Release to be used to reproduce the experiments from the D3: A Dynamic Deadline-Driven Approach for Building Autonomous Vehicles paper accepted at EuroSys 2022.

Pylot v0.3.3

• Updated Pylot to support Python 3.8 and Tensorflow 2 (https://github.com/erdos-project/pylot/pull/220).
• Added support for the QDTrack obstacle tracker (https://github.com/erdos-project/pylot/pull/183).
• Improved logging, and organized logs into folders (https://github.com/erdos-project/pylot/pull/191).
• Updated all necessary operators to use TensorFlow2 (https://github.com/erdos-project/pylot/pull/214).
• Improved validation of flags and extended type hints (https://github.com/erdos-project/pylot/pull/178).

Bug Fixes

• Fixed visualization of lanes (https://github.com/erdos-project/pylot/pull/199).
• Fixed bug in setting CARLA's traffic manager port (https://github.com/erdos-project/pylot/pull/202).

• Added CenterTrack obstacle tracker (https://github.com/erdos-project/pylot/pull/149).
• Added indicator stream to logging operators so that they can be used for synchronizing.
• Added option to enable evaluation operators to the challenge agent (https://github.com/erdos-project/pylot/pull/175).
• Added new tracker evaluation operator, and base eval class (https://github.com/erdos-project/pylot/pull/160, https://github.com/erdos-project/pylot/pull/166, https://github.com/erdos-project/pylot/pull/168, https://github.com/erdos-project/pylot/pull/172).

Bug Fixes

• Fixed bug in parsing CARLA version strings.
• Fixed EfficientDet detection operator so that it correctly extracts bounding boxes.
• Fixed LaneNet imports (https://github.com/erdos-project/pylot/pull/155).
• Lock pygame to a working version (https://github.com/erdos-project/pylot/pull/159).
• Added code to handle top watermarks in watermark callbacks (https://github.com/erdos-project/pylot/pull/169).

• Improved perfect lane detector to collect all lanes.
• Added support for latest CARLA LiDAR type (CARLA >= 0.9.9.4).
• Updated CARLA challenge agent to support perfect perception.
• Added logic to close pygame window, and to shutdown on sigint.
• Updated traffic light data collection script to work with latest CARLA versions.
• Reduced dependency on CARLA throughout the code base.

New features

• EKF localization.
• R2P2 obstacle prediction.
• Lanenet lane detection.
• EfficientDet obstacle detection.
• Driver script for running on a Lincoln MKZ vehicle.
• Drivers for Grasshopper cameras and Velodyne LiDAR.
• Pseudo-asynchronous execution mode for accurately measuring the impact of runtime on driving experience.
• Moved from cv2 visualization to a pygame-based interface for visualizing all the components.
• Added an agent for the CARLA challenge.

Implementation Changes

• Refactored planners to work with a common world representation.

Initial Pylot release that uses the Rust-based ERDOS. The release also:

1. Adds support for CARLA 0.9.7.
2. Refactors utils modules into classes.
3. Ensured all transforms from CARLA objects to Pylot objects are consistent.