Add bounding box to pedestrians

LibCarla/source/carla/geom/BoundingBox.h

@@ -11,6 +11,10 @@
 #include "carla/geom/Location.h"
 #include "carla/geom/Vector3D.h"
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Util/BoundingBox.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace geom {
 
@@ -39,9 +43,9 @@ namespace geom {
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    BoundingBox(const FVector &Origin, const FVector &BoxExtent)
-      : location(Origin),
-        extent(1e-2f * BoxExtent.X, 1e-2f * BoxExtent.Y, 1e-2f * BoxExtent.Z) {}
+    BoundingBox(const FBoundingBox &Box)
+      : location(Box.Origin),
+        extent(1e-2f * Box.Extent.X, 1e-2f * Box.Extent.Y, 1e-2f * Box.Extent.Z) {}
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 

PythonAPI/source/libcarla/Actor.cpp

@@ -76,6 +76,7 @@ void export_actor() {
   ;
 
   class_<cc::Walker, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Walker>>("Walker", no_init)
+    .add_property("bounding_box", CALL_RETURNING_COPY(cc::Walker, GetBoundingBox))
     .def("apply_control", &cc::Walker::ApplyControl, (arg("control")))
     .def("get_control", &cc::Walker::GetWalkerControl)
     .def(self_ns::str(self_ns::self))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -8,6 +8,7 @@
 #include "Carla/Server/TheNewCarlaServer.h"
 
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Util/BoundingBoxCalculator.h"
 #include "Carla/Util/DebugShapeDrawer.h"
 #include "Carla/Util/OpenDrive.h"
 #include "Carla/Vehicle/CarlaWheeledVehicle.h"
@@ -114,30 +115,17 @@ private:
     ::AttachActors(Child.GetActor(), Parent.GetActor());
   }
 
-  carla::geom::BoundingBox GetActorBoundingBox(const AActor &Actor)
-  {
-    /// @todo Bounding boxes only available for vehicles.
-    auto Vehicle = Cast<ACarlaWheeledVehicle>(&Actor);
-    if (Vehicle != nullptr)
-    {
-      FVector Location = Vehicle->GetVehicleBoundingBoxTransform().GetTranslation();
-      FVector Extent = Vehicle->GetVehicleBoundingBoxExtent();
-      return {Location, Extent};
-    }
-    return {};
-  }
-
 public:
 
   carla::rpc::Actor SerializeActor(FActorView ActorView)
   {
     carla::rpc::Actor Actor;
     Actor.id = ActorView.GetActorId();
-    if (ActorView.IsValid())
+    if (ActorView.IsValid() && !ActorView.GetActor()->IsPendingKill())
     {
       Actor.parent_id = Episode->GetActorRegistry().Find(ActorView.GetActor()->GetOwner()).GetActorId();
       Actor.description = *ActorView.GetActorDescription();
-      Actor.bounding_box = GetActorBoundingBox(*ActorView.GetActor());
+      Actor.bounding_box = UBoundingBoxCalculator::GetActorBoundingBox(ActorView.GetActor());
       Actor.semantic_tags.reserve(ActorView.GetSemanticTags().Num());
       using tag_t = decltype(Actor.semantic_tags)::value_type;
       for (auto &&Tag : ActorView.GetSemanticTags())

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBox.h

@@ -0,0 +1,23 @@
+// Copyright (c) 2017 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 "BoundingBox.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FBoundingBox
+{
+  GENERATED_BODY()
+
+  /// Origin of the bounding box relative to its owner.
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  FVector Origin = {0.0f, 0.0f, 0.0f};
+
+  /// Radii extent of the bounding box.
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  FVector Extent = {0.0f, 0.0f, 0.0f};
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.cpp

@@ -0,0 +1,44 @@
+// Copyright (c) 2017 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/BoundingBoxCalculator.h"
+
+#include "Carla/Vehicle/CarlaWheeledVehicle.h"
+
+#include "Components/CapsuleComponent.h"
+#include "GameFramework/Character.h"
+
+FBoundingBox UBoundingBoxCalculator::GetActorBoundingBox(const AActor *Actor)
+{
+  if (Actor != nullptr)
+  {
+    // Vehicle.
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
+    if (Vehicle != nullptr)
+    {
+      FVector Origin = Vehicle->GetVehicleBoundingBoxTransform().GetTranslation();
+      FVector Extent = Vehicle->GetVehicleBoundingBoxExtent();
+      return {Origin, Extent};
+    }
+    // Walker.
+    auto Character = Cast<ACharacter>(Actor);
+    if (Character != nullptr)
+    {
+      auto Capsule = Character->GetCapsuleComponent();
+      if (Capsule != nullptr)
+      {
+        const auto Radius = Capsule->GetScaledCapsuleRadius();
+        const auto HalfHeight = Capsule->GetScaledCapsuleHalfHeight();
+        // Characters have the pivot point centered.
+        FVector Origin = {0.0f, 0.0f, 0.0f};
+        FVector Extent = {Radius, Radius, HalfHeight};
+        return {Origin, Extent};
+      }
+    }
+  }
+  return {};
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/BoundingBoxCalculator.h

@@ -0,0 +1,30 @@
+// Copyright (c) 2017 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/Util/BoundingBox.h"
+
+#include "Kismet/BlueprintFunctionLibrary.h"
+
+#include "BoundingBoxCalculator.generated.h"
+
+class AActor;
+
+UCLASS()
+class CARLA_API UBoundingBoxCalculator : public UBlueprintFunctionLibrary
+{
+  GENERATED_BODY()
+
+public:
+
+  /// Compute the bounding box of the given Carla actor.
+  ///
+  /// @warning If the actor type is not supported a default initialized bounding
+  /// box is returned.
+  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
+  static FBoundingBox GetActorBoundingBox(const AActor *Actor);
+};