Merge pull request carla-simulator#2 from intel-sandbox/enable_tracking

Enable object tracking scenario and add kwcoco/MOTS annotations

CHANGELOG.md

@@ -1,3 +1,18 @@
+## Latest
+  * Added native ackermann controller:
+    - `apply_ackermann_control`:  to apply an ackermann control command to a vehicle
+    - `get_ackermann_controller_settings`: to get the last ackermann controller settings applied
+    - `apply_ackermann_controller_settings`: to apply new ackermann controller settings
+  * Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
+  * Added `NormalsSensor`, a new sensor with normals information
+  * Added support for N wheeled vehicles
+
+## CARLA sissiok:data_collector
+ * Added a data collection tool
+   - `carla_data_saver.py`: saves sensor data and simulation metadata. Can be used for generate synthetic object detection and tracking datasets.
+   - `carla_annotator.py`: generates annotations in kwcoco format and MOTS format for camera images saved by `carla_data_saver.py`
+   - `Dockerfile`: builds a docker image for CARLA client upon the current CARLA docker image which only supports CARLA server.
+
 ## CARLA 0.9.13
 
   * Added new **instance aware semantic segmentation** sensor `sensor.camera.instance_segmentation`

PythonAPI/util/data_collector/Dockerfile

@@ -0,0 +1,24 @@
+# Copyright (c) 2022 Intel Corporation.
+#
+# SPDX-License-Identifier: MIT
+
+FROM carlasim/carla:0.9.13
+USER root
+RUN apt-get update
+RUN apt-get install -y build-essential
+RUN apt-get install -y libjpeg-dev libtiff-dev
+RUN apt-get install -y python3.7 python3.7-dev python3-distutils
+RUN apt-get install -y python3-pip
+RUN apt-get install -y git
+RUN apt-get install -y xdg-user-dirs xdg-utils
+RUN apt-get install -y fontconfig
+RUN apt-get install -y zip
+RUN apt-get clean
+USER carla
+RUN python3.7 -m pip install Cython
+RUN python3.7 -m pip install --upgrade pip
+RUN python3.7 -m pip install -r /home/carla/PythonAPI/examples/requirements.txt
+COPY requirements.txt /tmp/requirements.txt
+RUN python3.7 -m pip install -r /tmp/requirements.txt
+ENV PYTHONPATH "${PYTHONPATH}:/home/carla/PythonAPI/carla/dist/carla-0.9.13-py3.7-linux-x86_64.egg"
+WORKDIR /home/carla

PythonAPI/util/data_collector/Makefile

@@ -0,0 +1,76 @@
+DATASETS ?= /datasets/data_collector
+PORT := $(shell seq 49152 65535 | shuf | head -n1)
+TM_PORT := $(shell echo "$(PORT) + 2" | bc)
+CARLA_QUALITY_LEVEL ?= Epic
+CONFIG_FILE ?= config_tracking
+TRACKING_FORMAT ?= mots_png
+TRACKING_LABELS ?= Pedestrian
+NV_GPU ?= "device=0"
+UUID := $(shell uuidgen)
+PYTHON = python3.7
+
+DOCKER_TAG ?= carla-client:0.9.13
+DOCKER_OPTIONS += --rm
+DOCKER_OPTIONS += --net=host
+DOCKER_OPTIONS += --volume $(shell pwd)\:/home/carla/PythonAPI/util/data_collector\:ro
+DOCKER_OPTIONS += --volume $(DATASETS)\:$(DATASETS)\:rw
+DOCKER_OPTIONS += --gpus $(NV_GPU)
+DOCKER_RUN = docker run $(DOCKER_OPTIONS) $(DOCKER_TAG)
+DOCKER_RUND = docker run -d $(DOCKER_OPTIONS) --name $(UUID) $(DOCKER_TAG)
+
+# Taken from https://tech.davis-hansson.com/p/make/
+ifeq ($(origin .RECIPEPREFIX), undefined)
+  $(error This Make does not support .RECIPEPREFIX. Please use GNU Make 4.0 or later)
+endif
+.RECIPEPREFIX = >
+
+# Taken from https://suva.sh/posts/well-documented-makefiles/
+.PHONY: help
+help:  ## Display this help
+> @awk 'BEGIN {FS = ":.*##"; printf "\nUsage:\n  make \033[36m<target>\033[0m\n"} /^[1-9a-zA-Z_-]+:.*?##/ { printf "  \033[36m%-36s\033[0m %s\n", $$1, $$2 } /^##@/ { printf "\n\033[1m%s\033[0m\n", substr($$0, 5) } ' $(MAKEFILE_LIST)
+
+#
+# General Targets
+#
+.PHONY: docker_image
+docker_image: Dockerfile requirements.txt ## Build docker image
+> docker build -f $< -t $(DOCKER_TAG) .
+
+.PHONY: kill_carla_servers
+kill_carla_servers: ## Kill all CARLA server docker instances
+> docker ps --filter="ancestor=carla-client:0.9.13" -q | xargs docker kill
+
+
+.PHONY: clean_annotations
+clean_annotations: ## Clean existing annotations
+> @echo "Clearing annotations "
+> $(DOCKER_RUN) rm -rf $(DATASETS)/*/*/kwcoco_annotations.json
+> $(DOCKER_RUN) rm -rf $(DATASETS)/*/*/instances*
+
+.PHONY: clean
+clean: ## Clean all directories
+> @echo "Clearing all directories"
+> $(DOCKER_RUN) rm -rf $(DATASETS)/*
+
+$(DATASETS)/%.yaml: ## Run data collection with specified configuration
+> $(DOCKER_RUND) /bin/bash ./CarlaUE4.sh -RenderOffScreen -carla-port=$(PORT) -quality-level=$(CARLA_QUALITY_LEVEL)
+> while ! nc -z localhost $(PORT); do sleep 1; done
+> $(DOCKER_RUN) $(PYTHON) PythonAPI/util/data_collector/carla_data_saver.py --config-name $(@F) carla.port=$(PORT) carla.traffic_manager_port=$(TM_PORT) hydra.run.dir="$(@D)/$*/$(UUID)"
+> docker ps --quiet --filter="name=$(UUID)" -q | xargs docker kill
+
+.PRECIOUS: $(DATASETS)/$(CONFIG_FILE)/%/collection_done
+$(DATASETS)/$(CONFIG_FILE)/%/collection_done: ## Run data collection with config_tracking configuration
+> $(DOCKER_RUND) /bin/bash ./CarlaUE4.sh -RenderOffScreen -carla-port=$(PORT) -quality-level=$(CARLA_QUALITY_LEVEL)
+> while ! nc -z localhost $(PORT); do sleep 1; done
+> $(DOCKER_RUN) $(PYTHON) PythonAPI/util/data_collector/carla_data_saver.py --config-name $(CONFIG_FILE).yaml carla.port=$(PORT) carla.traffic_manager_port=$(TM_PORT) hydra.run.dir="$(@D)"
+> docker ps --quiet --filter="name=$(UUID)" -q | xargs docker kill
+> $(DOCKER_RUN) /bin/bash -c "echo $(UUID) > $@"
+
+.PRECIOUS: $(DATASETS)/%/kwcoco_annotations.json ## Generate kwcoco annotations
+$(DATASETS)/%/kwcoco_annotations.json: $(DATASETS)/%/collection_done
+> $(DOCKER_RUN) $(PYTHON) PythonAPI/util/data_collector/carla_annotator.py --format $(TRACKING_FORMAT) --output $@ --dataset_parent_dir $(@D) --labels $(TRACKING_LABELS)
+
+.PRECIOUS: $(DATASETS)/%/instances.zip ## Generate annotation in MOTS format
+$(DATASETS)/%/instances.zip: $(DATASETS)/%/collection_done
+> $(DOCKER_RUN) $(PYTHON) PythonAPI/util/data_collector/carla_annotator.py --format $(TRACKING_FORMAT) --output $(@D)/instances --dataset_parent_dir $(@D) --labels $(TRACKING_LABELS)
+> $(DOCKER_RUN) /bin/bash -c "cd $(@D) ; zip -r instances.zip instances"