doc change; minor bug fix

JeanPhilippeMonteuuis · Mar 14, 2022 · 414d543 · 414d543
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diff --git a/README.md b/README.md
@@ -20,6 +20,18 @@ The key features of OpenCDA are:
 
 Users could refer to [OpenCDA documentation](https://opencda-documentation.readthedocs.io/en/latest/) for more details.
 
+## What's New
+### March 2022
+* HD Map manager is online! It currently supports generating rasterization map that includes road topology, traffic light info, and dynamic objects around each cav in real-time. This can be
+used for RL planning, HD Map learning, scene understanding, etc.
+
+### Feb 2022
+* Our paper [*OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication*](https://arxiv.org/abs/2109.07644)
+ has been accepted by ICRA 2022! It utilizes the offline Cooperative Perception(data dumping) function in OpenCDA. Check the benchmark codebase [OpenCOOD](https://github.com/DerrickXuNu/OpenCOOD) of OPV2V if interested.
+### Oct 2021
+ * CARLA 0.9.12 now supported; Different weather conditions are supported.
+ * Better traffic management supported: users now can set a customized range to background cars.
+
 
 ## Major Components
 ![teaser](docs/md_files/images/OpenCDA_new_diagrams.png)
@@ -60,15 +72,6 @@ We welcome your contributions.
  Please use [this template](.github/PR_TEMPLATE.md) for your pull requests.
 
 
-## What's New
-### Feb 2022
-* Our paper [*OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication*](https://arxiv.org/abs/2109.07644)
- has been accepted by ICRA 2022! It utilizes the offline Cooperative Perception(data dumping) function in OpenCDA. Check the [github page](https://github.com/DerrickXuNu/OpenCOOD) of OPV2V if interested.
-### Oct 2021
- * CARLA 0.9.12 now supported; Different weather conditions are supported.
- * Better traffic management supported: users now can set a customized range to background cars.
-
-
 
 ## Citation
  If you are using our OpenCDA framework or codes for your development, please cite the following paper:

diff --git a/docs/md_files/codebase_structure.md b/docs/md_files/codebase_structure.md
@@ -12,6 +12,7 @@ OpenCDA
 │ │ └── actutation # implementation of control algorithms
 │ │ ├── application # implementation of cooperative driving applications
 │ │ ├── common # base class and communication class for cavs
+│ │ ├── map # HDMap manager
 │ │ ├── plan # planning algorithms
 │ │ └── sensing # perception adn localization algorithms.
 │ ├── customize # where the users put their customized algorithm to replace the default modules

diff --git a/docs/md_files/release_history.md b/docs/md_files/release_history.md
@@ -1,6 +1,14 @@
 ## Release History of OpenCDA
 This page demonstrates all the changes since the origin release v0.1.0 with more detailed imags.
 
+--- 
+### v0.1.2
+##### Map manager
+OpenCDA now adds a new component `map_manager` for each cav. It will dynamically load road topology and dynamic
+objects information around the ego vehicle and save them into rasterized map, which can be useful for RL planning, HDMap learning, scene understanding, etc.
+
+![](images/map_manager.gif )
+
 ---
 ### v0.1.1
 #### Cooperative Perception

diff --git a/docs/md_files/yaml_define.md b/docs/md_files/yaml_define.md
@@ -26,6 +26,7 @@ vehicle_base: &vehicle_base # define cav default parameters
  sensing: &base_sensing # define sensing parameters
  perception: &base_perception # define perception related settings
  localization: &base_localize # define localization related settings
+ map_manager: &base_map_manager # define HDMap manager
  behavior: &base_behavior # define planning related parameters
  controller: &base_controller # define controller
  type: pid_controller # define the type of controller
@@ -104,45 +105,51 @@ the [CARLA Sync documentation](https://carla.readthedocs.io/en/latest/adv_synchr
  the CAV will load the ego position from server directly.
  * `gnss` : related to the parameters of the gnss sensor.
  * `debug_helper` : parameters related to localization debugging and real-time trajectory plotting.
-* `behavior` : Define behavior planning parameters
- * `max_speed` : int type, the maximum speed (km/h) that the CAV is allowed to reach.
- * `tailgate_speed` : int type, the target speed (km/h) for CAV when it tries to catch up with a platoon, it is usually larger
- than `max_speed`
- * `speed_lim_dist` : int type, during normal driving mode, `target_speed` = `max_speed` - `speed_lim_dist`
- * `speed_decrease` : int type, when the CAV is in car following mode and it gets too close to the
- front vehicle, `target_speed` = `front_vehicle_speed` - `speed_decrease`
- * `safety_time` : float type, ttc thresholding to identify whether the ego vehicle is too close to 
- the front vehicle.
- * `emergency_param` : float type, `emergency_stop_distance` = `current_speed` * `emergency_param`
- * `ignore_traffic_light` : bool type, if set to true, the CAV will ignore the traffic light.
- * `overtake_allowed` : bool type, if set to false, overtaking is not allowed during driving.
- * `collision_time_ahead` : float type, collision detection range
- * `sample_resolution` : float type, the unit distance (m) between two adjacent waypoints
- * `local_planner` : Define trajectory planning parameters.
- * `buffer_size` : dequeue type, waypoint buffer size.
- * `trajectory_update_freq` : int type, the update frequency for trajectory, when the length of trajectory buffer 
- is below the frequency number, the ego vehicle will re-generate the trajectory.
- * `waypoint_update_freq` : int type, the update frequency for waypoint buffer, when the length of the 
- waypoint buffer is below the frequency, the waypoint buffer will load waypoints from `waypoint_queue`.
- * `min_dist` : float type, used to pop out the waypoints that are too close to the current location
- * `trajectory_dt` : float type, trajectory points sampling resolution.
- * `debug` : bool type, if true, waypoint will be visualized.
- * `debug_trajectory` : bool type, if true, trajectory will be visualized.
-* `controller` : Define controller parameters.
- * `type` : string type, the type of controller the ego vehicle uses.
- * `args` : the arguments related to the selected controller.
-
-* `v2x` : Defome vehicle communication parameters.
- * `enabled` : bool type, indicate whether v2x is enabled.
- * `communication_range` : float type, the searching range of the CAV
- * `loc_noise` : float type, the deviation of the noise added to the received ego position 
- during communication.
- * `yaw_noise` : float type, the deviation of the noise added to the received yaw angle
- during communication.
- * `speed_noise` : float type, the deviation of the noise added to the received ego speed 
- during communication.
- * `lag` : int type, the lagging during the communication. E.g., 2 means the CAV
- receives the packages of other CAVs at most 2 time steps ago. 
+ * `map_manager` : Define HDMap manager parameters
+ * `pixels_per_meter` : The rasterization map precision.
+ * `raster_size` : The rasterization map's H and W in pixels.
+ * `lane_sample_resolution` : Waypoint sampling resolution for lane drawing.
+ * `visualize` : Whether to show the rasterization map during running in real-time.
+ * `activate` : Whether activate the map_manager module.
+ * `behavior` : Define behavior planning parameters
+ * `max_speed` : int type, the maximum speed (km/h) that the CAV is allowed to reach.
+ * `tailgate_speed` : int type, the target speed (km/h) for CAV when it tries to catch up with a platoon, it is usually larger
+ than `max_speed`
+ * `speed_lim_dist` : int type, during normal driving mode, `target_speed` = `max_speed` - `speed_lim_dist`
+ * `speed_decrease` : int type, when the CAV is in car following mode and it gets too close to the
+ front vehicle, `target_speed` = `front_vehicle_speed` - `speed_decrease`
+ * `safety_time` : float type, ttc thresholding to identify whether the ego vehicle is too close to 
+ the front vehicle.
+ * `emergency_param` : float type, `emergency_stop_distance` = `current_speed` * `emergency_param`
+ * `ignore_traffic_light` : bool type, if set to true, the CAV will ignore the traffic light.
+ * `overtake_allowed` : bool type, if set to false, overtaking is not allowed during driving.
+ * `collision_time_ahead` : float type, collision detection range
+ * `sample_resolution` : float type, the unit distance (m) between two adjacent waypoints
+ * `local_planner` : Define trajectory planning parameters.
+ * `buffer_size` : dequeue type, waypoint buffer size.
+ * `trajectory_update_freq` : int type, the update frequency for trajectory, when the length of trajectory buffer 
+ is below the frequency number, the ego vehicle will re-generate the trajectory.
+ * `waypoint_update_freq` : int type, the update frequency for waypoint buffer, when the length of the 
+ waypoint buffer is below the frequency, the waypoint buffer will load waypoints from `waypoint_queue`.
+ * `min_dist` : float type, used to pop out the waypoints that are too close to the current location
+ * `trajectory_dt` : float type, trajectory points sampling resolution.
+ * `debug` : bool type, if true, waypoint will be visualized.
+ * `debug_trajectory` : bool type, if true, trajectory will be visualized.
+ * `controller` : Define controller parameters.
+ * `type` : string type, the type of controller the ego vehicle uses.
+ * `args` : the arguments related to the selected controller.
+
+ * `v2x` : Defome vehicle communication parameters.
+ * `enabled` : bool type, indicate whether v2x is enabled.
+ * `communication_range` : float type, the searching range of the CAV
+ * `loc_noise` : float type, the deviation of the noise added to the received ego position 
+ during communication.
+ * `yaw_noise` : float type, the deviation of the noise added to the received yaw angle
+ during communication.
+ * `speed_noise` : float type, the deviation of the noise added to the received ego speed 
+ during communication.
+ * `lag` : int type, the lagging during the communication. E.g., 2 means the CAV
+ receives the packages of other CAVs at most 2 time steps ago. 
 
 #### platoon_base
 `platoon_base` define the default platooning parameters.

diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -3,7 +3,7 @@ carla
 matplotlib==3.4.2
 networkx==2.5.1
 numpy
-pillow==8.2.0
+pillow
 pyparsing==2.4.7
 six==1.16.0
 open3d

diff --git a/environment.yml b/environment.yml
@@ -8,7 +8,7 @@ dependencies:
  - matplotlib==3.4.2
  - networkx==2.5.1
  - numpy
- - pillow==8.2.0
+ - pillow
  - pyparsing==2.4.7
  - six==1.16.0
  - open3d
@@ -19,3 +19,4 @@ dependencies:
  - scipy==1.6.3
  - seaborn
  - lxml
+ - shapely
diff --git a/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml b/opencda/scenario_testing/config_yaml/single_2lanefree_carla.yaml
@@ -60,6 +60,7 @@ vehicle_base: &vehicle_base
  raster_size: [224, 224]
  lane_sample_resolution: 0.1
  visualize: true
+ activate: true
 
  behavior: &base_behavior
  max_speed: 111 # maximum speed, km/h

diff --git a/requirements.txt b/requirements.txt
@@ -1,7 +1,7 @@
 matplotlib==3.4.2
 networkx==2.5.1
 numpy
-pillow==8.2.0
+pillow
 pyparsing==2.4.7
 six==1.16.0
 open3d
@@ -11,4 +11,5 @@ pygame
 scikit-learn==0.24.2
 scipy==1.6.3
 seaborn
-lxml
+lxml
+shapely
diff --git a/requirements_ci.txt b/requirements_ci.txt
@@ -1,7 +1,7 @@
 matplotlib==3.4.2
 networkx==2.5.1
 numpy
-pillow==8.2.0
+pillow
 pyparsing==2.4.7
 six==1.16.0
 open3d