Updated docs and CHANGELOG.

CHANGELOG.md

@@ -8,6 +8,11 @@
   * Fixed gravity measurement bug from IMU sensor
   * OpenDRIVE ingestion bugfixes
   * Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
+  * Added API functions `get_right_vector` and `get_up_vector`
+  * Added parameter to enable/disable pedestrian navigation in standalone mode
+  * Improved mesh split in standalone mode
+  * Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
+
 
 ## CARLA 0.9.9
 

Docs/python_api.md

@@ -1382,6 +1382,8 @@ Additional with applied junction lanes. Complex situations tend to occur at junc
 If __True__, the mesh at junctions will be smoothed to prevent issues where roads blocked other roads. __Default is `True`__.  
 - <a name="carla.OpendriveGenerationParameters.enable_mesh_visibility"></a>**<font color="#f8805a">enable_mesh_visibility</font>** (_bool_)  
 If __True__, the road mesh will be rendered. Setting this to __False__ should reduce the rendering overhead.  __Default is `True`__.  
+- <a name="carla.OpendriveGenerationParameters.enable_pedestrian_navigation"></a>**<font color="#f8805a">enable_pedestrian_navigation</font>** (_bool_)  
+If __True__, Pedestrian navigation will be enabled using Recast tool. For very large maps it is recomended to disable this option. __Default is `True`__.  
 
 ---
 
@@ -1451,6 +1453,12 @@ Degrees around the X-axis.
 <div style="padding-left:30px;margin-top:-25px"></div>- <a name="carla.Rotation.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>)  
 Computes the vector pointing forward according to the orientation of each axis.  
     - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
+- <a name="carla.Rotation.get_right_vector"></a>**<font color="#7fb800">get_right_vector</font>**(<font color="#00a6ed">**self**</font>)  
+Computes the vector pointing to the right according to the orientation of each axis.  
+    - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
+- <a name="carla.Rotation.get_up_vector"></a>**<font color="#7fb800">get_up_vector</font>**(<font color="#00a6ed">**self**</font>)  
+Computes the vector pointing upwards according to the orientation of each axis.  
+    - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
 
 <h5 style="margin-top: -20px">Dunder methods</h5>
 <div style="padding-left:30px;margin-top:-25px"></div>- <a name="carla.Rotation.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**=[carla.Rotation](#carla.Rotation)</font>)  
@@ -1878,6 +1886,12 @@ Translates a 3D point from global to local coordinates using the current transfo
 <div style="padding-left:30px;margin-top:-25px"></div>- <a name="carla.Transform.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>)  
 Computes a forward vector using its rotation.  
     - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
+- <a name="carla.Transform.get_right_vector"></a>**<font color="#7fb800">get_right_vector</font>**(<font color="#00a6ed">**self**</font>)  
+Computes a right vector using its rotation.  
+    - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
+- <a name="carla.Transform.get_up_vector"></a>**<font color="#7fb800">get_up_vector</font>**(<font color="#00a6ed">**self**</font>)  
+Computes an up vector using its rotation.  
+    - **Return:** _[carla.Vector3D](#carla.Vector3D)_  
 
 <h5 style="margin-top: -20px">Dunder methods</h5>
 <div style="padding-left:30px;margin-top:-25px"></div>- <a name="carla.Transform.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**=[carla.Transform](#carla.Transform)</font>)  

LibCarla/source/carla/geom/Math.cpp

@@ -135,6 +135,19 @@ namespace geom {
         -cp * sr};
   }
 
+  Vector3D Math::GetUpVector(const Rotation &rotation) {
+    const float cy = std::cos(ToRadians(rotation.yaw));
+    const float sy = std::sin(ToRadians(rotation.yaw));
+    const float cr = std::cos(ToRadians(rotation.roll));
+    const float sr = std::sin(ToRadians(rotation.roll));
+    const float cp = std::cos(ToRadians(rotation.pitch));
+    const float sp = std::sin(ToRadians(rotation.pitch));
+    return {
+        -cy * sp * cr - sy * sr,
+        -sy * sp * cr + cy * sr,
+        -cp * cr};
+  }
+
   std::vector<int> Math::GenerateRange(int a, int b) {
     std::vector<int> result;
     if (a < b) {

LibCarla/source/carla/geom/Math.h

@@ -113,6 +113,9 @@ namespace geom {
     /// Compute the unit vector pointing towards the Y-axis of @a rotation.
     static Vector3D GetRightVector(const Rotation &rotation);
 
+    /// Compute the unit vector pointing towards the Y-axis of @a rotation.
+    static Vector3D GetUpVector(const Rotation &rotation);
+
     // Helper function to generate a vector of consecutive integers from a to b
     static std::vector<int> GenerateRange(int a, int b);
 

LibCarla/source/carla/geom/Rotation.h

@@ -55,6 +55,10 @@ namespace geom {
       return Math::GetRightVector(*this);
     }
 
+    Vector3D GetUpVector() const {
+      return Math::GetUpVector(*this);
+    }
+
     void RotateVector(Vector3D &in_point) const {
       // Rotates Rz(yaw) * Ry(pitch) * Rx(roll) = first x, then y, then z.
       const float cy = std::cos(Math::ToRadians(yaw));

LibCarla/source/carla/geom/Transform.h

@@ -57,6 +57,10 @@ namespace geom {
       return rotation.GetRightVector();
     }
 
+    Vector3D GetUpVector() const {
+      return rotation.GetUpVector();
+    }
+
     /// Applies this transformation to @a in_point (first translation then rotation).
     void TransformPoint(Vector3D &in_point) const {
       auto out_point = in_point;

PythonAPI/carla/source/libcarla/Geom.cpp

@@ -155,6 +155,8 @@ void export_geom() {
     .def_readwrite("yaw", &cg::Rotation::yaw)
     .def_readwrite("roll", &cg::Rotation::roll)
     .def("get_forward_vector", &cg::Rotation::GetForwardVector)
+    .def("get_right_vector", &cg::Rotation::GetRightVector)
+    .def("get_up_vector", &cg::Rotation::GetUpVector)
     .def("__eq__", &cg::Rotation::operator==)
     .def("__ne__", &cg::Rotation::operator!=)
     .def(self_ns::str(self_ns::self))
@@ -171,6 +173,8 @@ void export_geom() {
       return location;
     }, arg("in_point"))
     .def("get_forward_vector", &cg::Transform::GetForwardVector)
+    .def("get_right_vector", &cg::Transform::GetRightVector)
+    .def("get_up_vector", &cg::Transform::GetUpVector)
     .def("__eq__", &cg::Transform::operator==)
     .def("__ne__", &cg::Transform::operator!=)
     .def(self_ns::str(self_ns::self))

PythonAPI/docs/client.yml

@@ -453,3 +453,7 @@
       type: bool
       doc: >
         If __True__, the road mesh will be rendered. Setting this to __False__ should reduce the rendering overhead.  __Default is `True`__.
+    - var_name: enable_pedestrian_navigation
+      type: bool
+      doc: >
+        If __True__, Pedestrian navigation will be enabled using Recast tool. For very large maps it is recomended to disable this option. __Default is `True`__.

PythonAPI/docs/geom.yml

@@ -255,6 +255,18 @@
       doc: >
         Computes the vector pointing forward according to the orientation of each axis.
     # --------------------------------------
+    - def_name: get_right_vector
+      params:
+      return: carla.Vector3D
+      doc: >
+        Computes the vector pointing to the right according to the orientation of each axis.
+    # --------------------------------------
+    - def_name: get_up_vector
+      params:
+      return: carla.Vector3D
+      doc: >
+        Computes the vector pointing upwards according to the orientation of each axis.
+    # --------------------------------------
     - def_name: __eq__
       return: bool
       params:
@@ -313,6 +325,16 @@
       doc: >
         Computes a forward vector using its rotation.
     # --------------------------------------
+    - def_name: get_right_vector
+      return: carla.Vector3D
+      doc: >
+        Computes a right vector using its rotation.
+    # --------------------------------------
+    - def_name: get_up_vector
+      return: carla.Vector3D
+      doc: >
+        Computes an up vector using its rotation.
+    # --------------------------------------
     - def_name: __eq__
       return: bool
       params: