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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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Are there OpenDrive alternatives for Carla to import lane graph? #2029

Closed andyxinyuwu closed 5 years ago

andyxinyuwu commented 5 years ago

Hi team, I think Carla uses OpenDrive data format to define the relationship between road. Is it the only way that Carla supports? Right now, I have lane graph defined in vector format, e.g. in GeoJSon or .shp file. However, the only way I know to convert from vector format to opendrive data format is using RoadRunner, which is not a free tool. So my question is, is there other ways for me to add my lane graph representation (in the format of geojson) to Carla? Thanks a lot!

nsubiron commented 5 years ago

Unfortunately not, OpenDRIVE is currently the only format supported.

andyxinyuwu commented 5 years ago

Thanks @nsubiron. I have another question. What coordinate system do I need to put the points in for Carla?

nsubiron commented 5 years ago

They should match the fbx in world coordinates, bear in mind UE4 uses left-handed axis and centimeters, sometimes things appear reflected depending on how you export the files.

When you import you should see a lot of trigger boxes and splines along the road, those are generated based on the XODR, that should help you debugging.

andyxinyuwu commented 5 years ago

Thanks @nsubiron! what is the format of map data after I load opendrive file in Carla?

nsubiron commented 5 years ago

It remains as XODR, you can retrieve it in the API with world.get_map().to_opendrive().

andyxinyuwu commented 5 years ago

Thanks!