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fixed spaces

This commit is contained in:
Anton Pechenko 2017-12-05 16:29:06 +03:00
parent 967e6fe19c
commit 4561d4a333
6 changed files with 109 additions and 110 deletions
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1
PythonClient/manual_control.py
View File

@ -315,7 +315,6 @@ class CarlaGame(object):
)
self._display.blit(surface, (10, 10))
if self._map_view is not None:
array = self._map_view
array = array[:, :, :3]

72
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
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@ -8,8 +8,8 @@
// Sets default values
ALidar::ALidar()
{
// Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
PrimaryActorTick.bCanEverTick = true;
// Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
PrimaryActorTick.bCanEverTick = true;
auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
@ -24,12 +24,12 @@ ALidar::ALidar()
void ALidar::Set(const FLidarDescription &LidarDescription)
{
Channels = LidarDescription.Channels;
Range = LidarDescription.Range;
PointsPerSecond = LidarDescription.PointsPerSecond;
RotationFrequency = LidarDescription.RotationFrequency;
UpperFovLimit = LidarDescription.UpperFovLimit;
LowerFovLimit = LidarDescription.LowerFovLimit;
ShowDebugPoints = LidarDescription.ShowDebugPoints;
Range = LidarDescription.Range;
PointsPerSecond = LidarDescription.PointsPerSecond;
RotationFrequency = LidarDescription.RotationFrequency;
UpperFovLimit = LidarDescription.UpperFovLimit;
LowerFovLimit = LidarDescription.LowerFovLimit;
ShowDebugPoints = LidarDescription.ShowDebugPoints;
CreateLasers();
}
@ -38,45 +38,45 @@ void ALidar::CreateLasers()
float dAngle = (UpperFovLimit - LowerFovLimit) / (Channels - 1);
Lasers.Empty();
for(int i=0; i<Channels; i++)
{
Lasers.Emplace(i, UpperFovLimit - i * dAngle);
}
for(int i=0; i<Channels; i++)
{
Lasers.Emplace(i, UpperFovLimit - i * dAngle);
}
}
// Called when the game starts or when spawned
void ALidar::BeginPlay()
{
Super::BeginPlay();
Super::BeginPlay();
}
void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
{
int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
LidarSegmentData.LidarLasersSegments.Empty();
LidarSegmentData.LidarLasersSegments.Empty();
auto NumOfLasers = Lasers.Num();
LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
for (int li=0; li<NumOfLasers; li++)
{
auto& Laser = Lasers[li];
auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
for (int i=0; i<PointsToScanWithOneLaser; i++)
{
Laser.Measure(
this,
CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
LaserPoints[i],
ShowDebugPoints
);
}
}
auto NumOfLasers = Lasers.Num();
LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
for (int li=0; li<NumOfLasers; li++)
{
auto& Laser = Lasers[li];
auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
for (int i=0; i<PointsToScanWithOneLaser; i++)
{
Laser.Measure(
this,
CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
LaserPoints[i],
ShowDebugPoints
);
}
}
CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
}

42
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
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@ -12,20 +12,20 @@
UCLASS()
class CARLA_API ALidar : public AActor
{
GENERATED_BODY()
GENERATED_BODY()
public:
// Sets default values for this actor's properties
ALidar();
// Sets default values for this actor's properties
ALidar();
void Set(const FLidarDescription &LidarDescription);
protected:
// Called when the game starts or when spawned
virtual void BeginPlay() override;
// Called when the game starts or when spawned
virtual void BeginPlay() override;
TArray<LidarLaser> Lasers;
float CurrentHorizontalAngle = 0;
TArray<LidarLaser> Lasers;
float CurrentHorizontalAngle = 0;
void CreateLasers();
@ -35,37 +35,37 @@ public:
void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
/** Number of lasers */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
int Channels = 32;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
int Channels = 32;
/** Measure distance */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000;
/** Points generated by all lasers per second */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float PointsPerSecond = 56000;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float PointsPerSecond = 56000;
/** Lidar rotation frequency */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10;
/**
Upper laser angle, counts from horizontal,
positive values means above horizontal line
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float UpperFovLimit = 10;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float UpperFovLimit = 10;
/**
Lower laser angle, counts from horizontal,
negative values means under horizontal line
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float LowerFovLimit = -30;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float LowerFovLimit = -30;
/** wether to show debug points of laser hits in simulator */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
bool ShowDebugPoints = false;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
bool ShowDebugPoints = false;
};

60
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
View File

@ -8,47 +8,47 @@
int LidarLaser::GetId()
{
return Id;
return Id;
}
bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug)
{
FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
TraceParams.bTraceComplex = true;
TraceParams.bReturnPhysicalMaterial = false;
FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
TraceParams.bTraceComplex = true;
TraceParams.bReturnPhysicalMaterial = false;
FHitResult HitInfo(ForceInit);
FHitResult HitInfo(ForceInit);
FVector LidarBodyLoc = Lidar->GetActorLocation();
FVector LidarBodyLoc = Lidar->GetActorLocation();
FRotator LidarBodyRot = Lidar->GetActorRotation();
FRotator LaserRot (VerticalAngle, HorizontalAngle, 0); // float InPitch, float InYaw, float InRoll
FRotator LaserRot (VerticalAngle, HorizontalAngle, 0); // float InPitch, float InYaw, float InRoll
FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
LaserRot,
LidarBodyRot
);
FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
Lidar->GetWorld()->LineTraceSingleByChannel(
HitInfo,
LidarBodyLoc,
EndTrace,
ECC_MAX,
TraceParams,
FCollisionResponseParams::DefaultResponseParam
);
Lidar->GetWorld()->LineTraceSingleByChannel(
HitInfo,
LidarBodyLoc,
EndTrace,
ECC_MAX,
TraceParams,
FCollisionResponseParams::DefaultResponseParam
);
if (HitInfo.bBlockingHit)
{
if (HitInfo.bBlockingHit)
{
if (Debug)
{
DrawDebugPoint(
Lidar->GetWorld(),
HitInfo.ImpactPoint,
10, //size
FColor(255,0,255),
false, //persistent (never goes away)
0.1 //point leaves a trail on moving object
);
DrawDebugPoint(
Lidar->GetWorld(),
HitInfo.ImpactPoint,
10, //size
FColor(255,0,255),
false, //persistent (never goes away)
0.1 //point leaves a trail on moving object
);
}
XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
@ -58,9 +58,9 @@ bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, boo
FVector(0, 0, 1)
);
return true;
} else {
return true;
} else {
XYZ = FVector(0, 0, 0);
return false;
}
return false;
}
}

16
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
View File

@ -10,17 +10,17 @@ class CARLA_API LidarLaser
{
public:
LidarLaser(int Id, float VerticalAngle) :
Id(Id),
VerticalAngle(VerticalAngle)
{}
LidarLaser(int Id, float VerticalAngle) :
Id(Id),
VerticalAngle(VerticalAngle)
{}
int GetId();
bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
int GetId();
bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
private:
int Id;
float VerticalAngle;
int Id;
float VerticalAngle;
};

28
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
View File

@ -10,38 +10,38 @@ struct FLidarDescription
GENERATED_USTRUCT_BODY()
/** Number of lasers */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
int Channels = 32;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
int Channels = 32;
/** Measure distance */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000;
/** Points generated by all lasers per second */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float PointsPerSecond = 56000;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float PointsPerSecond = 56000;
/** Lidar rotation frequency */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10;
/**
Upper laser angle, counts from horizontal,
positive values means above horizontal line
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float UpperFovLimit = 10;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float UpperFovLimit = 10;
/**
Lower laser angle, counts from horizontal,
negative values means under horizontal line
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float LowerFovLimit = -30;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float LowerFovLimit = -30;
/** wether to show debug points of laser hits in simulator */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
bool ShowDebugPoints = false;
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
bool ShowDebugPoints = false;
/** Position relative to the player. */
UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)