectly detect lanes.
Args:
pose_stream (:py:class:`erdos.ReadStream`): Stream on which pose
info is received.
open_drive_stream (:py:class:`erdos.ReadStream`): Stream on which open
drive string representations are received. The operator can
construct HDMaps out of the open drive strings.
detected_lane_stream (:py:class:`erdos.WriteStream`): Stream on which
the operator writes
:py:class:`~pylot.perception.messages.LanesMessage` messages.
flags (absl.flags): Object to be used to access absl flags.
"""
def __init__(self, pose_stream: ReadStream, open_drive_stream: ReadStream,
center_camera_stream: ReadStream,
detected_lane_stream: WriteStream, flags):
pose_stream.add_callback(self.on_pose_update)
center_camera_stream.add_callback(self.on_bgr_camera_update)
erdos.add_watermark_callback([pose_stream, center_camera_stream],
[detected_lane_stream],
self.on_position_update)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._logger_lane = erdos.utils.setup_logging(
self.config.name + "_lane", self.config.log_file_name + "_lane")
self._bgr_msgs = deque()
self._pose_msgs = deque()
self._frame_cnt = 0
@staticmethod
def connect(pose_stream: ReadStream, open_drive_stream: ReadStream,
center_camera_stream: ReadStream):
detected_lane_stream = erdos.WriteStream()
return [detected_lane_stream]
def destroy(self):
self._logger.warn('destroying {}'.format(self.config.name))
def run(self):
# Run method is invoked after all operators finished initializing.
# Thus, we're sure the world is up-to-date here.
if self._flags.execution_mode == 'simulation':
from pylot.map.hd_map import HDMap
from pylot.simulation.utils import get_map
self._map = HDMap(
get_map(self._flags.simulator_host, self._flags.simulator_port,
self._flags.simulator_timeout),
self.config.log_file_name)
from pylot.simulation.utils import get_world
_, self._world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
def on_opendrive_map(self, msg: Message):
"""Invoked whenever a message is received on the open drive stream.
Args:
msg (:py:class:`~erdos.message.Message`): Message that contains
the open drive string.
"""
self._logger.debug('@{}: received open drive message'.format(
msg.timestamp))
from pylot.simulation.utils import map_from_opendrive
self._map = map_from_opendrive(msg.data)
def on_bgr_camera_update(self, msg: Message):
self._logger.debug('@{}: received BGR frame'.format(msg.timestamp))
self._bgr_msgs.append(msg)
def on_pose_update(self, msg: Message):
self._logger.debug('@{}: received pose message'.format(msg.timestamp))
self._pose_msgs.append(msg)
@erdos.profile_method()
def on_position_update(self, timestamp: Timestamp,
detected_lane_stream: WriteStream):
"""Invoked on the receipt of an update to the position of the vehicle.
Uses the position of the vehicle to get future waypoints and draw
lane markings using those waypoints.
Args:
pose_msg: Contains the current location of the ego vehicle.
"""
self._logger.debug('@{}: received watermark'.format(timestamp))
if timestamp.is_top:
return
bgr_msg = self._bgr_msgs.popleft()
pose_msg = self._pose_msgs.popleft()
vehicle_location = pose_msg.data.transform.location
self._frame_cnt += 1
if self._map:
lanes = self._map.get_all_lanes(vehicle_location)
if self._flags.log_lane_detection_camera:
camera_setup = bgr_msg.frame.camera_setup
frame = np.zeros((camera_setup.height, camera_setup.width),
dtype=np.dtype("uint8"))
binary_frame = frame.copy()
for lane in lanes:
lane.collect_frame_data(frame,
binary_frame,
camera_setup,
inverse_transform=pose_msg.data.
transform.inverse_transform())
self._logger.debug('@{}: detected {} lanes'.format(
bgr_msg.timestamp, len(lanes)))
if self._frame_cnt % self._flags.log_every_nth_message == 0:
instance_file_name = os.path.join(
self._flags.data_path,
'{}-{}.png'.format("lane",
bgr_msg.timestamp.coordinates[0]))
binary_file_name = os.path.join(
self._flags.data_path,
'{}-{}.png'.format("binary_lane",
bgr_msg.timestamp.coordinates[0]))
instance_img = Image.fromarray(frame)
binary_img = Image.fromarray(binary_frame)
instance_img.save(instance_file_name)
binary_img.save(binary_file_name)
self._logger_lane.debug(
'@{}: Created binary lane and lane images in {}'.
format(pose_msg.timestamp, self._flags.data_path))
else:
for lane in lanes:
lane.draw_on_world(self._world)
else:
self._logger.debug('@{}: map is not ready yet'.format(
pose_msg.timestamp))
lanes = []
output_msg = LanesMessage(pose_msg.timestamp, lanes)
detected_lane_stream.send(output_msg)
class PerfectLaneDetectionOperator(erdos.Operator):
"""Operator that uses the Carla world to perfectly detect lanes.
Args:
pose_stream (:py:class:`erdos.ReadStream`): Stream on which pose
info is received.
open_drive_stream (:py:class:`erdos.ReadStream`): Stream on which open
drive string representations are received. The operator can
construct HDMaps out of the open drive strings.
detected_lane_stream (:py:class:`erdos.WriteStream`): Stream on which
the operator writes
:py:class:`~pylot.perception.messages.LanesMessage` messages.
flags (absl.flags): Object to be used to access absl flags.
"""
def __init__(self, pose_stream: ReadStream, open_drive_stream: ReadStream,
detected_lane_stream: WriteStream, flags):
pose_stream.add_callback(self.on_position_update,
[detected_lane_stream])
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
@staticmethod
def connect(pose_stream: ReadStream, open_drive_stream: ReadStream):
detected_lane_stream = erdos.WriteStream()
return [detected_lane_stream]
def run(self):
# Run method is invoked after all operators finished initializing,
# including the CARLA operator, which reloads the world. Thus, if
# we get the world here we're sure it is up-to-date.
if self._flags.execution_mode == 'simulation':
from pylot.map.hd_map import HDMap
from pylot.simulation.utils import get_map
self._map = HDMap(
get_map(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout), self.config.log_file_name)
from pylot.simulation.utils import get_world
_, self._world = get_world(self._flags.carla_host,
self._flags.carla_port,
self._flags.carla_timeout)
def on_opendrive_map(self, msg: Message):
"""Invoked whenever a message is received on the open drive stream.
Args:
msg (:py:class:`~erdos.message.Message`): Message that contains
the open drive string.
"""
self._logger.debug('@{}: received open drive message'.format(
msg.timestamp))
try:
import carla
except ImportError:
raise Exception('Error importing carla.')
self._logger.info('Initializing HDMap from open drive stream')
from pylot.map.hd_map import HDMap
self._map = HDMap(carla.Map('map', msg.data))
@erdos.profile_method()
def on_position_update(self, pose_msg: Message,
detected_lane_stream: WriteStream):
"""Invoked on the receipt of an update to the position of the vehicle.
Uses the position of the vehicle to get future waypoints and draw
lane markings using those waypoints.
Args:
pose_msg: Contains the current location of the ego vehicle.
"""
self._logger.debug('@{}: received pose message'.format(
pose_msg.timestamp))
vehicle_location = pose_msg.data.transform.location
if self._map:
lanes = self._map.get_all_lanes(vehicle_location)
for lane in lanes:
lane.draw_on_world(self._world)
else:
self._logger.debug('@{}: map is not ready yet'.format(
pose_msg.timestamp))
lanes = []
output_msg = LanesMessage(pose_msg.timestamp, lanes)
detected_lane_stream.send(output_msg)
