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Merge pull request #273 from carla-simulator/issue#132 

Convert measurements to SI units
This commit is contained in:
Néstor Subirón 2018-03-14 11:31:42 +01:00 committed by GitHub
parent 9ed945db9e 86c95c6df3
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27 changed files with 118 additions and 95 deletions
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12
Docs/Example.CarlaSettings.ini
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@ -70,10 +70,10 @@ ImageSizeX=800
ImageSizeY=600 ImageSizeY=600
; Camera (horizontal) field of view in degrees. ; Camera (horizontal) field of view in degrees.
FOV=90 FOV=90
; Position of the camera relative to the car in centimeters. ; Position of the camera relative to the car in meters.
PositionX=15 PositionX=0.20
PositionY=0 PositionY=0
PositionZ=123 PositionZ=1.30
; Rotation of the camera relative to the car in degrees. ; Rotation of the camera relative to the car in degrees.
RotationPitch=8 RotationPitch=8
RotationRoll=0 RotationRoll=0
@ -89,8 +89,8 @@ PostProcessing=Depth
SensorType=LIDAR_RAY_TRACE SensorType=LIDAR_RAY_TRACE
; Number of lasers. ; Number of lasers.
Channels=32 Channels=32
; Measure distance in centimeters. ; Measure distance in meters.
Range=5000 Range=50.0
; Points generated by all lasers per second. ; Points generated by all lasers per second.
PointsPerSecond=100000 PointsPerSecond=100000
; Lidar rotation frequency. ; Lidar rotation frequency.
@ -101,7 +101,7 @@ LowerFOVLimit=-30
; Position and rotation relative to the vehicle. ; Position and rotation relative to the vehicle.
PositionX=0 PositionX=0
PositionY=0 PositionY=0
PositionZ=140 PositionZ=1.40
RotationPitch=0 RotationPitch=0
RotationYaw=0 RotationYaw=0
RotationRoll=0 RotationRoll=0

40
Docs/cameras_and_sensors.md
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@ -1,6 +1,10 @@
Cameras and sensors Cameras and sensors
=================== ===================
!!! important
Since version 0.8.0 the positions of the sensors are specified in meters
instead of centimeters. Always relative to the vehicle.
Cameras and sensors can be added to the player vehicle by defining them in the Cameras and sensors can be added to the player vehicle by defining them in the
settings sent by the client on every new episode. This can be done either by settings sent by the client on every new episode. This can be done either by
filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink]) filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink])
@ -39,7 +43,7 @@ using the functions at `carla.image_converter` Python module.
Camera: Scene final Camera: Scene final
------------------- -------------------
![SceneFinal](img/capture_scenefinal.png)<br> ![SceneFinal](img/capture_scenefinal.png)
The "scene final" camera provides a view of the scene after applying some The "scene final" camera provides a view of the scene after applying some
post-processing effects to create a more realistic feel. These are actually post-processing effects to create a more realistic feel. These are actually
@ -61,7 +65,7 @@ in the Camera. We use the following post process effects:
camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal') camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
camera.set(FOV=90.0) camera.set(FOV=90.0)
camera.set_image_size(800, 600) camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130) camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0) camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
@ -76,9 +80,9 @@ PostProcessing=SceneFinal
ImageSizeX=800 ImageSizeX=800
ImageSizeY=600 ImageSizeY=600
FOV=90 FOV=90
PositionX=30 PositionX=0.30
PositionY=0 PositionY=0
PositionZ=130 PositionZ=1.30
RotationPitch=0 RotationPitch=0
RotationRoll=0 RotationRoll=0
RotationYaw=0 RotationYaw=0
@ -122,7 +126,7 @@ seen in "PythonClient/point_cloud_example.py".
camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth') camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
camera.set(FOV=90.0) camera.set(FOV=90.0)
camera.set_image_size(800, 600) camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130) camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0) camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
@ -137,9 +141,9 @@ PostProcessing=Depth
ImageSizeX=800 ImageSizeX=800
ImageSizeY=600 ImageSizeY=600
FOV=90 FOV=90
PositionX=30 PositionX=0.30
PositionY=0 PositionY=0
PositionZ=130 PositionZ=1.30
RotationPitch=0 RotationPitch=0
RotationRoll=0 RotationRoll=0
RotationYaw=0 RotationYaw=0
@ -192,7 +196,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation') camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
camera.set(FOV=90.0) camera.set(FOV=90.0)
camera.set_image_size(800, 600) camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130) camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0) camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera) carla_settings.add_sensor(camera)
@ -207,9 +211,9 @@ PostProcessing=SemanticSegmentation
ImageSizeX=800 ImageSizeX=800
ImageSizeY=600 ImageSizeY=600
FOV=90 FOV=90
PositionX=30 PositionX=0.30
PositionY=0 PositionY=0
PositionZ=130 PositionZ=1.30
RotationPitch=0 RotationPitch=0
RotationRoll=0 RotationRoll=0
RotationYaw=0 RotationYaw=0
@ -234,10 +238,10 @@ The received `LidarMeasurement` object contains the following information
Key | Type | Description Key | Type | Description
-------------------------- | ---------- | ------------ -------------------------- | ---------- | ------------
horizontal_angle | float | Angle in XY plane of the lidar this frame horizontal_angle | float | Angle in XY plane of the lidar this frame (in degrees).
channels | uint32 | Number of channels (lasers) of the lidar channels | uint32 | Number of channels (lasers) of the lidar.
point_count_by_channel | uint32 | Number of points per channel captured this frame point_count_by_channel | uint32 | Number of points per channel captured this frame.
point_cloud | PointCloud | Captured points this frame point_cloud | PointCloud | Captured points this frame.
###### Python ###### Python
@ -245,12 +249,12 @@ point_cloud | PointCloud | Captured points this frame
lidar = carla.sensor.Lidar('MyLidar') lidar = carla.sensor.Lidar('MyLidar')
lidar.set( lidar.set(
Channels=32, Channels=32,
Range=5000, Range=50,
PointsPerSecond=100000, PointsPerSecond=100000,
RotationFrequency=10, RotationFrequency=10,
UpperFovLimit=10, UpperFovLimit=10,
LowerFovLimit=-30) LowerFovLimit=-30)
lidar.set_position(x=0, y=0, z=140) lidar.set_position(x=0, y=0, z=1.40)
lidar.set_rotation(pitch=0, yaw=0, roll=0) lidar.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(lidar) carla_settings.add_sensor(lidar)
@ -262,14 +266,14 @@ carla_settings.add_sensor(lidar)
[CARLA/Sensor/MyLidar] [CARLA/Sensor/MyLidar]
SensorType=LIDAR_RAY_TRACE SensorType=LIDAR_RAY_TRACE
Channels=32 Channels=32
Range=5000 Range=50
PointsPerSecond=100000 PointsPerSecond=100000
RotationFrequency=10 RotationFrequency=10
UpperFOVLimit=10 UpperFOVLimit=10
LowerFOVLimit=-30 LowerFOVLimit=-30
PositionX=0 PositionX=0
PositionY=0 PositionY=0
PositionZ=140 PositionZ=1.40
RotationPitch=0 RotationPitch=0
RotationYaw=0 RotationYaw=0
RotationRoll=0 RotationRoll=0

0
Docs/img/Road_Instructions_Example.png → Docs/img/road_instructions_example.png
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2
Docs/map_customization.md
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@ -22,7 +22,7 @@
- You can change the seed until you have a map you are satisfied with. - You can change the seed until you have a map you are satisfied with.
- After that you can place new PlayerStarts at the places you want the cars to be spawned. - After that you can place new PlayerStarts at the places you want the cars to be spawned.
- The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: - The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections:
![Road_Instructions_Example.png](img/Road_Instructions_Example.png) ![road_instructions_example.png](img/road_instructions_example.png)
> (This is a debug view of the instructions the road gives to the Vehicle. They will always follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) > (This is a debug view of the instructions the road gives to the Vehicle. They will always follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road)
- To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the direction the vehicle will take overwriting the directions given by the road map (until they finish their given order). - To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the direction the vehicle will take overwriting the directions given by the road map (until they finish their given order).

47
Docs/measurements.md
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@ -1,6 +1,11 @@
Measurements Measurements
============ ============
!!! important
Since version 0.8.0 the measurements received by the client are in SI
units. All locations have been converted to `meters` and speeds to
`meters/second`.
Every frame the server sends a package with the measurements and images gathered Every frame the server sends a package with the measurements and images gathered
to the client. This document describes the details of these measurements. to the client. This document describes the details of these measurements.
@ -10,10 +15,10 @@ Time-stamps
Since CARLA can be run at fixed-frame rate, we keep track of two different Since CARLA can be run at fixed-frame rate, we keep track of two different
time-stamps. time-stamps.
Key | Type | Description Key | Type | Units | Description
-------------------------- | --------- | ------------ -------------------------- | --------- | ------------ | ------------
platform_timestamp | uint32 | Time-stamp of the current frame, in milliseconds as given by the OS. platform_timestamp | uint32 | milliseconds | Time-stamp of the current frame, as given by the OS.
game_timestamp | uint32 | In-game time-stamp, milliseconds elapsed since the beginning of the current level. game_timestamp | uint32 | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
In real-time mode, the elapsed time between two time steps should be similar In real-time mode, the elapsed time between two time steps should be similar
both platform and game time-stamps. When run in fixed-time step, the game both platform and game time-stamps. When run in fixed-time step, the game
@ -23,27 +28,27 @@ time-stamp keeps the actual time elapsed.
Player measurements Player measurements
------------------- -------------------
Key | Type | Description Key | Type | Units | Description
-------------------------- | --------- | ------------ -------------------------- | --------- | ------ | ------------
transform | Transform | World transform of the player. transform | Transform | | World transform of the player (contains a locations and a rotation).
acceleration | Vector3D | Current acceleration of the player. acceleration | Vector3D | m/s^2 | Current acceleration of the player.
forward_speed | float | Forward speed in km/h. forward_speed | float | m/s | Forward speed of the player.
collision_vehicles | float | Collision intensity with other vehicles. collision_vehicles | float | kg*m/s | Collision intensity with other vehicles.
collision_pedestrians | float | Collision intensity with pedestrians. collision_pedestrians | float | kg*m/s | Collision intensity with pedestrians.
collision_other | float | General collision intensity (everything else but pedestrians and vehicles). collision_other | float | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
intersection_otherlane | float | Percentage of the car invading other lanes. intersection_otherlane | float | | Percentage of the car invading other lanes.
intersection_offroad | float | Percentage of the car off-road. intersection_offroad | float | | Percentage of the car off-road.
autopilot_control | Control | Vehicle's autopilot control that would apply this frame. autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
###### Transform ###### Transform
The transform contains the location and rotation of the player. The transform contains the location and rotation of the player.
Key | Type | Description Key | Type | Units | Description
-------------------------- | ---------- | ------------ -------------------------- | ---------- | ------- | ------------
location | Vector3D | World location. location | Vector3D | m | World location.
orientation *[deprecated]* | Vector3D | Orientation in Cartesian coordinates. orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
rotation | Rotation3D | Pitch, roll, and yaw. rotation | Rotation3D | degrees | Pitch, roll, and yaw.
###### Collision ###### Collision
@ -100,6 +105,8 @@ carla_client.send_control(control)
has a maximum steering angle of 70 degrees (this can be checked in the vehicle's has a maximum steering angle of 70 degrees (this can be checked in the vehicle's
front wheel blueprint). front wheel blueprint).
![Mustan Steering Angle](img/steering_angle_mustang.png)
Non-player agents info Non-player agents info
---------------------- ----------------------

4
PythonClient/carla/benchmarks/benchmark.py
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@ -119,8 +119,8 @@ class Benchmark(object):
image.save_to_disk(self._image_filename_format.format( image.save_to_disk(self._image_filename_format.format(
episode_name, name, frame)) episode_name, name, frame))
curr_x = measurements.player_measurements.transform.location.x curr_x = 1e2 * measurements.player_measurements.transform.location.x
curr_y = measurements.player_measurements.transform.location.y curr_y = 1e2 * measurements.player_measurements.transform.location.y
measurement_vec.append(measurements.player_measurements) measurement_vec.append(measurements.player_measurements)

2
PythonClient/carla/benchmarks/corl_2017.py
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@ -142,7 +142,7 @@ class CoRL2017(Benchmark):
camera.set_image_size(800, 600) camera.set_image_size(800, 600)
camera.set_position(200, 0, 140) camera.set_position(2.0, 0.0, 1.4)
camera.set_rotation(-15.0, 0, 0) camera.set_rotation(-15.0, 0, 0)
weathers = [1, 3, 6, 8, 4, 14] weathers = [1, 3, 6, 8, 4, 14]

2
PythonClient/carla/image_converter.py
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@ -114,7 +114,7 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
RGB color of an array. RGB color of an array.
"max_depth" is used to omit the points that are far enough. "max_depth" is used to omit the points that are far enough.
""" """
far = 100000.0 # max depth in centimeters far = 1000.0 # max depth in meters.
normalized_depth = depth_to_array(image) normalized_depth = depth_to_array(image)
# (Intrinsic) K Matrix # (Intrinsic) K Matrix

1
PythonClient/carla/planner/converter.py
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@ -137,6 +137,7 @@ class Converter(object):
""" """
rotation = np.array([world[0], world[1], world[2]]) rotation = np.array([world[0], world[1], world[2]])
rotation *= 1e2 # meters to centimeters.
rotation = rotation.dot(self._worldrotation) rotation = rotation.dot(self._worldrotation)
relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0], relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0],

4
PythonClient/carla/sensor.py
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@ -49,9 +49,9 @@ class Sensor(object):
def __init__(self, name, sensor_type): def __init__(self, name, sensor_type):
self.SensorName = name self.SensorName = name
self.SensorType = sensor_type self.SensorType = sensor_type
self.PositionX = 140.0 self.PositionX = 0.2
self.PositionY = 0.0 self.PositionY = 0.0
self.PositionZ = 140.0 self.PositionZ = 1.3
self.RotationPitch = 0.0 self.RotationPitch = 0.0
self.RotationRoll = 0.0 self.RotationRoll = 0.0
self.RotationYaw = 0.0 self.RotationYaw = 0.0

16
PythonClient/client_example.py
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@ -60,19 +60,19 @@ def run_carla_client(args):
camera0 = Camera('CameraRGB') camera0 = Camera('CameraRGB')
# Set image resolution in pixels. # Set image resolution in pixels.
camera0.set_image_size(800, 600) camera0.set_image_size(800, 600)
# Set its position relative to the car in centimeters. # Set its position relative to the car in meters.
camera0.set_position(30, 0, 130) camera0.set_position(0.30, 0, 1.30)
settings.add_sensor(camera0) settings.add_sensor(camera0)
# Let's add another camera producing ground-truth depth. # Let's add another camera producing ground-truth depth.
camera1 = Camera('CameraDepth', PostProcessing='Depth') camera1 = Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(800, 600) camera1.set_image_size(800, 600)
camera1.set_position(30, 0, 130) camera1.set_position(0.30, 0, 1.30)
settings.add_sensor(camera1) settings.add_sensor(camera1)
if args.lidar: if args.lidar:
lidar = Lidar('Lidar32') lidar = Lidar('Lidar32')
lidar.set_position(0, 0, 250) lidar.set_position(0, 0, 2.50)
lidar.set_rotation(0, 0, 0) lidar.set_rotation(0, 0, 0)
lidar.set( lidar.set(
Channels=32, Channels=32,
@ -158,14 +158,14 @@ def print_measurements(measurements):
number_of_agents = len(measurements.non_player_agents) number_of_agents = len(measurements.non_player_agents)
player_measurements = measurements.player_measurements player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), ' message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += '{speed:.2f} km/h, ' message += '{speed:.0f} km/h, '
message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, ' message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, ' message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
message += '({agents_num:d} non-player agents in the scene)' message += '({agents_num:d} non-player agents in the scene)'
message = message.format( message = message.format(
pos_x=player_measurements.transform.location.x / 100, # cm -> m pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y / 100, pos_y=player_measurements.transform.location.y,
speed=player_measurements.forward_speed, speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
col_cars=player_measurements.collision_vehicles, col_cars=player_measurements.collision_vehicles,
col_ped=player_measurements.collision_pedestrians, col_ped=player_measurements.collision_pedestrians,
col_other=player_measurements.collision_other, col_other=player_measurements.collision_other,

12
PythonClient/manual_control.py
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@ -80,22 +80,22 @@ def make_carla_settings(enable_lidar):
settings.randomize_seeds() settings.randomize_seeds()
camera0 = sensor.Camera('CameraRGB') camera0 = sensor.Camera('CameraRGB')
camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT) camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
camera0.set_position(200, 0, 140) camera0.set_position(2.0, 0.0, 1.4)
camera0.set_rotation(0.0, 0.0, 0.0) camera0.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera0) settings.add_sensor(camera0)
camera1 = sensor.Camera('CameraDepth', PostProcessing='Depth') camera1 = sensor.Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT) camera1.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
camera1.set_position(200, 0, 140) camera1.set_position(2.0, 0.0, 1.4)
camera1.set_rotation(0.0, 0.0, 0.0) camera1.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera1) settings.add_sensor(camera1)
camera2 = sensor.Camera('CameraSemSeg', PostProcessing='SemanticSegmentation') camera2 = sensor.Camera('CameraSemSeg', PostProcessing='SemanticSegmentation')
camera2.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT) camera2.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
camera2.set_position(200, 0, 140) camera2.set_position(2.0, 0.0, 1.4)
camera2.set_rotation(0.0, 0.0, 0.0) camera2.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera2) settings.add_sensor(camera2)
if enable_lidar: if enable_lidar:
lidar = sensor.Lidar('Lidar32') lidar = sensor.Lidar('Lidar32')
lidar.set_position(0, 0, 250) lidar.set_position(0, 0, 2.5)
lidar.set_rotation(0, 0, 0) lidar.set_rotation(0, 0, 0)
lidar.set( lidar.set(
Channels=32, Channels=32,
@ -273,7 +273,7 @@ class CarlaGame(object):
ori_y=lane_orientation[1], ori_y=lane_orientation[1],
step=self._timer.step, step=self._timer.step,
fps=self._timer.ticks_per_second(), fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed, speed=player_measurements.forward_speed * 3.6,
other_lane=100 * player_measurements.intersection_otherlane, other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad) offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message) print_over_same_line(message)
@ -285,7 +285,7 @@ class CarlaGame(object):
message = message.format( message = message.format(
step=self._timer.step, step=self._timer.step,
fps=self._timer.ticks_per_second(), fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed, speed=player_measurements.forward_speed * 3.6,
other_lane=100 * player_measurements.intersection_otherlane, other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad) offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message) print_over_same_line(message)

2
PythonClient/point_cloud_example.py
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@ -33,7 +33,7 @@ def run_carla_client(host, port, far):
frame_step = 100 # Save one image every 100 frames frame_step = 100 # Save one image every 100 frames
output_folder = '_out' output_folder = '_out'
image_size = [800, 600] image_size = [800, 600]
camera_local_pos = [30, 0, 130] # [X, Y, Z] camera_local_pos = [0.3, 0.0, 1.3] # [X, Y, Z]
camera_local_rotation = [0, 0, 0] # [pitch(Y), yaw(Z), roll(X)] camera_local_rotation = [0, 0, 0] # [pitch(Y), yaw(Z), roll(X)]
fov = 70 fov = 70

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
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@ -17,7 +17,7 @@ UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectIni
float UWalkerAgentComponent::GetForwardSpeed() const float UWalkerAgentComponent::GetForwardSpeed() const
{ {
/// @todo Is it necessary to compute this speed every tick? /// @todo Is it necessary to compute this speed every tick?
return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f; return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector());
} }
void UWalkerAgentComponent::BeginPlay() void UWalkerAgentComponent::BeginPlay()

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
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@ -23,7 +23,7 @@ public:
UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer); UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
/// Return forward speed in km/h. /// Return forward speed in cm/s.
float GetForwardSpeed() const; float GetForwardSpeed() const;
FVector GetBoundingBoxExtent() const FVector GetBoundingBoxExtent() const

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
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@ -69,18 +69,21 @@ static FText GetHUDText(const ACarlaPlayerState &Vehicle)
HighPrecision.MinimumFractionalDigits = 2u; HighPrecision.MinimumFractionalDigits = 2u;
HighPrecision.MaximumFractionalDigits = 2u; HighPrecision.MaximumFractionalDigits = 2u;
constexpr float TO_METERS = 1e-2;
constexpr float TO_KMPH = 0.036f;
FFormatNamedArguments Args; FFormatNamedArguments Args;
Args.Add("FPS", RoundedFloatAsText(Vehicle.GetFramesPerSecond())); Args.Add("FPS", RoundedFloatAsText(Vehicle.GetFramesPerSecond()));
Args.Add("Location", GetVectorAsText(Vehicle.GetLocation())); Args.Add("Location", GetVectorAsText(Vehicle.GetLocation() * TO_METERS));
Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration(), HighPrecision)); Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration() * TO_METERS, HighPrecision));
Args.Add("Orientation", GetVectorAsText(Vehicle.GetOrientation(), HighPrecision)); Args.Add("Orientation", GetVectorAsText(Vehicle.GetOrientation(), HighPrecision));
Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed())); Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed() * TO_KMPH));
Args.Add("Gear", GetGearAsText(Vehicle.GetCurrentGear())); Args.Add("Gear", GetGearAsText(Vehicle.GetCurrentGear()));
Args.Add("SpeedLimit", RoundedFloatAsText(Vehicle.GetSpeedLimit())); Args.Add("SpeedLimit", RoundedFloatAsText(Vehicle.GetSpeedLimit()));
Args.Add("TrafficLightState", GetTrafficLightAsText(Vehicle.GetTrafficLightState())); Args.Add("TrafficLightState", GetTrafficLightAsText(Vehicle.GetTrafficLightState()));
Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars())); Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars() * TO_METERS));
Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians())); Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians() * TO_METERS));
Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther())); Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther() * TO_METERS));
Args.Add("IntersectionOtherLane", RoundedFloatAsText(100.0f * Vehicle.GetOtherLaneIntersectionFactor())); Args.Add("IntersectionOtherLane", RoundedFloatAsText(100.0f * Vehicle.GetOtherLaneIntersectionFactor()));
Args.Add("IntersectionOffRoad", RoundedFloatAsText(100.0f * Vehicle.GetOffRoadIntersectionFactor())); Args.Add("IntersectionOffRoad", RoundedFloatAsText(100.0f * Vehicle.GetOffRoadIntersectionFactor()));
return FText::Format( return FText::Format(

21
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
View File

@ -17,6 +17,9 @@
#include <cstring> #include <cstring>
// Conversion from centimeters to meters.
static constexpr float TO_METERS = 1e-2;
// ============================================================================= // =============================================================================
// -- Static local methods ----------------------------------------------------- // -- Static local methods -----------------------------------------------------
// ============================================================================= // =============================================================================
@ -43,7 +46,7 @@ static void Encode(const FRotator &Rotator, carla_rotation3d &Data)
static void Encode(const FTransform &Transform, carla_transform &Data) static void Encode(const FTransform &Transform, carla_transform &Data)
{ {
Encode(Transform.GetLocation(), Data.location); Encode(Transform.GetLocation() * TO_METERS, Data.location);
Encode(Transform.GetRotation().GetForwardVector(), Data.orientation); Encode(Transform.GetRotation().GetForwardVector(), Data.orientation);
Encode(Transform.Rotator(), Data.rotation); Encode(Transform.Rotator(), Data.rotation);
} }
@ -103,12 +106,12 @@ void FCarlaEncoder::Encode(
Data.game_timestamp = PlayerState.GetGameTimeStamp(); Data.game_timestamp = PlayerState.GetGameTimeStamp();
auto &Player = Data.player_measurements; auto &Player = Data.player_measurements;
::Encode(PlayerState.GetTransform(), Player.transform); ::Encode(PlayerState.GetTransform(), Player.transform);
::Encode(PlayerState.GetBoundsExtent(), Player.box_extent); ::Encode(PlayerState.GetBoundsExtent() * TO_METERS, Player.box_extent);
::Encode(PlayerState.GetAcceleration(), Player.acceleration); ::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
Player.forward_speed = PlayerState.GetForwardSpeed(); Player.forward_speed = PlayerState.GetForwardSpeed() * TO_METERS;
Player.collision_vehicles = PlayerState.GetCollisionIntensityCars(); Player.collision_vehicles = PlayerState.GetCollisionIntensityCars() * TO_METERS;
Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians(); Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians() * TO_METERS;
Player.collision_other = PlayerState.GetCollisionIntensityOther(); Player.collision_other = PlayerState.GetCollisionIntensityOther() * TO_METERS;
Player.intersection_otherlane = PlayerState.GetOtherLaneIntersectionFactor(); Player.intersection_otherlane = PlayerState.GetOtherLaneIntersectionFactor();
Player.intersection_offroad = PlayerState.GetOffRoadIntersectionFactor(); Player.intersection_offroad = PlayerState.GetOffRoadIntersectionFactor();
Player.autopilot_control.steer = PlayerState.GetSteer(); Player.autopilot_control.steer = PlayerState.GetSteer();
@ -199,7 +202,7 @@ void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
auto &Vehicle = Agent.GetVehicle(); auto &Vehicle = Agent.GetVehicle();
::Encode(Vehicle.GetVehicleTransform(), Data.transform); ::Encode(Vehicle.GetVehicleTransform(), Data.transform);
Data.type = CARLA_SERVER_AGENT_VEHICLE; Data.type = CARLA_SERVER_AGENT_VEHICLE;
Data.forward_speed = Vehicle.GetVehicleForwardSpeed(); Data.forward_speed = Vehicle.GetVehicleForwardSpeed() * TO_METERS;
::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent); ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
} }
@ -207,6 +210,6 @@ void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
{ {
::Encode(Agent.GetComponentTransform(), Data.transform); ::Encode(Agent.GetComponentTransform(), Data.transform);
Data.type = CARLA_SERVER_AGENT_PEDESTRIAN; Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
Data.forward_speed = Agent.GetForwardSpeed(); Data.forward_speed = Agent.GetForwardSpeed() * TO_METERS;
::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent); ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
} }

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp
View File

@ -9,7 +9,7 @@ void ULidarDescription::Load(const FIniFile &Config, const FString &Section)
{ {
Super::Load(Config, Section); Super::Load(Config, Section);
Config.GetInt(*Section, TEXT("Channels"), Channels); Config.GetInt(*Section, TEXT("Channels"), Channels);
Config.GetFloat(*Section, TEXT("Range"), Range); Config.GetFloat(*Section, TEXT("Range"), Range, 1e2);
Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond); Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond);
Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency); Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency);
Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit); Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit);

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
View File

@ -28,7 +28,7 @@ public:
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description") UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
uint32 Channels = 32u; uint32 Channels = 32u;
/** Measure distance. */ /** Measure distance in centimeters. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description") UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000.0f; float Range = 5000.0f;

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
View File

@ -16,9 +16,10 @@ void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
void USensorDescription::Load(const FIniFile &Config, const FString &Section) void USensorDescription::Load(const FIniFile &Config, const FString &Section)
{ {
Config.GetFloat(*Section, TEXT("PositionX"), Position.X); constexpr float TO_CENTIMETERS = 1e2;
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y); Config.GetFloat(*Section, TEXT("PositionX"), Position.X, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z); Config.GetFloat(*Section, TEXT("PositionY"), Position.Y, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch); Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch);
Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw); Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw);
Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll); Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll);

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
View File

@ -112,11 +112,11 @@ public:
} }
} }
void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target) const void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target, const float Factor = 1.0f) const
{ {
FString Value; FString Value;
if (ConfigFile.GetString(Section, Key, Value)) { if (ConfigFile.GetString(Section, Key, Value)) {
Target = FCString::Atof(*Value); Target = Factor * FCString::Atof(*Value);
} }
} }

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
View File

@ -94,7 +94,7 @@ void ACarlaVehicleController::OnCollisionEvent(
{ {
// Register collision only if we are moving faster than 1 km/h. // Register collision only if we are moving faster than 1 km/h.
check(IsPossessingAVehicle()); check(IsPossessingAVehicle());
if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed()) > 1.0f) { if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed() * 0.036f) > 1.0f) {
CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit); CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit);
} }
} }

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -46,7 +46,7 @@ FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
{ {
return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f; return GetVehicleMovementComponent()->GetForwardSpeed();
} }
FVector ACarlaWheeledVehicle::GetVehicleOrientation() const FVector ACarlaWheeledVehicle::GetVehicleOrientation() const

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -46,7 +46,7 @@ public:
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable) UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
FTransform GetVehicleTransform() const; FTransform GetVehicleTransform() const;
/// Forward speed in km/h. Might be negative if goes backwards. /// Forward speed in cm/s. Might be negative if goes backwards.
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable) UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
float GetVehicleForwardSpeed() const; float GetVehicleForwardSpeed() const;

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
View File

@ -177,7 +177,8 @@ void AWheeledVehicleAIController::TickAutopilotController()
Steering = CalcStreeringValue(Direction); Steering = CalcStreeringValue(Direction);
} }
const auto Speed = Vehicle->GetVehicleForwardSpeed(); // Speed in km/h.
const auto Speed = Vehicle->GetVehicleForwardSpeed() * 0.036f;
float Throttle; float Throttle;
if (TrafficLightState != ETrafficLightState::Green) { if (TrafficLightState != ETrafficLightState::Green) {

5
Util/CarlaServer/include/carla/carla_server.h
View File

@ -35,8 +35,11 @@ extern "C" {
}; };
struct carla_transform { struct carla_transform {
/** Location in meters. */
struct carla_vector3d location; struct carla_vector3d location;
/** Unit vector pointing "forward". */
struct carla_vector3d orientation; struct carla_vector3d orientation;
/** Rotation angles in degrees. */
struct carla_rotation3d rotation; struct carla_rotation3d rotation;
}; };
@ -160,7 +163,7 @@ extern "C" {
struct carla_vector3d box_extent; struct carla_vector3d box_extent;
/** Current acceleration of the player. */ /** Current acceleration of the player. */
struct carla_vector3d acceleration; struct carla_vector3d acceleration;
/** Forward speed in km/h. */ /** Forward speed in m/s. */
float forward_speed; float forward_speed;
/** Collision intensity with other vehicles. */ /** Collision intensity with other vehicles. */
float collision_vehicles; float collision_vehicles;