#6 Add camera settings and implement stereo mode

Resources/Example.CarlaSettings.ini

@@ -16,7 +16,37 @@ ReadPort=2002
 
 [CARLA/SceneCapture]
 ; Valid values: Mono, Stereo, NoCapture.
+; The mode is overriden by the client if networking is enabled.
 Mode=Mono
 ; Size of the captured image in pixels.
 ImageSizeX=720
 ImageSizeY=512
+
+[CARLA/SceneCapture/Mono]
+; Image size can also be changed by mode.
+ImageSizeX=720
+ImageSizeY=512
+; Position of the camera relative to the car in centimeters.
+CameraPositionX=170
+CameraPositionY=0
+CameraPositionZ=150
+; Rotation of the camera relative to the car in degrees.
+CameraRotationPitch=0
+CameraRotationRoll=0
+CameraRotationYaw=0
+
+[CARLA/SceneCapture/Stereo]
+; Position of the cameras relative to the car in centimeters.
+Camera0PositionX=170
+Camera0PositionY=30
+Camera0PositionZ=150
+Camera1PositionX=170
+Camera1PositionY=-30
+Camera1PositionZ=150
+; Rotation of the cameras relative to the car in degrees.
+Camera0RotationPitch=0
+Camera0RotationRoll=0
+Camera0RotationYaw=0
+Camera1RotationPitch=0
+Camera1RotationRoll=0
+Camera1RotationYaw=0

Source/Carla/Game/CarlaGameController.cpp

@@ -6,6 +6,7 @@
 #include "GameFramework/PlayerStart.h"
 
 #include "CarlaPlayerState.h"
+#include "CarlaSettings.h"
 #include "CarlaVehicleController.h"
 #include "SceneCaptureCamera.h"
 
@@ -81,7 +82,7 @@ static bool CheckImageValidity(const ACarlaPlayerState &Player, const carla::Rew
 // Wait for the scene init to be sent, return false if we need to restart the
 // server.
 /// @todo At the moment we just ignored what it is sent.
-static bool ReadSceneInit(carla::CarlaServer &Server)
+static bool ReadSceneInit(carla::CarlaServer &Server, ESceneCaptureMode &CaptureMode)
 {
   carla::Mode Mode;
   uint32 Scene;
@@ -91,6 +92,13 @@ static bool ReadSceneInit(carla::CarlaServer &Server)
     if (!Server.tryReadSceneInit(Mode, Scene, Success))
       return false;
   }
+  if (Mode == carla::Mode::MONO) {
+    CaptureMode = ESceneCaptureMode::Mono;
+  } else if (Mode == carla::Mode::STEREO) {
+    CaptureMode = ESceneCaptureMode::Stereo;
+  } else {
+    CaptureMode = ESceneCaptureMode::NoCapture;
+  }
   return true;
 }
 
@@ -200,11 +208,11 @@ CarlaGameController::~CarlaGameController()
   UE_LOG(LogCarlaServer, Log, TEXT("Destroying CarlaGameController..."));
 }
 
-void CarlaGameController::Initialize()
+void CarlaGameController::Initialize(UCarlaSettings &CarlaSettings)
 {
   if (bServerNeedsRestart) {
     UE_LOG(LogCarlaServer, Log, TEXT("Initializing CarlaServer"));
-    if (Server->init(1u) && ReadSceneInit(*Server)) {
+    if (Server->init(1u) && ReadSceneInit(*Server, CarlaSettings.SceneCaptureMode)) {
       bServerNeedsRestart = false;
     } else {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to initialize, server needs restart"));

Source/Carla/Game/CarlaGameController.h

@@ -19,7 +19,7 @@ public:
 
   ~CarlaGameController();
 
-  virtual void Initialize() override;
+  virtual void Initialize(UCarlaSettings &CarlaSettings) override;
 
   virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) override;
 

Source/Carla/Game/CarlaGameControllerBase.h

@@ -6,6 +6,7 @@
 
 class AController;
 class APlayerStart;
+class UCarlaSettings;
 
 /// Base class for a CARLA game controller.
 class CARLA_API CarlaGameControllerBase
@@ -14,7 +15,7 @@ public:
 
   virtual ~CarlaGameControllerBase() {}
 
-  virtual void Initialize() = 0;
+  virtual void Initialize(UCarlaSettings &CarlaSettings) = 0;
 
   virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) = 0;
 

Source/Carla/Game/CarlaGameInstance.h

@@ -8,9 +8,8 @@
 
 class UCarlaSettings;
 
-/**
+/// The game instance contains elements that must be kept alive in between
- *
+/// levels. It is instantiate once per game.
- */
 UCLASS()
 class CARLA_API UCarlaGameInstance : public UGameInstance
 {
@@ -30,6 +29,12 @@ public:
     return *GameController;
   }
 
+  UCarlaSettings &GetCarlaSettings()
+  {
+    check(CarlaSettings != nullptr);
+    return *CarlaSettings;
+  }
+
   const UCarlaSettings &GetCarlaSettings() const
   {
     check(CarlaSettings != nullptr);

Source/Carla/Game/CarlaGameMode.cpp

@@ -43,7 +43,8 @@ void ACarlaGameMode::InitGame(
       TEXT("GameInstance is not a UCarlaGameInstance, did you forget to set it in the project settings?"));
   GameInstance->InitializeGameControllerIfNotPresent();
   GameController = &GameInstance->GetGameController();
-  GameController->Initialize();
+  GameController->Initialize(GameInstance->GetCarlaSettings());
+  GameInstance->GetCarlaSettings().LogSettings();
 }
 
 void ACarlaGameMode::RestartPlayer(AController* NewPlayer)
@@ -85,7 +86,7 @@ void ACarlaGameMode::RegisterPlayer(AController &NewPlayer)
   AddTickPrerequisiteActor(&NewPlayer);
   GameController->RegisterPlayer(NewPlayer);
   PlayerController = &NewPlayer;
-  AttachCaptureCamerasToPlayer(NewPlayer);
+  AttachCaptureCamerasToPlayer(*PlayerController);
 }
 
 void ACarlaGameMode::RegisterCaptureCamera(
@@ -101,18 +102,72 @@ void ACarlaGameMode::RegisterCaptureCamera(
   }
 }
 
+static ASceneCaptureCamera *SpawnAndAttachCamera(
+    AController &Player,
+    const FVector &RelativeLocation,
+    const FRotator &RelativeRotation,
+    uint32 ImageSizeX,
+    uint32 ImageSizeY,
+    EPostProcessEffect PostProcessEffect)
+{
+  auto Camera = Player.GetWorld()->SpawnActor<ASceneCaptureCamera>(RelativeLocation, RelativeRotation);
+  Camera->SetImageSize(ImageSizeX, ImageSizeY);
+  Camera->SetPostProcessEffect(PostProcessEffect);
+  Camera->AttachToActor(Player.GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
+  Camera->SetOwner(Player.GetPawn());
+  return Camera;
+}
+
 void ACarlaGameMode::AttachCaptureCamerasToPlayer(AController &Player)
 {
   auto &Settings = GameInstance->GetCarlaSettings();
-  if (Settings.SceneCaptureMode == ESceneCaptureMode::Stereo) {
+  if (Settings.SceneCaptureMode == ESceneCaptureMode::Mono) {
-    UE_LOG(LogCarla, Error, TEXT("Stereo mode not yet implemented"));
+    auto TheCamera =
-  } else if (Settings.SceneCaptureMode == ESceneCaptureMode::Mono) {
+        SpawnAndAttachCamera(
-    auto TheCamera = GetWorld()->SpawnActor<ASceneCaptureCamera>();
+            Player,
-    TheCamera->SetPostProcessEffect(EPostProcessEffect::None);
+            Settings.Mono_CameraPosition,
-    TheCamera->SetImageSize(Settings.ImageSizeX, Settings.ImageSizeY);
+            Settings.Mono_CameraRotation,
-    TheCamera->AttachToActor(Player.GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
+            Settings.Mono_ImageSizeX,
-    TheCamera->SetOwner(Player.GetPawn());
+            Settings.Mono_ImageSizeY,
+            EPostProcessEffect::None);
     RegisterCaptureCamera(*TheCamera, Player);
+  } else if (Settings.SceneCaptureMode == ESceneCaptureMode::Stereo) {
+    auto RGBCamera0 =
+        SpawnAndAttachCamera(
+            Player,
+            Settings.Stereo_Camera0Position,
+            Settings.Stereo_Camera0Rotation,
+            Settings.Stereo_ImageSizeX,
+            Settings.Stereo_ImageSizeY,
+            EPostProcessEffect::None);
+    auto DepthCamera0 =
+        SpawnAndAttachCamera(
+            Player,
+            Settings.Stereo_Camera0Position,
+            Settings.Stereo_Camera0Rotation,
+            Settings.Stereo_ImageSizeX,
+            Settings.Stereo_ImageSizeY,
+            EPostProcessEffect::Depth);
+    auto RGBCamera1 =
+        SpawnAndAttachCamera(
+            Player,
+            Settings.Stereo_Camera1Position,
+            Settings.Stereo_Camera1Rotation,
+            Settings.Stereo_ImageSizeX,
+            Settings.Stereo_ImageSizeY,
+            EPostProcessEffect::None);
+    auto DepthCamera1 =
+        SpawnAndAttachCamera(
+            Player,
+            Settings.Stereo_Camera1Position,
+            Settings.Stereo_Camera1Rotation,
+            Settings.Stereo_ImageSizeX,
+            Settings.Stereo_ImageSizeY,
+            EPostProcessEffect::Depth);
+    RegisterCaptureCamera(*RGBCamera0, Player);
+    RegisterCaptureCamera(*DepthCamera0, Player);
+    RegisterCaptureCamera(*RGBCamera1, Player);
+    RegisterCaptureCamera(*DepthCamera1, Player);
   }
 }
 

Source/Carla/Game/CarlaSettings.cpp

@@ -8,15 +8,27 @@
 
 #include <limits>
 
+// INI file sections.
+#define S_CARLA_SERVER                 TEXT("CARLA/Server")
+#define S_CARLA_SCENECAPTURE           TEXT("CARLA/SceneCapture")
+#define S_CARLA_SCENECAPTURE_MONO      TEXT("CARLA/SceneCapture/Mono")
+#define S_CARLA_SCENECAPTURE_STEREO    TEXT("CARLA/SceneCapture/Stereo")
+
 template <typename TARGET, typename SOURCE>
 static void SafeCastTo(SOURCE source, TARGET &target)
 {
-  if ((source >= std::numeric_limits<TARGET>::min()) &&
+  if ((source >= std::numeric_limits<TARGET>::lowest()) &&
       (source <= std::numeric_limits<TARGET>::max())) {
     target = static_cast<TARGET>(source);
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("CarlaSettings: Type cast failed"));
   }
 }
 
+// =============================================================================
+// -- INIFile ------------------------------------------------------------------
+// =============================================================================
+
 class INIFile {
 public:
 
@@ -69,19 +81,49 @@ private:
   FConfigFile ConfigFile;
 };
 
-#define CARLA_SERVER_SECTION       TEXT("CARLA/Server")
+// =============================================================================
-#define CARLA_SCENECAPTURE_SECTION TEXT("CARLA/SceneCapture")
+// -- Other static methods -----------------------------------------------------
+// =============================================================================
+
 static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settings)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading settings from \"%s\""), *FileName);
   INIFile ConfigFile(FileName);
-  ConfigFile.GetBool(CARLA_SERVER_SECTION, TEXT("UseNetworking"), Settings.bUseNetworking);
+  // CarlaServer.
-  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("WorldPort"), Settings.WorldPort);
+  ConfigFile.GetBool(S_CARLA_SERVER, TEXT("UseNetworking"), Settings.bUseNetworking);
-  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("WritePort"), Settings.WritePort);
+  ConfigFile.GetInt(S_CARLA_SERVER, TEXT("WorldPort"), Settings.WorldPort);
-  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("ReadPort"), Settings.ReadPort);
+  ConfigFile.GetInt(S_CARLA_SERVER, TEXT("WritePort"), Settings.WritePort);
-  ConfigFile.GetSceneCaptureMode(CARLA_SCENECAPTURE_SECTION, TEXT("Mode"), Settings.SceneCaptureMode);
+  ConfigFile.GetInt(S_CARLA_SERVER, TEXT("ReadPort"), Settings.ReadPort);
-  ConfigFile.GetInt(CARLA_SCENECAPTURE_SECTION, TEXT("ImageSizeX"), Settings.ImageSizeX);
+  // SceneCapture.
-  ConfigFile.GetInt(CARLA_SCENECAPTURE_SECTION, TEXT("ImageSizeY"), Settings.ImageSizeY);
+  ConfigFile.GetSceneCaptureMode(S_CARLA_SCENECAPTURE, TEXT("Mode"), Settings.SceneCaptureMode);
+  // SceneCapture - Mono.
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionX"), Settings.Mono_CameraPosition.X);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionY"), Settings.Mono_CameraPosition.Y);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionZ"), Settings.Mono_CameraPosition.Z);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationPitch"), Settings.Mono_CameraRotation.Pitch);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationRoll"), Settings.Mono_CameraRotation.Roll);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationYaw"), Settings.Mono_CameraRotation.Yaw);
+  // SceneCapture - Stereo.
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionX"), Settings.Stereo_Camera0Position.X);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionY"), Settings.Stereo_Camera0Position.Y);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionZ"), Settings.Stereo_Camera0Position.Z);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionX"), Settings.Stereo_Camera1Position.X);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionY"), Settings.Stereo_Camera1Position.Y);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionZ"), Settings.Stereo_Camera1Position.Z);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationPitch"), Settings.Stereo_Camera0Rotation.Pitch);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationRoll"), Settings.Stereo_Camera0Rotation.Roll);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationYaw"), Settings.Stereo_Camera0Rotation.Yaw);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationPitch"), Settings.Stereo_Camera1Rotation.Pitch);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationRoll"), Settings.Stereo_Camera1Rotation.Roll);
+  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationYaw"), Settings.Stereo_Camera1Rotation.Yaw);
 }
 
 static bool GetSettingsFileName(FString &Value)
@@ -101,6 +143,10 @@ static bool GetSettingsFileName(FString &Value)
   return false;
 }
 
+// =============================================================================
+// -- UCarlaSettings -----------------------------------------------------------
+// =============================================================================
+
 void UCarlaSettings::LoadSettings()
 {
   FString FileName;
@@ -131,17 +177,27 @@ void UCarlaSettings::LogSettings()
   };
   UE_LOG(LogCarla, Log, TEXT("== CARLA Settings =============================================================="));
   UE_LOG(LogCarla, Log, TEXT("Settings file: %s"), *CurrentFileName);
-  UE_LOG(LogCarla, Log, TEXT("[%s]"), CARLA_SERVER_SECTION);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SERVER);
-  UE_LOG(LogCarla, Log, TEXT("UseNetworking=%s"), (bUseNetworking ? TEXT("true") : TEXT("false")));
+  UE_LOG(LogCarla, Log, TEXT("Use Networking = %s"), (bUseNetworking ? TEXT("true") : TEXT("false")));
-  UE_LOG(LogCarla, Log, TEXT("WorldPort=%d"), WorldPort);
+  UE_LOG(LogCarla, Log, TEXT("World Port = %d"), WorldPort);
-  UE_LOG(LogCarla, Log, TEXT("WritePort=%d"), WritePort);
+  UE_LOG(LogCarla, Log, TEXT("Write Port = %d"), WritePort);
-  UE_LOG(LogCarla, Log, TEXT("ReadPort=%d"), ReadPort);
+  UE_LOG(LogCarla, Log, TEXT("Read Port = %d"), ReadPort);
-  UE_LOG(LogCarla, Log, TEXT("[%s]"), CARLA_SCENECAPTURE_SECTION);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
-  UE_LOG(LogCarla, Log, TEXT("Mode=%s"), ModeAsString(SceneCaptureMode));
+  UE_LOG(LogCarla, Log, TEXT("Mode = %s"), ModeAsString(SceneCaptureMode));
-  UE_LOG(LogCarla, Log, TEXT("ImageSizeX=%d"), ImageSizeX);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_MONO);
-  UE_LOG(LogCarla, Log, TEXT("ImageSizeY=%d"), ImageSizeY);
+  UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Mono_ImageSizeX, Mono_ImageSizeY);
+  UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Mono_CameraPosition.ToString());
+  UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Mono_CameraRotation.ToString());
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_STEREO);
+  UE_LOG(LogCarla, Log, TEXT("ImageSize = %dx%d"), Stereo_ImageSizeX, Stereo_ImageSizeY);
+  UE_LOG(LogCarla, Log, TEXT("Camera0 Position = (%s)"), *Stereo_Camera0Position.ToString());
+  UE_LOG(LogCarla, Log, TEXT("Camera0 Rotation = (%s)"), *Stereo_Camera0Rotation.ToString());
+  UE_LOG(LogCarla, Log, TEXT("Camera1 Position = (%s)"), *Stereo_Camera1Position.ToString());
+  UE_LOG(LogCarla, Log, TEXT("Camera1 Rotation = (%s)"), *Stereo_Camera1Rotation.ToString());
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
 }
 
-#undef CARLA_SERVER_SECTION
+#undef S_CARLA_SERVER
-#undef CARLA_SCENECAPTURE_SECTION
+#undef S_CARLA_SCENECAPTURE
+#undef S_CARLA_SCENECAPTURE_MONO
+#undef S_CARLA_SCENECAPTURE_STEREO

Source/Carla/Game/CarlaSettings.h

@@ -19,6 +19,14 @@ class CARLA_API UCarlaSettings : public UObject
 {
   GENERATED_BODY()
 
+public:
+
+  /** Load the settings based on the command-line arguments and the INI file if provided. */
+  void LoadSettings();
+
+  /** Log settings values. */
+  void LogSettings();
+
 private:
 
   /** File name of the settings file used to load this settings. Empty if none used. */
@@ -58,25 +66,59 @@ public:
   UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
   ESceneCaptureMode SceneCaptureMode = ESceneCaptureMode::Mono;
 
-  /** X size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
-  uint32 ImageSizeX = 720u;
-
-  /** Y size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
-  uint32 ImageSizeY = 512u;
-
   /// @}
-
   // ===========================================================================
-  // -- Other ------------------------------------------------------------------
+  /// @name Scene Capture - Mono
   // ===========================================================================
-
+  /// @{
 public:
 
-  /** Load the settings based on the command-line arguments and the INI file if provided . */
+  /** X size in pixels of the captured image. */
-  void LoadSettings();
+  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
+  uint32 Mono_ImageSizeX = 720u;
 
-  /** Log settings values . */
+  /** Y size in pixels of the captured image. */
-  void LogSettings();
+  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
+  uint32 Mono_ImageSizeY = 512u;
+
+  /** Camera position relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
+  FVector Mono_CameraPosition = {170.0f, 0.0f, 150.0f};
+
+  /** Camera rotation relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
+  FRotator Mono_CameraRotation = {0.0f, 0.0f, 0.0f};
+
+  /// @}
+  // ===========================================================================
+  /// @name Scene Capture - Stereo
+  // ===========================================================================
+  /// @{
+public:
+
+  /** X size in pixels of the captured image. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  uint32 Stereo_ImageSizeX = 720u;
+
+  /** Y size in pixels of the captured image. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  uint32 Stereo_ImageSizeY = 512u;
+
+  /** Camera0 position relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  FVector Stereo_Camera0Position = {170.0f, 30.0f, 150.0f};
+
+  /** Camera0 rotation relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  FRotator Stereo_Camera0Rotation = {0.0f, 0.0f, 0.0f};
+
+  /** Camera1 position relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  FVector Stereo_Camera1Position = {170.0f, -30.0f, 150.0f};
+
+  /** Camera1 rotation relative to the car. */
+  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
+  FRotator Stereo_Camera1Rotation = {0.0f, 0.0f, 0.0f};
+
+  /// @}
 };

Source/Carla/Game/MockGameController.cpp

@@ -3,7 +3,7 @@
 #include "Carla.h"
 #include "MockGameController.h"
 
-void MockGameController::Initialize()
+void MockGameController::Initialize(UCarlaSettings & /*CarlaSettings*/)
 {
 
 }
@@ -29,7 +29,7 @@ void MockGameController::BeginPlay()
 
 }
 
-void MockGameController::Tick(float DeltaSeconds)
+void MockGameController::Tick(float /*DeltaSeconds*/)
 {
 
 }

Source/Carla/Game/MockGameController.h

@@ -9,7 +9,7 @@ class CARLA_API MockGameController : public CarlaGameControllerBase
 {
 public:
 
-  virtual void Initialize() override;
+  virtual void Initialize(UCarlaSettings &CarlaSettings) override;
 
   virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) override;