Improvements to the dust_storm weather parameter. (#5388)

* Switched DustStorm parameter from bool to float.

* Automatically detect clang version.

* Revert "Automatically detect clang version."

This reverts commit 4ac1c95c26.

* Update environment.py weather presets.

* Expose dust_storm console command in environment.py + documentation.

* Fix minor DustStorm preset error.

* Update CHANGELOG.md

CHANGELOG.md

@@ -19,6 +19,7 @@
   * Added new API function: `set_day_night_cycle` at the LightManager, to (de)activate the automatic switch of the lights when the simulation changes from day to night mode, and viceversa.
   * Switch to boost::variant2 for rpc::Command as that allows more than 20 RPC commands
   * Added post process effects for rainy and dusty weathers.
+  * Switched data type of the dust storm weather parameter from bool to float.
   * Check for the version of the installed Clang compiler during build.
 
 ## CARLA 0.9.13

Docs/python_api.md

@@ -3138,7 +3138,7 @@ Rain intensity values range from 0 to 100, being 0 none at all and 100 a heavy r
 - <a name="carla.WeatherParameters.precipitation_deposits"></a>**<font color="#f8805a">precipitation_deposits</font>** (_float_)  
 Determines the creation of puddles. Values range from 0 to 100, being 0 none at all and 100 a road completely capped with water. Puddles are created with static noise, meaning that they will always appear at the same locations.  
 - <a name="carla.WeatherParameters.wind_intensity"></a>**<font color="#f8805a">wind_intensity</font>** (_float_)  
-Controls the strenght of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues.  
+Controls the strength of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues.  
 - <a name="carla.WeatherParameters.sun_azimuth_angle"></a>**<font color="#f8805a">sun_azimuth_angle</font>** (_float<small> - degrees</small>_)  
 The azimuth angle of the sun. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine.  
 - <a name="carla.WeatherParameters.sun_altitude_angle"></a>**<font color="#f8805a">sun_altitude_angle</font>** (_float<small> - degrees</small>_)  
@@ -3157,6 +3157,8 @@ Controls how much the light will contribute to volumetric fog. When set to 0, th
 Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution.  
 - <a name="carla.WeatherParameters.rayleigh_scattering_scale"></a>**<font color="#f8805a">rayleigh_scattering_scale</font>** (_float_)  
 Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening.  
+- <a name="carla.WeatherParameters.dust_storm"></a>**<font color="#f8805a">dust_storm</font>** (_float_)  
+Determines the strength of the dust storm weather. Values range from 0 to 100.
 
 ### Methods
 - <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>, <font color="#00a6ed">**fog_density**=0.0</font>, <font color="#00a6ed">**fog_distance**=0.0</font>, <font color="#00a6ed">**wetness**=0.0</font>, <font color="#00a6ed">**fog_falloff**=0.0</font>, <font color="#00a6ed">**scattering_intensity**=0.0</font>, <font color="#00a6ed">**mie_scattering_scale**=0.0</font>, <font color="#00a6ed">**rayleigh_scattering_scale**=0.0331</font>)  
@@ -3175,7 +3177,8 @@ Method to initialize an object defining weather conditions. This class has some
         - `scattering_intensity` (_float_) - Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution.  
         - `mie_scattering_scale` (_float_) - Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution.  
         - `rayleigh_scattering_scale` (_float_) - Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening.  
-    - **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. 
+        - `dust_storm` (_float_) - 0 is no dust at all, 100 a heavy dust/sand storm.
+    - **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset, DustStorm. 
 _</font>  
 
 ##### Dunder methods

LibCarla/source/carla/rpc/WeatherParameters.cpp

@@ -12,29 +12,29 @@ namespace rpc {
   using WP = WeatherParameters;
 
 //                        cloudiness   precip.  prec.dep.     wind   azimuth   altitude  fog dens  fog dist  fog fall  wetness  scat.i  mie.scat.s rayleigh.scat.scale  dust storm
-  WP WP::Default         = {    -1.0f,   -1.0f,    -1.0f,   -1.00f,    -1.0f,     -1.0f,    -1.0f,     -1.0f,    -1.0f,   -1.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::Default         = {    -1.0f,   -1.0f,    -1.0f,   -1.00f,    -1.0f,     -1.0f,    -1.0f,     -1.0f,    -1.0f,   -1.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::ClearNoon       = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     45.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::ClearNoon       = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     45.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::CloudyNoon      = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::CloudyNoon      = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetNoon         = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetNoon         = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetCloudyNoon   = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetCloudyNoon   = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::MidRainyNoon    = {    60.0f,   60.0f,    60.0f,    60.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::MidRainyNoon    = {    60.0f,   60.0f,    60.0f,    60.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::HardRainNoon    = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,     45.0f,     7.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::HardRainNoon    = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,     45.0f,     7.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::SoftRainNoon    = {    20.0f,   30.0f,    50.0f,    30.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::SoftRainNoon    = {    20.0f,   30.0f,    50.0f,    30.0f,    -1.0f,     45.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::ClearSunset     = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::ClearSunset     = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::CloudySunset    = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     15.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::CloudySunset    = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,     15.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetSunset       = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetSunset       = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetCloudySunset = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetCloudySunset = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::MidRainSunset   = {    60.0f,   60.0f,    60.0f,    60.0f,    -1.0f,     15.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::MidRainSunset   = {    60.0f,   60.0f,    60.0f,    60.0f,    -1.0f,     15.0f,     3.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::HardRainSunset  = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,     15.0f,     7.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::HardRainSunset  = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,     15.0f,     7.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::SoftRainSunset  = {    20.0f,   30.0f,    50.0f,    30.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::SoftRainSunset  = {    20.0f,   30.0f,    50.0f,    30.0f,    -1.0f,     15.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::ClearNight      = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     75.0f,     1.0f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::ClearNight      = {     5.0f,    0.0f,     0.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     75.0f,     1.0f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::CloudyNight     = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::CloudyNight     = {    60.0f,    0.0f,     0.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetNight        = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     75.0f,     1.0f,   60.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetNight        = {     5.0f,    0.0f,    50.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     75.0f,     1.0f,   60.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::WetCloudyNight  = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   60.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::WetCloudyNight  = {    60.0f,    0.0f,    50.0f,    10.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   60.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::SoftRainNight   = {    60.0f,   30.0f,    50.0f,    30.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   60.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::SoftRainNight   = {    60.0f,   30.0f,    50.0f,    30.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   60.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::MidRainyNight   = {    80.0f,   60.0f,    60.0f,    60.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   80.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::MidRainyNight   = {    80.0f,   60.0f,    60.0f,    60.0f,    -1.0f,    -90.0f,    60.0f,     0.75f,     0.1f,   80.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::HardRainNight   = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,    -90.0f,   100.0f,     0.75f,     0.1f,  100.0f,   1.0f,   0.03f,   0.0331f,            false };
+  WP WP::HardRainNight   = {   100.0f,  100.0f,    90.0f,    100.0f,   -1.0f,    -90.0f,   100.0f,     0.75f,     0.1f,  100.0f,   1.0f,   0.03f,   0.0331f,            0.0f };
-  WP WP::DustStorm       = {   100.0f,     0.0f,    0.0f,    100.0f,   -1.0f,     45.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            true  };
+  WP WP::DustStorm       = {   100.0f,     0.0f,    0.0f,    100.0f,   -1.0f,     45.0f,     2.0f,     0.75f,     0.1f,    0.0f,   1.0f,   0.03f,   0.0331f,            100.0f  };
 
 } // namespace rpc
 } // namespace carla

LibCarla/source/carla/rpc/WeatherParameters.h

@@ -63,7 +63,7 @@ namespace rpc {
         float in_scattering_intensity,
         float in_mie_scattering_scale,
         float in_rayleigh_scattering_scale,
-        bool in_dust_storm)
+        float in_dust_storm)
       : cloudiness(in_cloudiness),
         precipitation(in_precipitation),
         precipitation_deposits(in_precipitation_deposits),
@@ -92,7 +92,7 @@ namespace rpc {
     float scattering_intensity = 0.0f;
     float mie_scattering_scale = 0.0f;
     float rayleigh_scattering_scale = 0.0331f;
-    bool dust_storm = false;
+    float dust_storm = 0.0f;
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 

PythonAPI/carla/source/libcarla/Weather.cpp

@@ -38,7 +38,7 @@ void export_weather() {
   namespace cr = carla::rpc;
 
   auto cls = class_<cr::WeatherParameters>("WeatherParameters")
-    .def(init<float, float, float, float, float, float, float, float, float, float, float, float, float, bool>(
+    .def(init<float, float, float, float, float, float, float, float, float, float, float, float, float, float>(
         (arg("cloudiness")=0.0f,
          arg("precipitation")=0.0f,
          arg("precipitation_deposits")=0.0f,
@@ -52,7 +52,7 @@ void export_weather() {
          arg("scattering_intensity")=0.0f,
          arg("mie_scattering_scale")=0.0f,
          arg("rayleigh_scattering_scale")=0.0331f,
-         arg("dust_storm")=false)))
+         arg("dust_storm")=0.0f)))
     .def_readwrite("cloudiness", &cr::WeatherParameters::cloudiness)
     .def_readwrite("precipitation", &cr::WeatherParameters::precipitation)
     .def_readwrite("precipitation_deposits", &cr::WeatherParameters::precipitation_deposits)

PythonAPI/docs/weather.yml

@@ -77,6 +77,11 @@
       type: float
       doc: >
           Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening.
+    # --------------------------------------
+    - var_name: dust_storm
+      type: float
+      doc: >
+          Determines the strength of the dust storm weather. Values range from 0 to 100.
     # - METHODS ----------------------------
     methods:
     - def_name: __init__

PythonAPI/util/environment.py

@@ -25,9 +25,9 @@ SUN_PRESETS = {
     'sunset': (0.5, 0.0)}
 
 WEATHER_PRESETS = {
-    'clear': [10.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0331],
+    'clear': [10.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0331, 0.0],
-    'overcast': [80.0, 0.0, 0.0, 50.0, 2.0, 0.75, 0.1, 10.0, 0.0, 0.03, 0.0331],
+    'overcast': [80.0, 0.0, 0.0, 50.0, 2.0, 0.75, 0.1, 10.0, 0.0, 0.03, 0.0331, 0.0],
-    'rain': [100.0, 80.0, 90.0, 100.0, 7.0, 0.75, 0.1, 100.0, 0.0, 0.03, 0.0331]}
+    'rain': [100.0, 80.0, 90.0, 100.0, 7.0, 0.75, 0.1, 100.0, 0.0, 0.03, 0.0331, 0.0]}
 
 CAR_LIGHTS = {
     'None' : [carla.VehicleLightState.NONE],
@@ -77,6 +77,7 @@ def apply_weather_presets(args, weather):
             weather.scattering_intensity = WEATHER_PRESETS[args.weather][8]
             weather.mie_scattering_scale = WEATHER_PRESETS[args.weather][9]
             weather.rayleigh_scattering_scale = WEATHER_PRESETS[args.weather][10]
+            weather.dust_storm = WEATHER_PRESETS[args.weather][11]
         else:
             print("[ERROR]: Command [--weather | -w] '" + args.weather + "' not known")
             sys.exit(1)
@@ -110,6 +111,8 @@ def apply_weather_values(args, weather):
         weather.mie_scattering_scale = args.miescatteringscale
     if args.rayleighscatteringscale is not None:
         weather.rayleigh_scattering_scale = args.rayleighscatteringscale
+    if args.dust_storm is not None:
+        weather.dust_storm = args.dust_storm
 
 
 def apply_lights_to_cars(args, world):
@@ -261,6 +264,12 @@ def main():
         default=None,
         type=float,
         help='Mie scattering scale [0.0, 5.0]')
+    argparser.add_argument(
+        '--dust_storm', '-ds',
+        metavar='ds',
+        default=None,
+        type=float,
+        help='Dust storm strength [0.0, 100.0]')
     argparser.add_argument(
         '--cars',
         metavar='Cars',

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Weather/WeatherParameters.h

@@ -52,6 +52,6 @@ struct CARLA_API FWeatherParameters
   UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(ClampMin = "0.0", ClampMax = "2.0", UIMin = "0.0", UIMax = "2.0"))
   float RayleighScatteringScale = 0.0331f;
 
-  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(ClampMin = "0.0", ClampMax = "100.0", UIMin = "0.0", UIMax = "100.0"))
-  bool DustStorm = false;
+  float DustStorm = 0.0f;
 };