p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Parse new sensor descriptions

This commit is contained in:
nsubiron 2018-02-19 19:14:16 +01:00
parent 623e8bb539
commit 763f0731bd
12 changed files with 314 additions and 218 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

112
Docs/Example.CarlaSettings.ini
View File

@ -1,16 +1,20 @@
; Example of settings file for CARLA.
;
; Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
; This file can be loaded with the Python client to be sent to the server. It
; defines the parameters to be used when requesting a new episode.
;
; Note that server specific variables are loaded in server only. Use it with
; `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
[CARLA/Server]
; If set to false, a mock controller will be used instead of waiting for a real
; client to connect.
; client to connect. (Server only)
UseNetworking=true
; Ports to use for the server-client communication. This can be overridden by
; the command-line switch `-world-port=N`, write and read ports will be set to
; N+1 and N+2 respectively.
; N+1 and N+2 respectively. (Server only)
WorldPort=2000
; Time-out in milliseconds for the networking operations.
; Time-out in milliseconds for the networking operations. (Server only)
ServerTimeOut=10000
; In synchronous mode, CARLA waits every frame until the control from the client
; is received.
@ -36,61 +40,65 @@ WeatherId=1
SeedVehicles=123456789
SeedPedestrians=123456789
[CARLA/SceneCapture]
; Names of the cameras to be attached to the player, comma-separated, each of
; them should be defined in its own subsection. E.g., Uncomment next line to add
; a camera called MyCamera to the vehicle
[CARLA/Sensor]
; Names of the sensors to be attached to the player, comma-separated, each of
; them should be defined in its own subsection.
; Cameras=MyCamera
; Uncomment next line to add a camera called MyCamera to the vehicle
; Sensors=MyCamera
; or uncomment next line to add a camera and a LiDAR
; Sensors=MyCamera,MyLidar
; or uncomment next line to add a regular camera and a depth camera
; Sensors=MyCamera,MyCamera/Depth
; Now, every camera we added needs to be defined it in its own subsection.
[CARLA/SceneCapture/MyCamera]
; Post-processing effect to be applied. Valid values:
; * None No effects applied.
; * SceneFinal Post-processing present at scene (bloom, fog, etc).
; * Depth Depth map ground-truth only.
; * SemanticSegmentation Semantic segmentation ground-truth only.
PostProcessing=SceneFinal
[CARLA/Sensor/MyCamera]
; Type of the sensor. The available types are:
; * CAMERA_NONE No effects applied.
; * CAMERA_SCENE_FINAL Post-processing present at scene (bloom, fog, etc).
; * CAMERA_DEPTH Depth map ground-truth only.
; * CAMERA_SEMANTIC_SEGMENTATION Semantic segmentation ground-truth only.
; * LIDAR_RAY_TRACE A LiDAR implementation based on ray-tracing.
SensorType=CAMERA_SCENE_FINAL
; Size of the captured image in pixels.
ImageSizeX=800
ImageSizeY=600
; Camera (horizontal) field of view in degrees.
CameraFOV=90
FOV=90
; Position of the camera relative to the car in centimeters.
CameraPositionX=15
CameraPositionY=0
CameraPositionZ=123
PositionX=15
PositionY=0
PositionZ=123
; Rotation of the camera relative to the car in degrees.
CameraRotationPitch=8
CameraRotationRoll=0
CameraRotationYaw=0
RotationPitch=8
RotationRoll=0
RotationYaw=0
; Stereo setup example:
;
; [CARLA/SceneCapture]
; Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
; ImageSizeX=720
; ImageSizeY=512
; CameraFOV=90
; [CARLA/SceneCapture/CameraStereoLeft]
; CameraPositionX=170
; CameraPositionY=-30
; CameraPositionZ=150
; CameraRotationPitch=0
; CameraRotationRoll=0
; CameraRotationYaw=0
; [CARLA/SceneCapture/CameraStereoLeft/RGB]
; PostProcessing=SceneFinal
; [CARLA/SceneCapture/CameraStereoLeft/Depth]
; PostProcessing=Depth
; [CARLA/SceneCapture/CameraStereoRight]
; CameraPositionX=170
; CameraPositionY=30
; CameraPositionZ=150
; CameraRotationPitch=0
; CameraRotationRoll=0
; CameraRotationYaw=0
; [CARLA/SceneCapture/CameraStereoRight/RGB]
; PostProcessing=SceneFinal
; [CARLA/SceneCapture/CameraStereoRight/Depth]
; PostProcessing=Depth
[CARLA/Sensor/MyCamera/Depth]
; The sensor can be defined in a subsection of MyCamera so it inherits the
; values in MyCamera. This adds a camera similar to MyCamera but generating
; depth map images instead.
SensorType=CAMERA_DEPTH
[CARLA/Sensor/MyLidar]
SensorType=LIDAR_RAY_TRACE
; Number of lasers.
Channels=32
; Measure distance in centimeters.
Range=5000
; Points generated by all lasers per second.
PointsPerSecond=100000
; Lidar rotation frequency.
RotationFrequency=10
; Upper and lower laser angles, positive values means above horizontal line.
UpperFOVLimit=10
LowerFOVLimit=-30
; Position and rotation relative to the vehicle.
PositionX=0
PositionY=0
PositionZ=140
RotationPitch=0
RotationYaw=0
RotationRoll=0

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
View File

@ -46,7 +46,7 @@ void ADynamicWeather::LoadWeatherDescriptionsFromFile(
FString DefaultFilePath;
if (GetWeatherIniFilePath(GetIniFileName(), DefaultFilePath)) {
UE_LOG(LogCarla, Log, TEXT("Loading weather description from %s"), *DefaultFilePath);
IniFile ConfigFile(DefaultFilePath);
FIniFile ConfigFile(DefaultFilePath);
{ // Override map specific presets.
FString MapOverridesFilePath;
@ -190,7 +190,7 @@ bool ADynamicWeather::LoadFromConfigFile()
{
FString FilePath;
if (GetWeatherIniFilePath(FileName, FilePath) && CheckWeatherValidity(Weather)) {
IniFile ConfigFile(FilePath);
FIniFile ConfigFile(FilePath);
if (!ConfigFile.HasSection(Weather.Name)) {
UE_LOG(LogCarla, Error, TEXT("Weather \"%s\" is not present in config file"), *Weather.Name);
return false;
@ -206,7 +206,7 @@ bool ADynamicWeather::SaveToConfigFile() const
{
FString FilePath;
if (GetWeatherIniFilePath(FileName, FilePath) && CheckWeatherValidity(Weather)) {
IniFile ConfigFile(FilePath);
FIniFile ConfigFile(FilePath);
Weather.WriteToConfigFile(ConfigFile);
return ConfigFile.Write(FilePath);
} else {

50
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp Normal file
View File

@ -0,0 +1,50 @@
// 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 "CameraDescription.h"
#include "Util/IniFile.h"
static EPostProcessEffect GetPostProcessEffect(const FString &SensorType)
{
if (SensorType == "CAMERA_NONE") {
return EPostProcessEffect::None;
} else if (SensorType == "CAMERA_SCENE_FINAL") {
return EPostProcessEffect::SceneFinal;
} else if (SensorType == "CAMERA_DEPTH") {
return EPostProcessEffect::Depth;
} else if (SensorType == "CAMERA_SEMANTIC_SEGMENTATION") {
return EPostProcessEffect::SemanticSegmentation;
} else {
UE_LOG(LogCarla, Error, TEXT("Invalid sensor type \"%s\" for a camera"), *SensorType);
return EPostProcessEffect::INVALID;
}
}
void UCameraDescription::Load(const FIniFile &Config, const FString &Section)
{
Super::Load(Config, Section);
Config.GetInt(*Section, TEXT("ImageSizeX"), ImageSizeX);
Config.GetInt(*Section, TEXT("ImageSizeY"), ImageSizeY);
Config.GetFloat(*Section, TEXT("CameraFOV"), FOVAngle);
}
void UCameraDescription::Validate()
{
FMath::Clamp(FOVAngle, 0.001f, 360.0f);
ImageSizeX = (ImageSizeX == 0u ? 720u : ImageSizeX);
ImageSizeY = (ImageSizeY == 0u ? 512u : ImageSizeY);
PostProcessEffect = GetPostProcessEffect(Type);
}
void UCameraDescription::Log() const
{
Super::Log();
UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), ImageSizeX, ImageSizeY);
UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(PostProcessEffect));
UE_LOG(LogCarla, Log, TEXT("FOV = %f"), FOVAngle);
}

11
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
View File

@ -22,6 +22,17 @@ public:
Visitor.Visit(*this);
}
virtual void Load(const FIniFile &Config, const FString &Section) final;
virtual void Validate() final;
virtual bool RequiresSemanticSegmentation() const final
{
return PostProcessEffect == EPostProcessEffect::SemanticSegmentation;
}
virtual void Log() const final;
/** X size in pixels of the captured image. */
UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
uint32 ImageSizeX = 720u;

202
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
View File

@ -18,95 +18,74 @@
// INI file sections.
#define S_CARLA_SERVER TEXT("CARLA/Server")
#define S_CARLA_LEVELSETTINGS TEXT("CARLA/LevelSettings")
#define S_CARLA_SCENECAPTURE TEXT("CARLA/SceneCapture")
// =============================================================================
// -- MyIniFile ----------------------------------------------------------------
// =============================================================================
class MyIniFile : public IniFile {
public:
MyIniFile() = default;
explicit MyIniFile(const FString &FileName) : IniFile(FileName) {}
void GetPostProcessEffect(const TCHAR* Section, const TCHAR* Key, EPostProcessEffect &Target) const
{
FString ValueString;
if (GetFConfigFile().GetString(Section, Key, ValueString)) {
if (ValueString == "None") {
Target = EPostProcessEffect::None;
} else if (ValueString == "SceneFinal") {
Target = EPostProcessEffect::SceneFinal;
} else if (ValueString == "Depth") {
Target = EPostProcessEffect::Depth;
} else if (ValueString == "SemanticSegmentation") {
Target = EPostProcessEffect::SemanticSegmentation;
} else {
UE_LOG(LogCarla, Error, TEXT("Invalid post-processing \"%s\" in INI file"), *ValueString);
Target = EPostProcessEffect::INVALID;
}
}
}
};
#define S_CARLA_SENSOR TEXT("CARLA/Sensor")
// =============================================================================
// -- Static methods -----------------------------------------------------------
// =============================================================================
static void GetCameraDescription(
const MyIniFile &ConfigFile,
const TCHAR* Section,
UCameraDescription &Camera)
template <typename T>
static void ForEachSectionInName(const FString &SensorName, T &&Callback)
{
ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
ConfigFile.GetFloat(Section, TEXT("CameraFOV"), Camera.FOVAngle);
ConfigFile.GetFloat(Section, TEXT("CameraPositionX"), Camera.Position.X);
ConfigFile.GetFloat(Section, TEXT("CameraPositionY"), Camera.Position.Y);
ConfigFile.GetFloat(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
ConfigFile.GetFloat(Section, TEXT("CameraRotationPitch"), Camera.Rotation.Pitch);
ConfigFile.GetFloat(Section, TEXT("CameraRotationRoll"), Camera.Rotation.Roll);
ConfigFile.GetFloat(Section, TEXT("CameraRotationYaw"), Camera.Rotation.Yaw);
ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
TArray<FString> SubSections;
SensorName.ParseIntoArray(SubSections, TEXT("/"), true);
check(SubSections.Num() > 0);
FString Section = S_CARLA_SENSOR;
Callback(Section);
for (FString &SubSection : SubSections) {
Section += TEXT("/");
Section += SubSection;
Callback(Section);
}
}
static void ValidateCameraDescription(UCameraDescription &Camera)
static FString GetSensorType(
const FIniFile &ConfigFile,
const FString &SensorName)
{
FMath::Clamp(Camera.FOVAngle, 0.001f, 360.0f);
Camera.ImageSizeX = (Camera.ImageSizeX == 0u ? 720u : Camera.ImageSizeX);
Camera.ImageSizeY = (Camera.ImageSizeY == 0u ? 512u : Camera.ImageSizeY);
FString SensorType;
ForEachSectionInName(SensorName, [&](const auto &Section){
ConfigFile.GetString(*Section, TEXT("SensorType"), SensorType);
});
return SensorType;
}
static bool RequestedSemanticSegmentation(const UCameraDescription &Camera)
static void LoadSensorFromConfig(
const FIniFile &ConfigFile,
USensorDescription &Sensor)
{
return (Camera.PostProcessEffect == EPostProcessEffect::SemanticSegmentation);
ForEachSectionInName(Sensor.Name.ToString(), [&](const auto &Section){
Sensor.Load(ConfigFile, Section);
});
}
static void GetLidarDescription(
const MyIniFile &ConfigFile,
const TCHAR* Section,
ULidarDescription &Lidar)
template <typename T>
static T *MakeSensor(UObject *Parent, const FString &Name, const FString &Type)
{
ConfigFile.GetInt(Section, TEXT("LidarPositionX"), Lidar.Position.X);
ConfigFile.GetInt(Section, TEXT("LidarPositionY"), Lidar.Position.Y);
ConfigFile.GetInt(Section, TEXT("LidarPositionZ"), Lidar.Position.Z);
ConfigFile.GetInt(Section, TEXT("LidarRotationPitch"), Lidar.Rotation.Pitch);
ConfigFile.GetInt(Section, TEXT("LidarRotationRoll"), Lidar.Rotation.Roll);
ConfigFile.GetInt(Section, TEXT("LidarRotationYaw"), Lidar.Rotation.Yaw);
auto *Sensor = NewObject<T>(Parent);
Sensor->Name = FName(*Name);
Sensor->Type = Type;
return Sensor;
}
ConfigFile.GetInt(Section, TEXT("Channels"), Lidar.Channels);
ConfigFile.GetFloat(Section, TEXT("Range"), Lidar.Range);
ConfigFile.GetFloat(Section, TEXT("PointsPerSecond"), Lidar.PointsPerSecond);
ConfigFile.GetFloat(Section, TEXT("RotationFrequency"), Lidar.RotationFrequency);
ConfigFile.GetFloat(Section, TEXT("UpperFovLimit"), Lidar.UpperFovLimit);
ConfigFile.GetFloat(Section, TEXT("LowerFovLimit"), Lidar.LowerFovLimit);
ConfigFile.GetBool(Section, TEXT("ShowDebugPoints"), Lidar.ShowDebugPoints);
static USensorDescription *MakeSensor(
const FIniFile &ConfigFile,
UObject *Parent,
const FString &SensorName)
{
const auto SensorType = GetSensorType(ConfigFile, SensorName);
if (SensorType.StartsWith(TEXT("CAMERA_"), ESearchCase::IgnoreCase)) {
return MakeSensor<UCameraDescription>(Parent, SensorName, SensorType);
} else if (SensorType == TEXT("LIDAR_RAY_TRACE")) {
return MakeSensor<ULidarDescription>(Parent, SensorName, SensorType);
} else {
UE_LOG(LogCarla, Error, TEXT("Invalid sensor type '%s'"), *SensorType);
return nullptr;
}
}
static void LoadSettingsFromConfig(
const MyIniFile &ConfigFile,
const FIniFile &ConfigFile,
UCarlaSettings &Settings,
const bool bLoadCarlaServerSection)
{
@ -125,53 +104,19 @@ static void LoadSettingsFromConfig(
ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("WeatherId"), Settings.WeatherId);
ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("SeedVehicles"), Settings.SeedVehicles);
ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("SeedPedestrians"), Settings.SeedPedestrians);
// SceneCapture.
FString Cameras;
ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Cameras"), Cameras);
TArray<FString> CameraNames;
Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
for (const FString &Name : CameraNames) {
auto *Camera = NewObject<UCameraDescription>(&Settings);
Camera->Name = FName(*Name);
check(Camera != nullptr);
GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Camera);
TArray<FString> SubSections;
Name.ParseIntoArray(SubSections, TEXT("/"), true);
check(SubSections.Num() > 0);
FString Section = S_CARLA_SCENECAPTURE;
for (FString &SubSection : SubSections) {
Section += TEXT("/");
Section += SubSection;
GetCameraDescription(ConfigFile, *Section, *Camera);
// Sensors.
FString Sensors;
ConfigFile.GetString(S_CARLA_SENSOR, TEXT("Sensors"), Sensors);
TArray<FString> SensorNames;
Sensors.ParseIntoArray(SensorNames, TEXT(","), true);
for (const FString &Name : SensorNames) {
auto *Sensor = MakeSensor(ConfigFile, &Settings, Name);
if (Sensor != nullptr) {
LoadSensorFromConfig(ConfigFile, *Sensor);
Sensor->Validate();
Settings.bSemanticSegmentationEnabled |= Sensor->RequiresSemanticSegmentation();
Settings.SensorDescriptions.Add(Name, Sensor);
}
ValidateCameraDescription(*Camera);
Settings.bSemanticSegmentationEnabled |= RequestedSemanticSegmentation(*Camera);
Settings.SensorDescriptions.Add(Name, Camera);
}
// Lidars.
FString Lidars;
ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Lidars"), Lidars);
TArray<FString> LidarNames;
Lidars.ParseIntoArray(LidarNames, TEXT(","), true);
for (const FString &Name : LidarNames) {
auto *Lidar = NewObject<ULidarDescription>(&Settings);
Lidar->Name = FName(*Name);
check(Lidar != nullptr);
GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Lidar);
TArray<FString> SubSections;
Name.ParseIntoArray(SubSections, TEXT("/"), true);
check(SubSections.Num() > 0);
FString Section = S_CARLA_SCENECAPTURE;
for (FString &SubSection : SubSections) {
Section += TEXT("/");
Section += SubSection;
GetLidarDescription(ConfigFile, *Section, *Lidar);
}
Settings.SensorDescriptions.Add(Name, Lidar);
}
}
@ -223,7 +168,7 @@ void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
{
UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from string"));
ResetSensorDescriptions();
MyIniFile ConfigFile;
FIniFile ConfigFile;
ConfigFile.ProcessInputFileContents(INIFileContents);
constexpr bool bLoadCarlaServerSection = false;
LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
@ -267,25 +212,12 @@ void UCarlaSettings::LogSettings() const
for (auto i = 0; i < WeatherDescriptions.Num(); ++i) {
UE_LOG(LogCarla, Log, TEXT(" * %d - %s"), i, *WeatherDescriptions[i].Name);
}
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
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));
/// @todo Log sensors
// for (auto &Item : CameraDescriptions) {
// UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
// UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Item.Value.ImageSizeX, Item.Value.ImageSizeY);
// UE_LOG(LogCarla, Log, TEXT("FOV = %f"), Item.Value.FOVAngle);
// UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Item.Value.Position.ToString());
// UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
// UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
// }
// UE_LOG(LogCarla, Log, TEXT("Added %d lidars."), LidarDescriptions.Num());
// for (auto &Item : LidarDescriptions) {
// UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
// UE_LOG(LogCarla, Log, TEXT("Lidar params = ch %f range %f pts %f"), Item.Value.Channels, Item.Value.Range, Item.Value.PointsPerSecond);
// UE_LOG(LogCarla, Log, TEXT("Lidar Position = (%s)"), *Item.Value.Position.ToString());
// UE_LOG(LogCarla, Log, TEXT("Lidar Rotation = (%s)"), *Item.Value.Rotation.ToString());
// }
for (auto &&Sensor : SensorDescriptions) {
Sensor.Value->Log();
}
UE_LOG(LogCarla, Log, TEXT("================================================================================"));
}
@ -324,7 +256,7 @@ void UCarlaSettings::LoadSettingsFromFile(const FString &FilePath, const bool bL
if (FPaths::FileExists(FilePath)) {
UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FilePath);
ResetSensorDescriptions();
const MyIniFile ConfigFile(FilePath);
const FIniFile ConfigFile(FilePath);
constexpr bool bLoadCarlaServerSection = true;
LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
CurrentFileName = FilePath;

39
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp Normal file
View File

@ -0,0 +1,39 @@
// Fill out your copyright notice in the Description page of Project Settings.
#include "Carla.h"
#include "LidarDescription.h"
#include "Util/IniFile.h"
void ULidarDescription::Load(const FIniFile &Config, const FString &Section)
{
Super::Load(Config, Section);
Config.GetInt(*Section, TEXT("Channels"), Channels);
Config.GetFloat(*Section, TEXT("Range"), Range);
Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond);
Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency);
Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit);
Config.GetFloat(*Section, TEXT("LowerFovLimit"), LowerFovLimit);
Config.GetBool(*Section, TEXT("ShowDebugPoints"), ShowDebugPoints);
}
void ULidarDescription::Validate()
{
Channels = (Channels == 0u ? 32u : Channels);
FMath::Clamp(Range, 0.10f, 50000.0f);
PointsPerSecond = (PointsPerSecond == 0u ? 56000u : PointsPerSecond);
FMath::Clamp(RotationFrequency, 0.001f, 50000.0f);
FMath::Clamp(UpperFovLimit, -89.9f, 90.0f);
FMath::Clamp(LowerFovLimit, -90.0f, UpperFovLimit);
}
void ULidarDescription::Log() const
{
Super::Log();
UE_LOG(LogCarla, Log, TEXT("Channels = %d"), Channels);
UE_LOG(LogCarla, Log, TEXT("Range = %f"), Range);
UE_LOG(LogCarla, Log, TEXT("PointsPerSecond = %d"), PointsPerSecond);
UE_LOG(LogCarla, Log, TEXT("RotationFrequency = %f"), RotationFrequency);
UE_LOG(LogCarla, Log, TEXT("UpperFovLimit = %f"), UpperFovLimit);
UE_LOG(LogCarla, Log, TEXT("LowerFovLimit = %f"), LowerFovLimit);
}

38
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
View File

@ -17,37 +17,43 @@ public:
Visitor.Visit(*this);
}
/** Number of lasers */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
int Channels = 32;
virtual void Load(const FIniFile &Config, const FString &Section) final;
/** Measure distance */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000;
virtual void Validate() final;
/** Points generated by all lasers per second */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float PointsPerSecond = 56000;
virtual void Log() const final;
/** Lidar rotation frequency */
/** Number of lasers. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10;
uint32 Channels = 32u;
/** Measure distance. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000.0f;
/** Points generated by all lasers per second. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
uint32 PointsPerSecond = 56000u;
/** Lidar rotation frequency. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float RotationFrequency = 10.0f;
/**
* Upper laser angle, counts from horizontal, positive values means above
* horizontal line
* horizontal line.
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float UpperFovLimit = 10;
float UpperFovLimit = 10.0f;
/**
* Lower laser angle, counts from horizontal, negative values means under
* horizontal line
* horizontal line.
*/
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float LowerFovLimit = -30;
float LowerFovLimit = -30.0f;
/** wether to show debug points of laser hits in simulator */
/** Wether to show debug points of laser hits in simulator. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
bool ShowDebugPoints = false;
};

33
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp Normal file
View File

@ -0,0 +1,33 @@
// 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 "SensorDescription.h"
#include "Util/IniFile.h"
void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
{
unimplemented();
}
void USensorDescription::Load(const FIniFile &Config, const FString &Section)
{
Config.GetFloat(*Section, TEXT("PositionX"), Position.X);
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y);
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z);
Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch);
Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw);
Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll);
}
void USensorDescription::Log() const
{
UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), Name);
UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());
}

19
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
View File

@ -9,6 +9,8 @@
#include "SensorDescriptionVisitor.h"
#include "SensorDescription.generated.h"
class FIniFile;
UCLASS(Abstract)
class USensorDescription : public UObject
{
@ -16,12 +18,27 @@ class USensorDescription : public UObject
public:
virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const {}
virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
virtual void Load(const FIniFile &Config, const FString &Section);
virtual void Validate() {}
virtual bool RequiresSemanticSegmentation() const
{
return false;
}
virtual void Log() const;
/** Display name of the sensor. */
UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
FName Name;
/** Sensor type. */
UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
FString Type;
/** Position relative to the player. */
UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
FVector Position = {170.0f, 0.0f, 150.0f};

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp
View File

@ -18,7 +18,7 @@ static FString PrecipitationTypeToString(EPrecipitationType PrecipitationType)
}
static void LoadPrecipitationType(
const IniFile &ConfigFile,
const FIniFile &ConfigFile,
const TCHAR* Section,
const TCHAR* Key,
EPrecipitationType &Target)
@ -44,7 +44,7 @@ static FString AutoExposureMethodToString(EAutoExposureMethod AutoExposureMethod
}
static void LoadAutoExposureMethod(
const IniFile &ConfigFile,
const FIniFile &ConfigFile,
const TCHAR* Section,
const TCHAR* Key,
EAutoExposureMethod &Target)
@ -59,7 +59,7 @@ static void LoadAutoExposureMethod(
}
}
void FWeatherDescription::ReadFromConfigFile(const IniFile &ConfigFile, const FString &Section)
void FWeatherDescription::ReadFromConfigFile(const FIniFile &ConfigFile, const FString &Section)
{
Name = Section;
#define CARLA_LOAD_FROM_INI(Type, Key) ConfigFile.Get ## Type(*Section, TEXT(#Key), Key);
@ -103,7 +103,7 @@ void FWeatherDescription::ReadFromConfigFile(const IniFile &ConfigFile, const FS
#undef CARLA_LOAD_FROM_INI
}
void FWeatherDescription::WriteToConfigFile(IniFile &ConfigFile) const
void FWeatherDescription::WriteToConfigFile(FIniFile &ConfigFile) const
{
const FString &Section = Name;
ConfigFile.AddSectionIfMissing(Section);

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
View File

@ -9,7 +9,7 @@
#include "CameraPostProcessParameters.h"
#include "WeatherDescription.generated.h"
class IniFile;
class FIniFile;
UENUM(BlueprintType)
enum class EPrecipitationType : uint8
@ -22,9 +22,9 @@ struct FWeatherDescription
{
GENERATED_USTRUCT_BODY()
void ReadFromConfigFile(const IniFile &ConfigFile, const FString &Section);
void ReadFromConfigFile(const FIniFile &ConfigFile, const FString &Section);
void WriteToConfigFile(IniFile &ConfigFile) const;
void WriteToConfigFile(FIniFile &ConfigFile) const;
// ===========================================================================
/// @name Weather

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
View File

@ -12,7 +12,7 @@
/// Wrapper around Unreal's INI file. In get functions, @a Target value is only
/// set if it was present in the INI file, otherwise it keeps its value.
class CARLA_API IniFile : private NonCopyable
class CARLA_API FIniFile : private NonCopyable
{
private:
@ -23,7 +23,7 @@ private:
(source <= std::numeric_limits<TARGET>::max())) {
target = static_cast<TARGET>(source);
} else {
UE_LOG(LogCarla, Error, TEXT("IniFile: Type cast failed"));
UE_LOG(LogCarla, Error, TEXT("FIniFile: Type cast failed"));
}
}
@ -34,9 +34,9 @@ public:
// ===========================================================================
/// @{
IniFile() = default;
FIniFile() = default;
explicit IniFile(const FString &FileName)
explicit FIniFile(const FString &FileName)
{
ConfigFile.Read(FileName);
}