Carla junction filter

[mpragnay]

• Cleaned up the processing branch to produce a set of Carla maps with valid objects, intended for upload to HuggingFace.

• Added all 8 Carla towns generated via py123d and custom pyxodr processing script.

• Validated Z-coordinates to ensure agents initialize correctly on complex geometries, including overpasses and underpasses.

• Added setup instructions for the pyxodr submodule dependency, users can generate custom agents with specific parameters (e.g., distant goals, non-zero initial velocity).

[greptile-apps]

Greptile Overview

Greptile Summary

Cleaned up Carla map processing pipeline and added 8 validated town maps with procedurally generated agent trajectories.

Key Changes:

• Replaced unstable process_carla_roads.py with generate_carla_agents.py featuring argument parsing, AABB collision detection, and configurable trajectory generation
• Added pyxodr submodule dependency for robust XODR processing
• Generated and validated all 8 Carla towns (Town01-07, Town10HD) via py123d processing with correct Z-coordinate handling for complex geometries
• Added visualization tools (plot.py) and test scripts (JunctionOutlineTest.py) for debugging junction polygonization
• Updated documentation with setup instructions and usage examples

Issues Found:

• Typo in README.md line 197: "genrated" should be "generated"

Confidence Score: 4/5

• This PR is safe to merge with one minor typo fix needed
• Score reflects well-structured code refactoring with proper collision detection, Z-coordinate validation for complex geometries, and comprehensive documentation. The main concern is the typo in documentation and ensuring the pyxodr submodule is properly initialized after checkout. The code demonstrates good practices with AABB collision detection, configurable parameters via argparse, and proper trajectory generation logic.
• README.md needs typo fix on line 197. Verify that external/pyxodr submodule initializes correctly after clone.

Important Files Changed

File Analysis

Filename	Score	Overview
.gitmodules	5/5	Added pyxodr submodule from mpragnay/pyxodr GitHub repository for XODR processing
requirements-dev.txt	5/5	Added development dependency for pyxodr submodule in editable mode
README.md	4/5	Added documentation for generating Carla agent trajectories with setup instructions and usage examples
data_utils/carla/generate_carla_agents.py	3/5	Renamed from process_carla_xodr.py, added argument parsing, AABB collision detection, initial velocity control, and trajectory generation with configurable parameters
data_utils/carla/plot.py	5/5	Added visualization script for plotting road data and agent trajectories from JSON files
data_utils/carla/JunctionOutlineTest.py	5/5	Added test/demo script for junction polygon creation with alpha shapes and visualization
external/pyxodr	2/5	Added git submodule pointer for pyxodr library (submodule appears empty in current checkout)

Sequence Diagram

sequenceDiagram
    participant User
    participant Git as Git Submodule System
    participant Script as generate_carla_agents.py
    participant PyXODR as pyxodr Library
    participant Network as RoadNetwork
    participant AABB as AABB Collision System
    participant JSON as Output JSON Files

    User->>Git: git submodule update --init --recursive
    Git->>PyXODR: Initialize pyxodr submodule
    
    User->>Script: python generate_carla_agents.py --args
    Script->>Script: Parse arguments (num_objects, avg_speed, etc.)
    
    loop For each town map
        Script->>PyXODR: Load XODR file
        PyXODR->>Network: Parse road network
        Network->>Script: Return roads, junctions, lane sections
        
        Script->>Script: Create lane link elements
        Script->>Script: Build successor/predecessor connections
        Script->>Script: Add incoming/outgoing edges
        
        loop For each agent (num_objects)
            Script->>Script: Select random lane and position
            Script->>AABB: Check collision with existing agents
            alt Collision detected
                Script->>Script: Retry with different position
            else No collision
                Script->>Script: Generate trajectory with velocity
                Script->>Script: Calculate waypoints along lane
                Script->>Script: Adjust Z-coordinate for geometry
                Script->>JSON: Add agent with position, heading, velocity
            end
        end
        
        Script->>JSON: Save Town_X_Y.json with agents
    end
    
    User->>Script: python data_utils/carla/plot.py
    Script->>JSON: Load and visualize agents on map

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[greptile-apps]

_{21 files reviewed, 1 comment}

_{Edit Code Review Agent Settings | Greptile}

[daphne-cornelisse]

Nice work. Couple of comments:

• Why do we need the pyxodr submodule? From the repo, it looks like you can just pip install it, in which case you can add it to the dependencies in setup.py
• Thanks for adding docs. Can you please move it to https://emerge-lab.github.io/PufferDrive/data/ ? -> just add a section for Carla
• Why do we have duplicate maps? Can't we just delete the maps under carla and keep the ones under carla_py123d?

[mpragnay]

Nice work. Couple of comments:

• Why do we need the pyxodr submodule? From the repo, it looks like you can just pip install it, in which case you can add it to the dependencies in setup.py
• Thanks for adding docs. Can you please move it to https://emerge-lab.github.io/PufferDrive/data/ ? -> just add a section for Carla
• Why do we have duplicate maps? Can't we just delete the maps under carla and keep the ones under carla_py123d?

The pyxodr submodule had issues related to map resolution, lane linkage and also the z coordinates. I worked on this part sometime ago and figured pyxodr wasn't really maintained(as my PRs raised to their repo weren't reviewed) so I decided we should continue on its fork.

Oh yea forgot to mention about the map duplication, the carla_py123d ones are the ones generated using py123d and the carla ones are those me and aditya cleaned post filtering with pyxodr, I decided to keep both just as a backup. Maybe I can create a separate branch with thos maps(Like backup carla maps or something). Yeah will add the docs there.

[mpragnay]

Nice work. Couple of comments:

• Why do we need the pyxodr submodule? From the repo, it looks like you can just pip install it, in which case you can add it to the dependencies in setup.py
• Thanks for adding docs. Can you please move it to https://emerge-lab.github.io/PufferDrive/data/ ? -> just add a section for Carla
• Why do we have duplicate maps? Can't we just delete the maps under carla and keep the ones under carla_py123d?

The pyxodr submodule had issues related to map resolution, lane linkage and also the z coordinates. I worked on this part sometime ago and figured pyxodr wasn't really maintained(as my PRs raised to their repo weren't reviewed) so I decided we should continue on its fork.

The carla_py123d ones are the ones generated using py123d and the carla ones are those me and aditya cleaned post filtering with pyxodr, I removed the extra ones from here and stored it in a separate branch. Added into docs as well.

[daphne-cornelisse]

The pyxodr submodule had issues related to map resolution, lane linkage and also the z coordinates. I worked on this part sometime ago and figured pyxodr wasn't really maintained(as my PRs raised to their repo weren't reviewed) so I decided we should continue on its fork.
The carla_py123d ones are the ones generated using py123d and the carla ones are those me and aditya cleaned post filtering with pyxodr, I removed the extra ones from here and stored it in a separate branch. Added into docs as well.

Makes sense! Thanks for cleaning up those files.

LGTM - last thing: Can you delete the docs from the readme now that they are under data/

[mpragnay]

The pyxodr submodule had issues related to map resolution, lane linkage and also the z coordinates. I worked on this part sometime ago and figured pyxodr wasn't really maintained(as my PRs raised to their repo weren't reviewed) so I decided we should continue on its fork.
The carla_py123d ones are the ones generated using py123d and the carla ones are those me and aditya cleaned post filtering with pyxodr, I removed the extra ones from here and stored it in a separate branch. Added into docs as well.

Makes sense! Thanks for cleaning up those files.

LGTM - last thing: Can you delete the docs from the readme now that they are under data/

Done!