LIDAR lane markings annotated data

[rfsch]

Hello

I would like to use Carla with LIDAR sensor information. Is there annotated road marking data available in pointcloud format. I.e. is it possible to have together with a Lidar frame (xyz data) ground thruth of the road boarder, lanes together in xyz format ?

Thanks

[user025]

Currently the official version doesn't support this.

There are two ways to realize it.

1. Use synchronous mode and check if a point is in a bounding box of vehicles(using the location of previous frame). Otherwise it is a ground point. There are some known issues related to this, like #1647, #1312 . So you may have to do some adaption.

2. If you are familiar with the source code, you can get the actor id when lidar sensor hit a object. The actor id is available via

auto actor_temp = HitInfo->GetActor(); auto actor_id = GetEpisode().FindActor(actor_temp).GetActorId();

In carla-0.9.5/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastLidar.cpp

Or you may check my forked branch at mul_t

[rfsch]

Thank you for your answer. But how would it be possible to get in this way Lane and road border markings. I do not want to have to detect or discover them programmatically. I would need to have the information about them in xyz in order to reason about them.

Thanks

[user025]

@rfsch Sorry, seems I don't quite get your question.

If you are seeking for a groundtruth road, check this document.

save_to_disk provides the whole map in opendrive format.

get_waypoint provides informations about roads. Example of using get_waypoint API could be found in the no_rendering_mode.py.

Hope it helps.

[rfsch]

@user025 thank you for your help!

Sorry if I didn't explain it well.

I would need LIDAR recordings of a car (Carla?) driving along a road. For detection of cars that are oncoming to the car I am driving I am using Lane borders. For these I would need to correct xyz coordinates and knowledge that they are lane borders.

Could I record the lidar data captured and know which points are borsers and lanes ?

Thanks!

[user025]

@rfsch Lidar data provides points only. You can get groundtruth of borders and lanes of lidar data either by bounding box checking, as I mentioned in my previous answers, or by manually labeling.

[rfsch]

@user025 So does it mean that by getting the actor id of an object hit by the lidar sensor I am able know it is a lane, border, etc ? I would need this information while driving and would not want to manually label it. Or is manually labeling easier ?

[user025]

@rfsch actor id will always return 0 if lidar hit at anything not an carla actor, etc. buildings, grass, road. I believe manually labeling would be easier.

[rfsch]

@user025 thanks. That was what I was afraid of. How would I manually label in Carla ?

[barbierParis]

https://github.com/ZhuangYanDLUT/carla have you checked this ?

[rfsch]

@barbierParis Thanks! This looks good.

[barbierParis]

@rfsch if you use this forked version, would you mind giving some feedback on the results ? I'm currently having issues running CARLA on linux so I haven't been able to try it.

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