Merge pull request #285 from carla-simulator/ray-cast
Rename LiDAR ray-trace to Lidar ray-cast
This commit is contained in:
Néstor Subirón
GitHub
commit
16546ebdcf
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@ -50,7 +50,7 @@ SeedPedestrians=123456789
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; Uncomment next line to add a camera called MyCamera to the vehicle
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; Sensors=MyCamera
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; or uncomment next line to add a camera and a LiDAR
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; or uncomment next line to add a camera and a Lidar
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; Sensors=MyCamera,MyLidar
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; or uncomment next line to add a regular camera and a depth camera
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@ -60,7 +60,7 @@ SeedPedestrians=123456789
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[CARLA/Sensor/MyCamera]
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; Type of the sensor. The available types are:
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; * CAMERA A scene capture camera.
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; * LIDAR_RAY_TRACE A LiDAR implementation based on ray-tracing.
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; * LIDAR_RAY_CAST A Lidar implementation based on ray-casting.
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SensorType=CAMERA
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; Post-processing effect to be applied to this camera. Valid values:
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; * None No effects applied.
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@ -90,7 +90,7 @@ PostProcessing=Depth
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[CARLA/Sensor/MyLidar]
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SensorType=LIDAR_RAY_TRACE
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SensorType=LIDAR_RAY_CAST
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; Number of lasers.
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Channels=32
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; Measure distance in meters.
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@ -19,7 +19,7 @@ moment there are four different sensors available.
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* [Camera: Scene final](#camera-scene-final)
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* [Camera: Depth map](#camera-depth-map)
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* [Camera: Semantic segmentation](#camera-semantic-segmentation)
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* [Ray-trace based lidar](#ray-trace-based-lidar)
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* [Ray-cast based lidar](#ray-cast-based-lidar)
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!!! note
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The images are sent by the server as a BGRA array of bytes. The provided
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@ -219,12 +219,12 @@ RotationRoll=0
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RotationYaw=0
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```
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Ray-trace based Lidar
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---------------------
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Ray-cast based Lidar
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--------------------
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A rotating Lidar implemented with ray-tracing. The points are computed by adding
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A rotating Lidar implemented with ray-casting. The points are computed by adding
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a laser for each channel distributed in the vertical FOV, then the rotation is
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simulated computing the horizontal angle that the Lidar rotated this frame, and
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doing a ray-cast for each point that each laser was supposed to generate this
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@ -264,7 +264,7 @@ carla_settings.add_sensor(lidar)
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```ini
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[CARLA/Sensor/MyLidar]
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SensorType=LIDAR_RAY_TRACE
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SensorType=LIDAR_RAY_CAST
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Channels=32
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Range=50
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PointsPerSecond=100000
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@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
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name='carla_server.proto',
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package='carla_server',
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syntax='proto3',
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serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x81\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"4\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x13\n\x0fLIDAR_RAY_TRACE\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xb6\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
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serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xb6\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
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)
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@ -39,14 +39,14 @@ _SENSOR_TYPE = _descriptor.EnumDescriptor(
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options=None,
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type=None),
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_descriptor.EnumValueDescriptor(
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name='LIDAR_RAY_TRACE', index=2, number=2,
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name='LIDAR_RAY_CAST', index=2, number=2,
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options=None,
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type=None),
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],
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containing_type=None,
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options=None,
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serialized_start=364,
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serialized_end=416,
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serialized_end=415,
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)
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_sym_db.RegisterEnumDescriptor(_SENSOR_TYPE)
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@ -71,8 +71,8 @@ _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor(
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],
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containing_type=None,
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options=None,
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serialized_start=775,
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serialized_end=814,
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serialized_start=774,
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serialized_end=813,
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)
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_sym_db.RegisterEnumDescriptor(_TRAFFICLIGHT_STATE)
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@ -254,7 +254,7 @@ _SENSOR = _descriptor.Descriptor(
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oneofs=[
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],
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serialized_start=287,
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serialized_end=416,
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serialized_end=415,
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)
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@ -298,8 +298,8 @@ _VEHICLE = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=418,
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serialized_end=538,
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serialized_start=417,
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serialized_end=537,
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)
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@ -343,8 +343,8 @@ _PEDESTRIAN = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=540,
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serialized_end=663,
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serialized_start=539,
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serialized_end=662,
|
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)
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@ -382,8 +382,8 @@ _TRAFFICLIGHT = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=666,
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serialized_end=814,
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serialized_start=665,
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serialized_end=813,
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)
|
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@ -420,8 +420,8 @@ _SPEEDLIMITSIGN = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=816,
|
||||
serialized_end=897,
|
||||
serialized_start=815,
|
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serialized_end=896,
|
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)
|
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|
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|
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|
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@ -482,8 +482,8 @@ _AGENT = _descriptor.Descriptor(
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name='agent', full_name='carla_server.Agent.agent',
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index=0, containing_type=None, fields=[]),
|
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],
|
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serialized_start=900,
|
||||
serialized_end=1129,
|
||||
serialized_start=899,
|
||||
serialized_end=1128,
|
||||
)
|
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|
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|
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|
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@ -513,8 +513,8 @@ _REQUESTNEWEPISODE = _descriptor.Descriptor(
|
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extension_ranges=[],
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oneofs=[
|
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],
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serialized_start=1131,
|
||||
serialized_end=1168,
|
||||
serialized_start=1130,
|
||||
serialized_end=1167,
|
||||
)
|
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|
||||
|
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|
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@ -551,8 +551,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
|
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extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1170,
|
||||
serialized_end=1280,
|
||||
serialized_start=1169,
|
||||
serialized_end=1279,
|
||||
)
|
||||
|
||||
|
||||
|
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@ -582,8 +582,8 @@ _EPISODESTART = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1282,
|
||||
serialized_end=1329,
|
||||
serialized_start=1281,
|
||||
serialized_end=1328,
|
||||
)
|
||||
|
||||
|
||||
|
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@ -613,8 +613,8 @@ _EPISODEREADY = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1331,
|
||||
serialized_end=1360,
|
||||
serialized_start=1330,
|
||||
serialized_end=1359,
|
||||
)
|
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|
||||
|
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@ -672,8 +672,8 @@ _CONTROL = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
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],
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||||
serialized_start=1362,
|
||||
serialized_end=1456,
|
||||
serialized_start=1361,
|
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serialized_end=1455,
|
||||
)
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@ -766,8 +766,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
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extension_ranges=[],
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oneofs=[
|
||||
],
|
||||
serialized_start=1652,
|
||||
serialized_end=2025,
|
||||
serialized_start=1651,
|
||||
serialized_end=2024,
|
||||
)
|
||||
|
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_MEASUREMENTS = _descriptor.Descriptor(
|
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|
|
@ -817,8 +817,8 @@ _MEASUREMENTS = _descriptor.Descriptor(
|
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extension_ranges=[],
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oneofs=[
|
||||
],
|
||||
serialized_start=1459,
|
||||
serialized_end=2025,
|
||||
serialized_start=1458,
|
||||
serialized_end=2024,
|
||||
)
|
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_TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
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|
|
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|
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@ -220,7 +220,7 @@ def _make_sensor_parsers(sensors):
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sensor_def = SensorDefinition(s)
|
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if sensor_def.type == carla_protocol.Sensor.CAMERA:
|
||||
sensor_def.parse_raw_data = parse_image
|
||||
elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_TRACE:
|
||||
elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_CAST:
|
||||
sensor_def.parse_raw_data = parse_lidar
|
||||
else:
|
||||
logging.error('unknown sensor type %s', sensor_def.type)
|
||||
|
|
|
|||
|
|
@ -119,7 +119,7 @@ class Lidar(Sensor):
|
|||
"""
|
||||
|
||||
def __init__(self, name, **kwargs):
|
||||
super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE")
|
||||
super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_CAST")
|
||||
self.Channels = 32
|
||||
self.Range = 5000.0
|
||||
self.PointsPerSecond = 56000
|
||||
|
|
|
|||
|
|
@ -38,10 +38,10 @@ Roadmap
|
|||
We are continuously working on improving CARLA, and we appreciate contributions
|
||||
from the community. Our most immediate goals are:
|
||||
|
||||
- Releasing the methods evaluated in the CARLA paper
|
||||
- Adding a LiDAR sensor
|
||||
- Allowing for flexible and user-friendly import and editing of maps
|
||||
- Allowing the users to control non-player characters (and therefore set up user-specified scenarios)
|
||||
- [ ] Releasing the methods evaluated in the CARLA paper
|
||||
- [x] Adding a Lidar sensor
|
||||
- [ ] Allowing for flexible and user-friendly import and editing of maps
|
||||
- [ ] Allowing the users to control non-player characters (and therefore set up user-specified scenarios)
|
||||
|
||||
We will post a detailed roadmap and contribution guidelines soon - stay tuned!
|
||||
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@ private:
|
|||
/// Shoot a laser ray-trace, return whether the laser hit something.
|
||||
bool ShootLaser(uint32 Channel, float HorizontalAngle, FVector &Point) const;
|
||||
|
||||
UPROPERTY(Category = "LiDAR", VisibleAnywhere)
|
||||
UPROPERTY(Category = "Lidar", VisibleAnywhere)
|
||||
const ULidarDescription *Description;
|
||||
|
||||
TArray<float> LaserAngles;
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ void FSensorFactory::Visit(const ULidarDescription &Description)
|
|||
UE_LOG(
|
||||
LogCarla,
|
||||
Log,
|
||||
TEXT("Created LiDAR %d"),
|
||||
TEXT("Created Lidar %d"),
|
||||
Lidar->GetId());
|
||||
Sensor = Lidar;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ static TUniquePtr<const char[]> Encode(
|
|||
Data.type = [](const FString &Type) {
|
||||
#define CARLA_CHECK_TYPE(Str) if (Type == TEXT(#Str)) return CARLA_SERVER_ ## Str;
|
||||
CARLA_CHECK_TYPE(CAMERA)
|
||||
CARLA_CHECK_TYPE(LIDAR_RAY_TRACE)
|
||||
CARLA_CHECK_TYPE(LIDAR_RAY_CAST)
|
||||
else return CARLA_SERVER_SENSOR_UNKNOWN;
|
||||
#undef CARLA_CHECK_TYPE
|
||||
}(SensorDescription.Type);
|
||||
|
|
|
|||
|
|
@ -21,7 +21,6 @@
|
|||
#include "Engine/PostProcessVolume.h"
|
||||
#include "Materials/MaterialInstance.h"
|
||||
|
||||
|
||||
// INI file sections.
|
||||
#define S_CARLA_SERVER TEXT("CARLA/Server")
|
||||
#define S_CARLA_LEVELSETTINGS TEXT("CARLA/LevelSettings")
|
||||
|
|
@ -31,6 +30,7 @@
|
|||
// =============================================================================
|
||||
// -- Static variables & constants ---------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
const FName UCarlaSettings::CARLA_ROAD_TAG = FName("CARLA_ROAD");
|
||||
const FName UCarlaSettings::CARLA_SKY_TAG = FName("CARLA_SKY");
|
||||
|
||||
|
|
@ -90,7 +90,7 @@ static USensorDescription *MakeSensor(
|
|||
const auto SensorType = GetSensorType(ConfigFile, SensorName);
|
||||
if (SensorType == TEXT("CAMERA")) {
|
||||
return MakeSensor<UCameraDescription>(Parent, SensorName, SensorType);
|
||||
} else if (SensorType == TEXT("LIDAR_RAY_TRACE")) {
|
||||
} else if (SensorType == TEXT("LIDAR_RAY_CAST")) {
|
||||
return MakeSensor<ULidarDescription>(Parent, SensorName, SensorType);
|
||||
} else {
|
||||
UE_LOG(LogCarla, Error, TEXT("Invalid sensor type '%s'"), *SensorType);
|
||||
|
|
@ -125,8 +125,7 @@ static void LoadSettingsFromConfig(
|
|||
if(!Settings.SetQualitySettingsLevel(UQualitySettings::FromString(sQualityLevel)))
|
||||
{
|
||||
//error
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Sensors.
|
||||
FString Sensors;
|
||||
|
|
@ -190,7 +189,6 @@ bool UCarlaSettings::SetQualitySettingsLevel(EQualitySettingsLevel newQualityLev
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
void UCarlaSettings::LoadSettings()
|
||||
{
|
||||
CurrentFileName = TEXT("");
|
||||
|
|
@ -275,7 +273,7 @@ void UCarlaSettings::LogSettings() const
|
|||
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SENSOR);
|
||||
UE_LOG(LogCarla, Log, TEXT("Added %d sensors."), SensorDescriptions.Num());
|
||||
UE_LOG(LogCarla, Log, TEXT("Semantic Segmentation = %s"), EnabledDisabled(bSemanticSegmentationEnabled));
|
||||
for (auto &&Sensor : SensorDescriptions)
|
||||
for (auto &&Sensor : SensorDescriptions)
|
||||
{
|
||||
check(Sensor.Value != nullptr);
|
||||
Sensor.Value->Log();
|
||||
|
|
|
|||
|
|
@ -76,7 +76,7 @@ extern "C" {
|
|||
|
||||
#define CARLA_SERVER_SENSOR_UNKNOWN 0u
|
||||
#define CARLA_SERVER_CAMERA 101u
|
||||
#define CARLA_SERVER_LIDAR_RAY_TRACE 102u
|
||||
#define CARLA_SERVER_LIDAR_RAY_CAST 102u
|
||||
|
||||
struct carla_sensor_definition {
|
||||
/** Id of the sensor. */
|
||||
|
|
|
|||
|
|
@ -61,7 +61,7 @@ namespace server {
|
|||
lhs->set_type([&](){
|
||||
switch (rhs.type) {
|
||||
case CARLA_SERVER_CAMERA: return cs::Sensor::CAMERA;
|
||||
case CARLA_SERVER_LIDAR_RAY_TRACE: return cs::Sensor::LIDAR_RAY_TRACE;
|
||||
case CARLA_SERVER_LIDAR_RAY_CAST: return cs::Sensor::LIDAR_RAY_CAST;
|
||||
default: return cs::Sensor::UNKNOWN;
|
||||
}
|
||||
}());
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@ message Sensor {
|
|||
enum Type {
|
||||
UNKNOWN = 0;
|
||||
CAMERA = 1;
|
||||
LIDAR_RAY_TRACE = 2;
|
||||
LIDAR_RAY_CAST = 2;
|
||||
}
|
||||
|
||||
fixed32 id = 1;
|
||||
|
|
|
|||
Loading…
Reference in New Issue