Raycasting (#3483)
* Added raycasting and point projection capabilities to python api. * Added documentation of new functions. * Fixed missing .f on floats Co-authored-by: doterop <daniel.oterop@gmail.com>
This commit is contained in:
Axel1092
GitHub
parent
52d706014b
commit
003e74fc91
|
|
@ -6,6 +6,7 @@ TrafficManager/build
|
|||
Util/Build
|
||||
Install
|
||||
Plugins
|
||||
!Unreal/CarlaUE4/Plugins
|
||||
|
||||
/ExportedMaps
|
||||
/Import/*
|
||||
|
|
|
|||
|
|
@ -801,6 +801,17 @@ Returns a list of pairs of waypoints. Every tuple on the list contains first an
|
|||
|
||||
---
|
||||
|
||||
## carla.LabelledPoint<a name="carla.LabelledPoint"></a>
|
||||
Class that represent a position in space with a semantic label.
|
||||
|
||||
<h3>Instance Variables</h3>
|
||||
- <a name="carla.LabelledPoint.location"></a>**<font color="#f8805a">location</font>**
|
||||
Position in 3D space.
|
||||
- <a name="carla.LabelledPoint.label"></a>**<font color="#f8805a">label</font>**
|
||||
Semantic tag of the point.
|
||||
|
||||
---
|
||||
|
||||
## carla.Landmark<a name="carla.Landmark"></a>
|
||||
Class that defines any type of traffic landmark or sign affecting a road. These class mediates between the [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) definition of the landmarks and their representation in the simulation. This class retrieves all the information defining a landmark in OpenDRIVE and facilitates information about which lanes does it affect and when.
|
||||
Landmarks will be accessed by [carla.Waypoint](#carla.Waypoint) objects trying to retrieve the regulation of their lane. Therefore some attributes depend on the waypoint that is consulting the landmark and so, creating the object.
|
||||
|
|
@ -2702,15 +2713,34 @@ This method applies settings contained in an object to the simulation running an
|
|||
- **Return:** _int_
|
||||
- **Warning:** <font color="#ED2F2F">_If synchronous mode is enabled, and there is a Traffic Manager running, this must be set to sync mode too. Read [this](adv_traffic_manager.md#synchronous-mode) to learn how to do it.
|
||||
_</font>
|
||||
- <a name="carla.World.cast_ray"></a>**<font color="#7fb800">cast_ray</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**initial_location**</font>, <font color="#00a6ed">**final_location**</font>)
|
||||
Casts a ray from the specified initial_location to final_location. The function then detects all geometries intersecting the ray and returns a list of [carla.LabelledPoint](#carla.LabelledPoint) in order.
|
||||
- **Parameters:**
|
||||
- `initial_location` (_[carla.Location](#carla.Location)_) – The initial position of the ray.
|
||||
- `final_location` (_[carla.Location](#carla.Location)_) – The final position of the ray.
|
||||
- **Return:** _list([carla.LabelledPoint](#carla.LabelledPoint))_
|
||||
- <a name="carla.World.freeze_all_traffic_lights"></a>**<font color="#7fb800">freeze_all_traffic_lights</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**frozen**</font>)
|
||||
Freezes or unfreezes all traffic lights in the scene. Frozen traffic lights can be modified by the user but the time will not update them until unfrozen.
|
||||
- **Parameters:**
|
||||
- `frozen` (_bool_)
|
||||
- <a name="carla.World.ground_projection"></a>**<font color="#7fb800">ground_projection</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**search_distance**</font>)
|
||||
Projects the specified point downwards in the scene. The functions casts a ray from location in the direction (0,0,-1) (downwards) and returns a [carla.Labelled](#carla.Labelled) object with the first geometry this ray intersects (usually the ground). If no geometry is found in the search_distance range the function returns `None`.
|
||||
- **Parameters:**
|
||||
- `location` (_[carla.Location](#carla.Location)_) – The point to be projected.
|
||||
- `search_distance` (_float_) – The maximum distance to perform the projection.
|
||||
- **Return:** _[carla.LabelledPoint](#carla.LabelledPoint)_
|
||||
- <a name="carla.World.on_tick"></a>**<font color="#7fb800">on_tick</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback**</font>)
|
||||
This method is used in [__asynchronous__ mode](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/adv_synchrony_timestep/). It starts callbacks from the client for the function defined as `callback`, and returns the ID of the callback. The function will be called everytime the server ticks. It requires a [carla.WorldSnapshot](#carla.WorldSnapshot) as argument, which can be retrieved from __<font color="#7fb800">wait_for_tick()</font>__. Use __<font color="#7fb800">remove_on_tick()</font>__ to stop the callbacks.
|
||||
- **Parameters:**
|
||||
- `callback` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) – Function with a snapshot as compulsory parameter that will be called when the client receives a tick.
|
||||
- **Return:** _int_
|
||||
- <a name="carla.World.project_point"></a>**<font color="#7fb800">project_point</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**direction**</font>, <font color="#00a6ed">**search_distance**</font>)
|
||||
Projects the specified point to the desired direction in the scene. The functions casts a ray from location in a direction and returns a [carla.Labelled](#carla.Labelled) object with the first geometry this ray intersects. If no geometry is found in the search_distance range the function returns `None`.
|
||||
- **Parameters:**
|
||||
- `location` (_[carla.Location](#carla.Location)_) – The point to be projected.
|
||||
- `direction` (_[carla.Vector3D](#carla.Vector3D)_) – The direction of projection.
|
||||
- `search_distance` (_float_) – The maximum distance to perform the projection.
|
||||
- **Return:** _[carla.LabelledPoint](#carla.LabelledPoint)_
|
||||
- <a name="carla.World.remove_on_tick"></a>**<font color="#7fb800">remove_on_tick</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback_id**</font>)
|
||||
Stops the callback for `callback_id` started with __<font color="#7fb800">on_tick()</font>__.
|
||||
- **Parameters:**
|
||||
|
|
@ -3196,89 +3226,6 @@ document.getElementById("snipets-container").innerHTML = null;
|
|||
}
|
||||
</script>
|
||||
|
||||
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Map.get_waypoint
|
||||
</p>
|
||||
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows the current traffic rules affecting the vehicle.
|
||||
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
|
||||
|
||||
# ...
|
||||
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
|
||||
print("Current lane type: " + str(waypoint.lane_type))
|
||||
# Check current lane change allowed
|
||||
print("Current Lane change: " + str(waypoint.lane_change))
|
||||
# Left and Right lane markings
|
||||
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
|
||||
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
|
||||
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
|
||||
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.ActorBlueprint.set_attribute
|
||||
|
|
@ -3313,160 +3260,6 @@ camera_bp.set_attribute('image_size_y', 600)
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.World.get_spectator
|
||||
</p>
|
||||
<div id="carla.World.get_spectator-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe spawns an actor and the spectator camera at the actor's location.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_line-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.DebugHelper.draw_line
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_line-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe is a modification of lane_explorer.py example.
|
||||
# It draws the path of an actor through the world, printing information at each waypoint.
|
||||
|
||||
# ...
|
||||
current_w = map.get_waypoint(vehicle.get_location())
|
||||
while True:
|
||||
|
||||
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
|
||||
# Check if the vehicle is moving
|
||||
if next_w.id != current_w.id:
|
||||
vector = vehicle.get_velocity()
|
||||
# Check if the vehicle is on a sidewalk
|
||||
if current_w.lane_type == carla.LaneType.Sidewalk:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
|
||||
else:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
|
||||
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
|
||||
draw_transform(debug, current_w.transform, white, 60)
|
||||
|
||||
# Update the current waypoint and sleep for some time
|
||||
current_w = next_w
|
||||
time.sleep(args.tick_time)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_line-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_line.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.TrafficLight.set_state
|
||||
</p>
|
||||
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe changes from red to green the traffic light that affects the vehicle.
|
||||
# This is done by detecting if the vehicle actor is at a traffic light.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...# ...
|
||||
if vehicle_actor.is_at_traffic_light():
|
||||
traffic_light = vehicle_actor.get_traffic_light()
|
||||
if traffic_light.get_state() == carla.TrafficLightState.Red:
|
||||
# world.hud.notification("Traffic light changed! Good to go!")
|
||||
traffic_light.set_state(carla.TrafficLightState.Green)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Client.apply_batch_sync
|
||||
|
|
@ -3564,6 +3357,158 @@ client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Map.get_waypoint
|
||||
</p>
|
||||
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows the current traffic rules affecting the vehicle.
|
||||
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
|
||||
|
||||
# ...
|
||||
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
|
||||
print("Current lane type: " + str(waypoint.lane_type))
|
||||
# Check current lane change allowed
|
||||
print("Current Lane change: " + str(waypoint.lane_change))
|
||||
# Left and Right lane markings
|
||||
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
|
||||
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
|
||||
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
|
||||
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_line-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.DebugHelper.draw_line
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_line-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe is a modification of lane_explorer.py example.
|
||||
# It draws the path of an actor through the world, printing information at each waypoint.
|
||||
|
||||
# ...
|
||||
current_w = map.get_waypoint(vehicle.get_location())
|
||||
while True:
|
||||
|
||||
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
|
||||
# Check if the vehicle is moving
|
||||
if next_w.id != current_w.id:
|
||||
vector = vehicle.get_velocity()
|
||||
# Check if the vehicle is on a sidewalk
|
||||
if current_w.lane_type == carla.LaneType.Sidewalk:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
|
||||
else:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
|
||||
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
|
||||
draw_transform(debug, current_w.transform, white, 60)
|
||||
|
||||
# Update the current waypoint and sleep for some time
|
||||
current_w = next_w
|
||||
time.sleep(args.tick_time)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_line-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_line.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.TrafficLight.set_state
|
||||
</p>
|
||||
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe changes from red to green the traffic light that affects the vehicle.
|
||||
# This is done by detecting if the vehicle actor is at a traffic light.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...# ...
|
||||
if vehicle_actor.is_at_traffic_light():
|
||||
traffic_light = vehicle_actor.get_traffic_light()
|
||||
if traffic_light.get_state() == carla.TrafficLightState.Red:
|
||||
# world.hud.notification("Traffic light changed! Good to go!")
|
||||
traffic_light.set_state(carla.TrafficLightState.Green)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Client.__init__
|
||||
|
|
@ -3609,6 +3554,91 @@ Snipet for carla.Client.__init__
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snipet for carla.World.get_spectator
|
||||
</p>
|
||||
<div id="carla.World.get_spectator-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe spawns an actor and the spectator camera at the actor's location.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snipet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -176,5 +176,25 @@ namespace client {
|
|||
_episode.Lock()->EnableEnvironmentObjects(env_objects_ids, enable);
|
||||
}
|
||||
|
||||
boost::optional<rpc::LabelledPoint> World::ProjectPoint(
|
||||
geom::Location location, geom::Vector3D direction, float search_distance) const {
|
||||
auto result = _episode.Lock()->ProjectPoint(location, direction, search_distance);
|
||||
if (result.first) {
|
||||
return result.second;
|
||||
}
|
||||
return {};
|
||||
}
|
||||
|
||||
boost::optional<rpc::LabelledPoint> World::GroundProjection(
|
||||
geom::Location location, float search_distance) const {
|
||||
const geom::Vector3D DownVector(0,0,-1);
|
||||
return ProjectPoint(location, DownVector, search_distance);
|
||||
}
|
||||
|
||||
std::vector<rpc::LabelledPoint> World::CastRay(
|
||||
geom::Location start_location, geom::Location end_location) const {
|
||||
return _episode.Lock()->CastRay(start_location, end_location);
|
||||
}
|
||||
|
||||
} // namespace client
|
||||
} // namespace carla
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@
|
|||
#include "carla/rpc/AttachmentType.h"
|
||||
#include "carla/rpc/EpisodeSettings.h"
|
||||
#include "carla/rpc/EnvironmentObject.h"
|
||||
#include "carla/rpc/LabelledPoint.h"
|
||||
#include "carla/rpc/VehiclePhysicsControl.h"
|
||||
#include "carla/rpc/WeatherParameters.h"
|
||||
#include "carla/rpc/VehicleLightStateList.h"
|
||||
|
|
@ -162,6 +163,15 @@ namespace client {
|
|||
std::vector<uint64_t> env_objects_ids,
|
||||
bool enable) const;
|
||||
|
||||
boost::optional<rpc::LabelledPoint> ProjectPoint(
|
||||
geom::Location location, geom::Vector3D direction, float search_distance = 10000.f) const;
|
||||
|
||||
boost::optional<rpc::LabelledPoint> GroundProjection(
|
||||
geom::Location location, float search_distance = 10000.0) const;
|
||||
|
||||
std::vector<rpc::LabelledPoint> CastRay(
|
||||
geom::Location start_location, geom::Location end_location) const;
|
||||
|
||||
private:
|
||||
|
||||
detail::EpisodeProxy _episode;
|
||||
|
|
|
|||
|
|
@ -461,6 +461,18 @@ namespace detail {
|
|||
_pimpl->AsyncCall("enable_environment_objects", std::move(env_objects_ids), enable);
|
||||
}
|
||||
|
||||
std::pair<bool,rpc::LabelledPoint> Client::ProjectPoint(
|
||||
geom::Location location, geom::Vector3D direction, float search_distance) const {
|
||||
using return_t = std::pair<bool,rpc::LabelledPoint>;
|
||||
return _pimpl->CallAndWait<return_t>("project_point", location, direction, search_distance);
|
||||
}
|
||||
|
||||
std::vector<rpc::LabelledPoint> Client::CastRay(
|
||||
geom::Location start_location, geom::Location end_location) const {
|
||||
using return_t = std::vector<rpc::LabelledPoint>;
|
||||
return _pimpl->CallAndWait<return_t>("cast_ray", start_location, end_location);
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
} // namespace client
|
||||
} // namespace carla
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#include "carla/NonCopyable.h"
|
||||
#include "carla/Time.h"
|
||||
#include "carla/geom/Transform.h"
|
||||
#include "carla/geom/Location.h"
|
||||
#include "carla/rpc/Actor.h"
|
||||
#include "carla/rpc/ActorDefinition.h"
|
||||
#include "carla/rpc/AttachmentType.h"
|
||||
|
|
@ -17,6 +18,7 @@
|
|||
#include "carla/rpc/CommandResponse.h"
|
||||
#include "carla/rpc/EpisodeInfo.h"
|
||||
#include "carla/rpc/EpisodeSettings.h"
|
||||
#include "carla/rpc/LabelledPoint.h"
|
||||
#include "carla/rpc/LightState.h"
|
||||
#include "carla/rpc/MapInfo.h"
|
||||
#include "carla/rpc/EnvironmentObject.h"
|
||||
|
|
@ -297,6 +299,12 @@ namespace detail {
|
|||
std::vector<uint64_t> env_objects_ids,
|
||||
bool enable) const;
|
||||
|
||||
std::pair<bool,rpc::LabelledPoint> ProjectPoint(
|
||||
geom::Location location, geom::Vector3D direction, float search_distance) const;
|
||||
|
||||
std::vector<rpc::LabelledPoint> CastRay(
|
||||
geom::Location start_location, geom::Location end_location) const;
|
||||
|
||||
private:
|
||||
|
||||
class Pimpl;
|
||||
|
|
|
|||
|
|
@ -23,6 +23,7 @@
|
|||
#include "carla/profiler/LifetimeProfiled.h"
|
||||
#include "carla/rpc/TrafficLightState.h"
|
||||
#include "carla/rpc/VehicleLightStateList.h"
|
||||
#include "carla/rpc/LabelledPoint.h"
|
||||
|
||||
#include <boost/optional.hpp>
|
||||
|
||||
|
|
@ -241,6 +242,16 @@ namespace detail {
|
|||
_client.EnableEnvironmentObjects(env_objects_ids, enable);
|
||||
}
|
||||
|
||||
std::pair<bool,rpc::LabelledPoint> ProjectPoint(
|
||||
geom::Location location, geom::Vector3D direction, float search_distance) const {
|
||||
return _client.ProjectPoint(location, direction, search_distance);
|
||||
}
|
||||
|
||||
std::vector<rpc::LabelledPoint> CastRay(
|
||||
geom::Location start_location, geom::Location end_location) const {
|
||||
return _client.CastRay(start_location, end_location);
|
||||
}
|
||||
|
||||
/// @}
|
||||
// =========================================================================
|
||||
/// @name AI
|
||||
|
|
|
|||
|
|
@ -0,0 +1,32 @@
|
|||
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "carla/MsgPack.h"
|
||||
#include "carla/rpc/Location.h"
|
||||
#include "carla/rpc/ObjectLabel.h"
|
||||
|
||||
namespace carla {
|
||||
namespace rpc {
|
||||
|
||||
struct LabelledPoint {
|
||||
|
||||
LabelledPoint () {}
|
||||
LabelledPoint (Location location, CityObjectLabel label)
|
||||
: _location(location), _label(label)
|
||||
{}
|
||||
|
||||
Location _location;
|
||||
|
||||
CityObjectLabel _label;
|
||||
|
||||
MSGPACK_DEFINE_ARRAY(_location, _label);
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -23,10 +23,10 @@ namespace rpc {
|
|||
RoadLines = 6u,
|
||||
Roads = 7u,
|
||||
Sidewalks = 8u,
|
||||
TrafficSigns = 12u,
|
||||
Vegetation = 9u,
|
||||
Vehicles = 10u,
|
||||
Walls = 11u,
|
||||
TrafficSigns = 12u,
|
||||
Sky = 13u,
|
||||
Ground = 14u,
|
||||
Bridge = 15u,
|
||||
|
|
|
|||
|
|
@ -201,6 +201,11 @@ void export_world() {
|
|||
.value("Terrain", cr::CityObjectLabel::Terrain)
|
||||
;
|
||||
|
||||
class_<cr::LabelledPoint>("LabelledPoint", no_init)
|
||||
.def_readonly("location", &cr::LabelledPoint::_location)
|
||||
.def_readonly("label", &cr::LabelledPoint::_label)
|
||||
;
|
||||
|
||||
#define SPAWN_ACTOR_WITHOUT_GIL(fn) +[]( \
|
||||
cc::World &self, \
|
||||
const cc::ActorBlueprint &blueprint, \
|
||||
|
|
@ -247,6 +252,9 @@ void export_world() {
|
|||
.def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
|
||||
.def("get_environment_objects", &GetEnvironmentObjects)
|
||||
.def("enable_environment_objects", &EnableEnvironmentObjects, (arg("env_objects_ids"), arg("enable")))
|
||||
.def("cast_ray", CALL_RETURNING_LIST_2(cc::World, CastRay, cg::Location, cg::Location), (arg("initial_location"), arg("final_location")))
|
||||
.def("project_point", CALL_RETURNING_OPTIONAL_3(cc::World, ProjectPoint, cg::Location, cg::Vector3D, float), (arg("location"), arg("direction"), arg("search_distance")=10000.f))
|
||||
.def("ground_projection", CALL_RETURNING_OPTIONAL_2(cc::World, GroundProjection, cg::Location, float), (arg("location"), arg("search_distance")=10000.f))
|
||||
.def(self_ns::str(self_ns::self))
|
||||
;
|
||||
|
||||
|
|
|
|||
|
|
@ -111,6 +111,16 @@ static boost::python::object OptionalToPythonObject(OptionalT &optional) {
|
|||
return OptionalToPythonObject(optional); \
|
||||
}
|
||||
|
||||
#define CALL_RETURNING_OPTIONAL_2(cls, fn, T1_, T2_) +[](const cls &self, T1_ t1, T2_ t2) { \
|
||||
auto optional = self.fn(std::forward<T1_>(t1), std::forward<T2_>(t2)); \
|
||||
return OptionalToPythonObject(optional); \
|
||||
}
|
||||
|
||||
#define CALL_RETURNING_OPTIONAL_3(cls, fn, T1_, T2_, T3_) +[](const cls &self, T1_ t1, T2_ t2, T3_ t3) { \
|
||||
auto optional = self.fn(std::forward<T1_>(t1), std::forward<T2_>(t2), std::forward<T3_>(t3)); \
|
||||
return OptionalToPythonObject(optional); \
|
||||
}
|
||||
|
||||
#define CALL_RETURNING_OPTIONAL_WITHOUT_GIL(cls, fn) +[](const cls &self) { \
|
||||
carla::PythonUtil::ReleaseGIL unlock; \
|
||||
auto optional = self.fn(); \
|
||||
|
|
|
|||
|
|
@ -186,6 +186,20 @@
|
|||
An attachment that expands or retracts the position of the actor, depending on its parent. This attachment is only recommended to record videos from the simulation where a smooth movement is needed. SpringArms are an Unreal Engine component so [check the UE docs](https://docs.unrealengine.com/en-US/Gameplay/HowTo/UsingCameras/SpringArmComponents/index.html) to learn more about them. <br><b style="color:red;">Warning:</b> The <b>SpringArm</b> attachment presents weird behaviors when an actor is spawned with a relative translation in the Z-axis (e.g. <code>child_location = Location(0,0,2)</code>).
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: LabelledPoint
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Class that represent a position in space with a semantic label.
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: location
|
||||
doc: >
|
||||
Position in 3D space.
|
||||
- var_name: label
|
||||
doc: >
|
||||
Semantic tag of the point.
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: World
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
|
|
@ -421,13 +435,59 @@
|
|||
New conditions to be applied.
|
||||
doc: >
|
||||
Changes the weather parameteres ruling the simulation to another ones defined in an object.
|
||||
# --------------------------------------
|
||||
# --------------------------------------
|
||||
- def_name: cast_ray
|
||||
return: list(carla.LabelledPoint)
|
||||
params:
|
||||
- param_name: initial_location
|
||||
type: carla.Location
|
||||
doc: >
|
||||
The initial position of the ray.
|
||||
- param_name: final_location
|
||||
type: carla.Location
|
||||
doc: >
|
||||
The final position of the ray.
|
||||
doc: >
|
||||
Casts a ray from the specified initial_location to final_location. The function then detects all geometries intersecting the ray and returns a list of carla.LabelledPoint in order.
|
||||
# --------------------------------------
|
||||
- def_name: project_point
|
||||
return: carla.LabelledPoint
|
||||
params:
|
||||
- param_name: location
|
||||
type: carla.Location
|
||||
doc: >
|
||||
The point to be projected.
|
||||
- param_name: direction
|
||||
type: carla.Vector3D
|
||||
doc: >
|
||||
The direction of projection.
|
||||
- param_name: search_distance
|
||||
type: float
|
||||
doc: >
|
||||
The maximum distance to perform the projection
|
||||
doc: >
|
||||
Projects the specified point to the desired direction in the scene. The functions casts a ray from location in a direction and returns a carla.Labelled object with the first geometry this ray intersects. If no geometry is found in the search_distance range the function returns `None`.
|
||||
# --------------------------------------
|
||||
- def_name: ground_projection
|
||||
return: carla.LabelledPoint
|
||||
params:
|
||||
- param_name: location
|
||||
type: carla.Location
|
||||
doc: >
|
||||
The point to be projected.
|
||||
- param_name: search_distance
|
||||
type: float
|
||||
doc: >
|
||||
The maximum distance to perform the projection
|
||||
doc: >
|
||||
Projects the specified point downwards in the scene. The functions casts a ray from location in the direction (0,0,-1) (downwards) and returns a carla.Labelled object with the first geometry this ray intersects (usually the ground). If no geometry is found in the search_distance range the function returns `None`.
|
||||
# --------------------------------------
|
||||
- def_name: __str__
|
||||
return:
|
||||
string
|
||||
doc: >
|
||||
The content of the world is parsed and printed as a brief report of its current state.
|
||||
# --------------------------------------
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: DebugHelper
|
||||
# - DESCRIPTION ------------------------
|
||||
|
|
|
|||
|
|
@ -97,13 +97,15 @@ InitialAverageFrameRate=0.016667
|
|||
PhysXTreeRebuildRate=10
|
||||
DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2)
|
||||
|
||||
[/Script/WindowsTargetPlatform.WindowsTargetSettings]
|
||||
DefaultGraphicsRHI=DefaultGraphicsRHI_DX12
|
||||
|
||||
[/Script/Engine.CollisionProfile]
|
||||
+Profiles=(Name="CustomSensorCollision",CollisionEnabled=QueryOnly,bCanModify=True,ObjectTypeName="SensorObject",CustomResponses=((Channel="WorldStatic",Response=ECR_Ignore),(Channel="WorldDynamic",Response=ECR_Ignore),(Channel="Pawn",Response=ECR_Ignore),(Channel="Visibility",Response=ECR_Ignore),(Channel="Camera",Response=ECR_Ignore),(Channel="PhysicsBody",Response=ECR_Ignore),(Channel="Vehicle",Response=ECR_Ignore),(Channel="Destructible",Response=ECR_Ignore),(Channel="SensorObject"),(Channel="SensorTrace")),HelpMessage="Used for custom collision meshes for objects that has very complex meshes but we want them to appear in raycast based sensors")
|
||||
+DefaultChannelResponses=(Channel=ECC_GameTraceChannel1,DefaultResponse=ECR_Ignore,bTraceType=False,bStaticObject=False,Name="SensorObject")
|
||||
+DefaultChannelResponses=(Channel=ECC_GameTraceChannel2,DefaultResponse=ECR_Ignore,bTraceType=True,bStaticObject=False,Name="SensorTrace")
|
||||
+DefaultChannelResponses=(Channel=ECC_GameTraceChannel3,DefaultResponse=ECR_Overlap,bTraceType=True,bStaticObject=False,Name="OverlapChannel")
|
||||
+EditProfiles=(Name="BlockAll",CustomResponses=((Channel="SensorObject"),(Channel="SensorTrace")))
|
||||
+EditProfiles=(Name="OverlapAll",CustomResponses=((Channel="SensorObject",Response=ECR_Overlap),(Channel="SensorTrace",Response=ECR_Overlap)))
|
||||
|
||||
[/Script/WindowsTargetPlatform.WindowsTargetSettings]
|
||||
DefaultGraphicsRHI=DefaultGraphicsRHI_DX12
|
||||
|
||||
|
|
|
|||
|
|
@ -10,9 +10,11 @@
|
|||
#include "Carla/OpenDrive/OpenDrive.h"
|
||||
#include "Carla/Util/DebugShapeDrawer.h"
|
||||
#include "Carla/Util/NavigationMesh.h"
|
||||
#include "Carla/Util/RayTracer.h"
|
||||
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
|
||||
#include "Carla/Walker/WalkerController.h"
|
||||
#include "GameFramework/CharacterMovementComponent.h"
|
||||
#include "Carla/Game/Tagger.h"
|
||||
|
||||
#include <compiler/disable-ue4-macros.h>
|
||||
#include <carla/Functional.h>
|
||||
|
|
@ -25,6 +27,7 @@
|
|||
#include <carla/rpc/DebugShape.h>
|
||||
#include <carla/rpc/EpisodeInfo.h>
|
||||
#include <carla/rpc/EpisodeSettings.h>
|
||||
#include "carla/rpc/LabelledPoint.h"
|
||||
#include <carla/rpc/LightState.h>
|
||||
#include <carla/rpc/MapInfo.h>
|
||||
#include <carla/rpc/EnvironmentObject.h>
|
||||
|
|
@ -46,6 +49,7 @@
|
|||
|
||||
#include <vector>
|
||||
#include <map>
|
||||
#include <tuple>
|
||||
|
||||
template <typename T>
|
||||
using R = carla::rpc::Response<T>;
|
||||
|
|
@ -1410,6 +1414,28 @@ void FCarlaServer::FPimpl::BindActions()
|
|||
};
|
||||
|
||||
|
||||
// ~~ Ray Casting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
BIND_SYNC(project_point) << [this]
|
||||
(cr::Location Location, cr::Vector3D Direction, float SearchDistance)
|
||||
-> R<std::pair<bool,cr::LabelledPoint>>
|
||||
{
|
||||
REQUIRE_CARLA_EPISODE();
|
||||
auto *World = Episode->GetWorld();
|
||||
constexpr float meter_to_centimeter = 100.0f;
|
||||
return URayTracer::ProjectPoint(Location, Direction.ToFVector(),
|
||||
meter_to_centimeter * SearchDistance, World);
|
||||
};
|
||||
|
||||
BIND_SYNC(cast_ray) << [this]
|
||||
(cr::Location StartLocation, cr::Location EndLocation)
|
||||
-> R<std::vector<cr::LabelledPoint>>
|
||||
{
|
||||
REQUIRE_CARLA_EPISODE();
|
||||
auto *World = Episode->GetWorld();
|
||||
return URayTracer::CastRay(StartLocation, EndLocation, World);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
|
|
|
|||
|
|
@ -0,0 +1,58 @@
|
|||
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#include "Carla.h"
|
||||
#include "Carla/Util/RayTracer.h"
|
||||
|
||||
#include "Carla/Game/CarlaStatics.h"
|
||||
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
std::vector<crp::LabelledPoint> URayTracer::CastRay(
|
||||
FVector StartLocation, FVector EndLocation, UWorld * World)
|
||||
{
|
||||
TArray<FHitResult> OutHits;
|
||||
World->LineTraceMultiByChannel(
|
||||
OutHits,
|
||||
StartLocation,
|
||||
EndLocation,
|
||||
ECC_GameTraceChannel3, // overlap channel
|
||||
FCollisionQueryParams(),
|
||||
FCollisionResponseParams()
|
||||
);
|
||||
std::vector<crp::LabelledPoint> result;
|
||||
for (auto& Hit : OutHits)
|
||||
{
|
||||
UPrimitiveComponent* Component = Hit.GetComponent();
|
||||
crp::CityObjectLabel ComponentTag =
|
||||
ATagger::GetTagOfTaggedComponent(*Component);
|
||||
result.emplace_back(crp::LabelledPoint(Hit.Location, ComponentTag));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
std::pair<bool, crp::LabelledPoint> URayTracer::ProjectPoint(
|
||||
FVector StartLocation, FVector Direction, float MaxDistance, UWorld * World)
|
||||
{
|
||||
FHitResult Hit;
|
||||
bool bDidHit = World->LineTraceSingleByChannel(
|
||||
Hit,
|
||||
StartLocation,
|
||||
StartLocation + Direction.GetSafeNormal() * MaxDistance,
|
||||
ECC_GameTraceChannel2, // camera
|
||||
FCollisionQueryParams(),
|
||||
FCollisionResponseParams()
|
||||
);
|
||||
if (bDidHit)
|
||||
{
|
||||
UPrimitiveComponent* Component = Hit.GetComponent();
|
||||
crp::CityObjectLabel ComponentTag =
|
||||
ATagger::GetTagOfTaggedComponent(*Component);
|
||||
return std::make_pair(bDidHit, crp::LabelledPoint(Hit.Location, ComponentTag));
|
||||
}
|
||||
return std::make_pair(bDidHit, crp::LabelledPoint(FVector(0.0f,0.0f,0.0f), crp::CityObjectLabel::None));
|
||||
}
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||
// de Barcelona (UAB).
|
||||
//
|
||||
// This work is licensed under the terms of the MIT license.
|
||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Kismet/BlueprintFunctionLibrary.h"
|
||||
|
||||
#include <compiler/disable-ue4-macros.h>
|
||||
#include "carla/rpc/ObjectLabel.h"
|
||||
#include "carla/rpc/LabelledPoint.h"
|
||||
#include <compiler/enable-ue4-macros.h>
|
||||
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
|
||||
#include "RayTracer.generated.h"
|
||||
|
||||
class AActor;
|
||||
|
||||
UCLASS()
|
||||
class CARLA_API URayTracer : public UBlueprintFunctionLibrary
|
||||
{
|
||||
GENERATED_BODY()
|
||||
|
||||
public:
|
||||
|
||||
static std::vector<carla::rpc::LabelledPoint> CastRay(
|
||||
FVector StartLocation, FVector EndLocation, UWorld * World);
|
||||
|
||||
static std::pair<bool, carla::rpc::LabelledPoint> ProjectPoint(
|
||||
FVector StartLocation, FVector Direction, float MaxDistance, UWorld * World);
|
||||
|
||||
};
|
||||
Loading…
Reference in New Issue