From d9624f6616dfc97912a865b5db49feedaf32a809 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 1 Dec 2017 19:27:27 +0100 Subject: [PATCH 001/121] Adding the benchmark to the client, a first big step. --- PythonClient/benchmarks/__init__.py | 0 PythonClient/benchmarks/agent.py | 72 ++++ PythonClient/benchmarks/benchmark.py | 309 +++++++++++++++ PythonClient/benchmarks/corl.py | 137 +++++++ PythonClient/benchmarks/experiment.py | 37 ++ PythonClient/benchmarks/metrics.py | 292 ++++++++++++++ PythonClient/carla/planner/astar.py | 145 +++++++ PythonClient/carla/planner/bezier.py | 37 ++ PythonClient/carla/planner/graph.py | 152 ++++++++ PythonClient/carla/planner/planner.py | 541 ++++++++++++++++++++++++++ PythonClient/run_benchmark.py | 77 ++++ 11 files changed, 1799 insertions(+) create mode 100644 PythonClient/benchmarks/__init__.py create mode 100644 PythonClient/benchmarks/agent.py create mode 100644 PythonClient/benchmarks/benchmark.py create mode 100644 PythonClient/benchmarks/corl.py create mode 100644 PythonClient/benchmarks/experiment.py create mode 100644 PythonClient/benchmarks/metrics.py create mode 100644 PythonClient/carla/planner/astar.py create mode 100644 PythonClient/carla/planner/bezier.py create mode 100644 PythonClient/carla/planner/graph.py create mode 100644 PythonClient/carla/planner/planner.py create mode 100644 PythonClient/run_benchmark.py diff --git a/PythonClient/benchmarks/__init__.py b/PythonClient/benchmarks/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/PythonClient/benchmarks/agent.py b/PythonClient/benchmarks/agent.py new file mode 100644 index 000000000..a0d450307 --- /dev/null +++ b/PythonClient/benchmarks/agent.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python2 +# -*- coding: utf-8 -*- +""" +Created on Sat Jun 10 19:12:37 2017 + +@author: german,felipecode +""" +from __future__ import print_function +import time +import math +from carla import sensor +from carla.client import make_carla_client +from carla.sensor import Camera +from carla.settings import CarlaSettings +from carla.tcp import TCPConnectionError +from carla.util import print_over_same_line +from carla.planner.planner import Planner + +from carla.carla_server_pb2 import Control + + + +class Agent(object, ): + def __init__(self, **kwargs): + import os + dir_path = os.path.dirname(__file__) + + planner = Planner(dir_path+'/../planner/' + city_name + '.txt',\ + dir_path+'/../planner/' + city_name + '.png') + + + + def get_initial_distance(self): + + _,path_distance=planner.get_next_command([positions[start_point].location.x\ + ,positions[start_point].location.y,22],[positions[start_point].orientation.x\ + ,positions[start_point].orientation.y,22],[positions[end_point].location.x\ + ,positions[end_point].location.y,22],(1,0,0)) + # We calculate the timout based on the distance + + return path_distance + + + # Function to be redefined by the AI. + def run_step(self, data): + pass + + + +""" + def compute_distance(self, curr, prev, target): + # no history info + if(prev[0] == -1 and prev[1] == -1): + distance = math.sqrt((curr[0] - target[0])*(curr[0] - target[0]) + (curr[1] - target[1])*(curr[1] - target[1])) + else: + # distance point to segment + v1 = [target[0]-curr[0], target[1]-curr[1]] + v2 = [prev[0]-curr[0], prev[1]-curr[1]] + + w1 = v1[0]*v2[0] + v1[1]*v2[1] + w2 = v2[0]*v2[0] + v2[1]*v2[1] + t_hat = w1 / (w2 + 1e-4) + t_start = min(max(t_hat, 0.0), 1.0) + + s = [0, 0] + s[0] = curr[0] + t_start * (prev[0] - curr[0]) + s[1] = curr[1] + t_start * (prev[1] - curr[1]) + distance = math.sqrt((s[0] - target[0])*(s[0] - target[0]) + (s[1] - target[1])*(s[1] - target[1])) + + + return distance +""" diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py new file mode 100644 index 000000000..11b13d1f6 --- /dev/null +++ b/PythonClient/benchmarks/benchmark.py @@ -0,0 +1,309 @@ + +from .metrics import plot_summary + +class Benchmark(object,): + + # Param @name to be used for saving purposes + def __init__(self,name): + self._base_name = name # Sends a base name, the rest will be saved with respect to what the episode was about + self._dict_stats = {'exp_id':-1, + 'rep':-1, + 'weather':-1, + 'start_point':-1, + 'end_point':-1, + 'result':-1, + 'initial_distance':-1, + 'final_distance':-1, + 'final_time':-1, + 'time_out':-1 + + + } + with open(self._base_name + self._suffix_name , 'wb') as ofd: + + w = csv.DictWriter(ofd, self._dict_stats.keys()) + w.writeheader() + + + self._dict_rewards = { + 'exp_id':-1, + 'rep':-1, + 'weather':-1, + 'collision_gen':-1, + 'collision_ped':-1, + 'collision_car':-1, + 'lane_intersect':-1, + 'sidewalk_intersect':-1, + 'pos_x':-1, + 'pos_y':-1 + } + + + def run_navigation_episode(self, agent,carla, time_out, target): + + + curr_x = -1 + curr_y = -1 + prev_x = -1 + prev_y = -1 + measurements,sensor_data= carla.read_data() + carla.send_control(Control()) + t0 = measurements.game_timestamp + t1=t0 + success = False + step = 0 + accum_lane_intersect = 0.0 + accum_sidewalk_intersect = 0.0 + distance = 100000 + measurement_vec=[] + while((t1-t0) < (time_out*1000) and not success): + capture_time = time.time() + measurements,sensor_data = carla.read_data() + print (sensor_data) + print (measurements) + print (time.time()-capture_time) + control = agent.run_step(measurements,sensor_data,target) + print ('STEER ',control.steer,'GAS ',control.throttle,'Brake ',control.brake) + carla.send_control(control) + + + # meassure distance to target + + prev_x = curr_x + prev_y = curr_y + curr_x = measurements.player_measurements.transform.location.x + curr_y = measurements.player_measurements.transform.location.y + + + measurement_vec.append(measurements.player_measurements) + + t1 = measurements.game_timestamp + print (t1-t0) + + # accumulate layout related signal + # accum_lane_intersect += reward.road_intersect + #accum_sidewalk_intersect += reward.sidewalk_intersect + step += 1 + # This distance is wrong + + agent.compute_distance() + #distance = self.compute_distance([curr_x, curr_y], [prev_x, prev_y], [target.location.x, target.location.y]) + # debug + print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % (float(distance), curr_x, curr_y, target.location.x, target.location.y)) + + if(distance < 200.0): + success = True + + + + if(success): + return (1, measurement_vec, float(t1-t0)/1000.0,distance) + else: + return (0, measurement_vec, time_out,distance) + + + def benchmark_agent(self,agent,carla,starting_position=0): + + + + experiments = self._build_experiments() # Returns a experiment class that is build from a benchmark inherited class + self._suffix_name = self._get_names(experiments[starting_position:]) # The fixed name considering all the experiments being run + + + for experiment in experiments[starting_position:]: + + + self.write_experiment(experiment) # write the experiment being run + + + #poses_exp = start_goal_poses[experiment_id] + #repetitions = repetitions_per_experiment[experiment_id] + #pedestrians_exp = pedestrians[experiment_id] + #ehicles_exp = vehicles[experiment_id] + + #for rep in range(repetitions): # CONTROL REPETITION INSIDE EXPERIMENT ??? + + # for the different weathers + #for weather_cond in weathers: + # let's go through all the starting-goal positions of the experiment + + + + + positions = carla.load_settings(experiment.conditions).player_start_spots + + for pose in experiment.poses: + for rep in experiment.repetitions: + + trajectory = experiment.poses + + #ped = pedestrians_exp[i] + #vehic = vehicles_exp[i] + + start_point = trajectory[0] + end_point = trajectory[1] + + carla.start_episode(start_point) + + print('======== !!!! ==========') + + path_distance = agent.get_initial_distance(positions[start_point],positions[end_point]) + + time_out = self._calculate_time_out(path_distance) + # running the agent + (result, reward_vec, final_time, remaining_distance) = self.run_until(agent,carla,time_out,positions[end_point]) + + + + # compute stats for the experiment + + self.write_summary_results(experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result) + + + #rw.writerow(dict_rewards) + + self.write_reward_results(reward_vec) + + + + # save results of the experiment + #list_stats.append(dict_stats) + #print (dict_stats) + #w.writerow(dict_stats) + + + if(result > 0): + print('+++++ Target achieved in %f seconds! +++++' % final_time) + else: + print('----- Tmeout! -----') + + return list_stats + + + + + def write_details(self): + pass + + def write_summary_results(self,experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result): + + self._dict_stats['exp_id'] = experiment.id + self._dict_stats['rep'] = rep + self._dict_stats['weather'] = experiment.Conditions.WeatherId + self._dict_stats['start_point'] = pose[0] + self._dict_stats['end_point'] = pose[1] + self._dict_stats['result'] = result + self._dict_stats['initial_distance'] = path_distance + self._dict_stats['final_distance'] = remaining_distance + self._dict_stats['final_time'] = final_time + self._dict_stats['time_out'] = time_out + + + + with open(self._base_name + self._suffix_name , 'a+') as ofd: + + w = csv.DictWriter(ofd, self._dict_stats.keys()) + + + w.writerow(dict_stats) + + + + def write_reward_results(self,experiment,rep,reward_vec): + + with open('rewards_' + self._base_name + self._suffix_name , 'a+') as ofd: + + rw = csv.DictWriter(rfd, dict_rewards.keys()) + rw.writeheader() + + + for i in range(len(reward_vec)): + dict_rewards['exp_id'] = experiment.id + dict_rewards['rep'] = rep + dict_rewards['weather'] = experiment.Conditions.WeatherId + dict_rewards['collision_gen'] = reward_vec[i].collision_other + dict_rewards['collision_ped'] = reward_vec[i].collision_pedestrians + dict_rewards['collision_car'] = reward_vec[i].collision_vehicles + dict_rewards['lane_intersect'] = reward_vec[i].intersection_otherlane + dict_rewards['sidewalk_intersect'] = reward_vec[i].intersection_offroad + dict_rewards['pos_x'] = reward_vec[i].transform.location.x + dict_rewards['pos_y'] = reward_vec[i].transform.location.y + + rw.writerow(dict_rewards) + + + + + + def plot_summary_test(self): + + + summary_weathers = {'train_weather': [1,3,6,8]} + + summary = plot_summary(self._base_name + self._suffix_name,summary_weathers, ) + + + def plot_summary_train(self): + + + summary_weathers = {'test_weather': [4,14]} + + summary = plot_summary(self._base_name + self._suffix_name,summary_weathers) + + + + # To be redefined on subclasses on how to calculate timeout for an episode + def _calculate_time_out(self,distance): + return 0 + + # To be redefined on subclasses + def build_experiments(self): + pass + + + def _get_experiments(self,experiments): + + name_cat ='_t' + for experiment in experiments: + + name_cat += str(experiment.id) + '.' + + name_cat ='_w' + + for experiment in experiments: + + name_cat += str(experiment.Conditions.WeatherId) +'.' + + + return name_cat + + + + +""" + w = csv.DictWriter(ofd, dict_stats.keys()) + w.writeheader() + rw = csv.DictWriter(rfd, dict_rewards.keys()) + rw.writeheader() + + + + carla = opt_dict['CARLA'] + width = opt_dict['WIDTH'] + height = opt_dict['HEIGHT'] + host = opt_dict['HOST'] + port = opt_dict['PORT'] + + output_summary = opt_dict['OUTPUT_SUMMARY'] + runnable = opt_dict['RUNNABLE'] + experiments_to_run = opt_dict['EXPERIMENTS_TO_RUN'] + pedestrians = opt_dict['PEDESTRIANS'] + vehicles = opt_dict['VEHICLES'] + repetitions_per_experiment = opt_dict['REPETITIONS'] + weathers = opt_dict['WEATHERS'] + start_goal_poses = opt_dict['START_GOAL_POSES'] + cameras = opt_dict['CAMERAS'] + + list_stats = [] + +""" diff --git a/PythonClient/benchmarks/corl.py b/PythonClient/benchmarks/corl.py new file mode 100644 index 000000000..c7b032493 --- /dev/null +++ b/PythonClient/benchmarks/corl.py @@ -0,0 +1,137 @@ + +from .benchmark import Benchmark +from .experiment import Experiment + + +# Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. +# This is the same timeout as used on the CoRL paper. + + + +class CoRL(Benchmark): + + def _calculate_time_out(self,distance): + return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 + + def _poses_town01(self): + + return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\ + [68,50],[61,59],[47,64],[147,90],[33,87],\ + [26,19],[80,76],[45,49],[55,44],[29,107],\ + [95,104],[34,84],[51,67],[22,17],[91,148],\ + [20,107],[78,70],[95,102],[68,44],[45,69]], + + [[138,17],[46,16],[26,9],[42,49],[140,26],\ + [85,97],[65,133],[137,51],[76,66],[46,39],\ + [40,60],[1,28],[4,129],[121,107],[2,129],\ + [78,44],[68,85],[41,102],[95,70],[68,129],\ + [84,69],[47,79],[110,15],[130,17],[0,17]], + + [[105,29],[27,130],[102,87],[132,27],[24,44],\ + [96,26],[34,67],[28,1],[140,134],[105,9],\ + [148,129],[65,18],[21,16],[147,97],[42,51],\ + [30,41],[18,107],[69,45],[102,95],[18,145],\ + [111,64],[79,45],[84,69],[73,31],[37,81]], + + [[105,29],[27,130],[102,87],[132,27],[24,44],\ + [96,26],[34,67],[28,1],[140,134],[105,9],\ + [148,129],[65,18],[21,16],[147,97],[42,51],\ + [30,41],[18,107],[69,45],[102,95],[18,145],\ + [111,64],[79,45],[84,69],[73,31],[37,81]] + + ] + + def _poses_town02(self): + + return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ + [64, 66], [78, 76],[59,57],[61,18],[35,39],\ + [12,8],[0,18],[75,68],[54,60],[45,49],\ + [46,42],[53,46],[80,29],[65,63],[0,81],\ + [54,63],[51,42],[16,19],[17,26],[77,68]], + + [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ + [58,71],[74,32],[44,0],[71,16],[14,24],\ + [34,11],[43,14],[75,16],[80,21],[3,23],\ + [75,59],[50,47],[11,19],[77,34],[79,25] ,\ + [40,63],[58,76],[79,55],[16,61],[27,11]], + + [[19,66],[79,14],[19,57],[23,1],\ + [53,76],[42,13],[31,71],[33,5],\ + [54,30],[10,61],[66,3],[27,12],\ + [79,19],[2,29],[16,14],[5,57],\ + [70,73],[46,67],[57,50],[61,49],[21,12],\ + [51,81],[77,68],[56,65],[43,54]], + + [[19,66],[79,14],[19,57],[23,1],\ + [53,76],[42,13],[31,71],[33,5],\ + [54,30],[10,61],[66,3],[27,12],\ + [79,19],[2,29],[16,14],[5,57],\ + [70,73],[46,67],[57,50],[61,49],[21,12],\ + [51,81],[77,68],[56,65],[43,54]] + + ] + + + def build_experiments(self,town): + + + # We set the camera that is going to be used for all experiments + camera = Camera('CameraRGB') + camera.set(CameraFOV=100) + + + camera.set_image_size(800, 600) + + camera.set_position(200, 0, 140) + camera.set_rotation(-15.0,0,0) + + weathers = [1,3,6,8,4,14] + if town == 'Town01': + poses_tasks = self._poses_town01() + vehicles_tasks =[0,0,0,20] + pedestrians_tasks = [0,0,0,50] + else: + poses_tasks = self._poses_town02() + vehicles_tasks =[0,0,0,15] + pedestrians_tasks = [0,0,0,50] + + + + experiments_vector = [] + + + for weather in weathers: + + + for iteration in range(len(poses_tasks)): + + poses = poses_tasks[iteration] + vehicles = vehicles_tasks[iteration] + pedestrians = pedestrians_tasks[iteration] + + + + conditions = CarlaSettings() + conditions.set( + SynchronousMode=True, + SendNonPlayerAgentsInfo=True, + NumberOfVehicles=vehicles, + NumberOfPedestrians=pedestrians, + WeatherId=weather, + SeedVehicles=123456789, + SeedPedestrians=123456789 + ) + # Add all the cameras that were set for this experiments + + conditions.add_sensor(camera) + + experiment = Experiment() + experiment.set( + Conditions=conditions, + Poses= poses, + Id = iteration, + Repetions = 1 + ) + experiments_vector.append(experiment) + + return experiments_vector diff --git a/PythonClient/benchmarks/experiment.py b/PythonClient/benchmarks/experiment.py new file mode 100644 index 000000000..3d26052c3 --- /dev/null +++ b/PythonClient/benchmarks/experiment.py @@ -0,0 +1,37 @@ + +from carla.settings import CarlaSettings +from carla.sensor import Camera + +class Experiment(object): + + def __init__(self,**kwargs): + self.Id = '' + self.Conditions = CarlaSettings() + self.Poses = [[]] + self.Repetitions = 1 + + #self. ,vehicles,pedestrians,weather,cameras + + + def set(self, **kwargs): + for key, value in kwargs.items(): + if not hasattr(self, key): + raise ValueError('Experiment: no key named %r' % key) + setattr(self, key, value) + + @property + def name(self): + return self.Id + + @property + def conditions(self): + return self.Conditions + + @property + def poses(self): + return self.Poses + + @property + def repetitions(self): + return self.Repetitions + diff --git a/PythonClient/benchmarks/metrics.py b/PythonClient/benchmarks/metrics.py new file mode 100644 index 000000000..3e8bf2859 --- /dev/null +++ b/PythonClient/benchmarks/metrics.py @@ -0,0 +1,292 @@ + +import numpy as np +import math +import matplotlib.pyplot as plt + + +import argparse +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) +flatten = lambda l: [item for sublist in l for item in sublist] + + + +def task_complete_percentages(data_matrix): + + complete_per = [] + pos_ant =0 + for pos in reset_positions: + complete_per.append(sum(data_matrix[pos_ant:pos,1])/len(reset_positions)) + pos_ant =pos + + return complete_per + +def task_average_time_percentages(data_matrix,reset_positions): + + complete_per = [] + pos_ant =0 + for pos in reset_positions: + complete_per.append(sum(data_matrix[pos_ant:pos,0])/25.0) + pos_ant =pos + + return complete_per + + +def get_colisions(selected_matrix,header): + + count_gen =0 + count_ped =0 + count_car = 0 + i=1 + + while i < selected_matrix.shape[0]: + if (selected_matrix[i,header.index('collision_gen')] - selected_matrix[(i-10),header.index('collision_gen')]) > 40000: + count_gen+=1 + i+=20 + i+=1 + + + i=1 + while i < selected_matrix.shape[0]: + if (selected_matrix[i,header.index('collision_car')] - selected_matrix[(i-10),header.index('collision_car')]) > 40000: + count_car+=1 + i+=30 + i+=1 + + + i=1 + while i < selected_matrix.shape[0]: + if (selected_matrix[i,header.index('collision_ped')] - selected_matrix[i-5,header.index('collision_ped')]) > 30000: + count_ped+=1 + i+=100 + i+=1 + + + return count_gen,count_car,count_ped + +def get_distance_traveled(selected_matrix,header): + + prev_x = selected_matrix[0,header.index('pos_x')] + prev_y = selected_matrix[0,header.index('pos_y')] + + i =1 + acummulated_distance =0 + while i < selected_matrix.shape[0]: + + x = selected_matrix[i,header.index('pos_x')] + y = selected_matrix[i,header.index('pos_y')] + + + acummulated_distance += sldist((x,y),(prev_x,prev_y)) + #print sldist((x,y),(prev_x,prev_y)) + + prev_x =x + prev_y =y + + i+=1 + return (float(acummulated_distance)/float(100*1000)) + +def get_end_positions(data_matrix): + + + i=0 + end_positions_vec = [] + accumulated_time = 0 + while i < data_matrix.shape[0]: + + end_positions_vec.append(accumulated_time) + accumulated_time += data_matrix[i,2]*10 + i+=1 + + return end_positions_vec + + +def is_car_static(pos,reward_matrix): + + + x = reward_matrix[pos,0] + y = reward_matrix[pos,1] + + prev_x = reward_matrix[pos,0] + prev_y = reward_matrix[pos,1] + + if sldist((x,y),(prev_x,prev_y)) > 100: + return False + else: + return True + + + + + + +def get_end_positions_state(end_positions,data_matrix, reward_matrix): + + + vector_of_infractions = [0,0,0,0] # Inf1+inf3 , inf2+inf3 or inf3, , inf1+inf4, timeout + + + for i in range(len(end_positions)): + pos = int(end_positions[i] -20) + + if data_matrix[i,1] == 0: # if it failed, lets find the reason + + if reward_matrix[pos,4] > 30000 and is_car_static(pos,reward_matrix): # If it crashed_general + + if reward_matrix[pos,5] > 0.4: # Check if it is out of road + # Case 0 + vector_of_infractions[0] +=1 + else: # Check it is out of lane or whaever + vector_of_infractions[1] +=1 + + + + + + + elif reward_matrix[pos,2] > 30000 and is_car_static(pos,reward_matrix): + + + if reward_matrix[pos,6] > 0.1: # Check if it is out of lane + vector_of_infractions[2]+=1 + + else: # Likely that the it bumped the car but it didn't bother + vector_of_infractions[3]+=1 + + else: # TimeOUt + vector_of_infractions[3]+=1 + + + return vector_of_infractions + + + + + +def get_out_of_road_lane(selected_matrix,header): + + count_road =0 + count_lane =0 + + + i=0 + + while i < selected_matrix.shape[0]: + #print selected_matrix[i,6] + if (selected_matrix[i,header.index('sidewalk_intersect')] - selected_matrix[(i-10),header.index('sidewalk_intersect')]) > 0.3: + count_road+=1 + i+=20 + if i >= selected_matrix.shape[0]: + break + + if (selected_matrix[i,header.index('lane_intersect')] - selected_matrix[(i-10),header.index('lane_intersect')]) > 0.4: + count_lane+=1 + i+=20 + + i+=1 + + + + + return count_lane,count_road + +def print_infractions(infractions): + print ' Killometers Without Pedestrians Colision - > ',1.0/(infractions[4]+0.0001) + print ' Average Colision',3.0/(infractions[4]+infractions[3] + infractions[2]+0.0001) + print ' Killometers Without Car Colision - > ',1.0/(infractions[3]+0.0001) + print ' Killometers Without Other Colision - > ',1.0/(infractions[2]+0.0001) + print ' Killometers Without Crossing Lane - > ',1.0/(infractions[0]+0.0001) + print ' Killometers Without Going to Sidewalk - > ',1.0/(infractions[1]+0.0001) + print ' Average Infraction ',2.0/(infractions[0]+infractions[1]+0.0001) + + +def plot_summary(file,summary_weathers): + + intervention_acc =[0,0,0,0,0] + completions_acc = [0,0,0,0] + infractions_vec = [0,0,0,0,0] + + compute_infractions = True + #,'test_weather':[4,14] + # 'test_weather':[4,14] + + #tasks =[0] + #tasks =[0,1,2,3] + #weathers = [1,3,6,8,2,14] + #for file in files_parsed: + f = open(file, "rb") + header = f.readline() + header= header.split(',') + header[-1] = header[-1][:-2] + f.close() + print header + f = open('rewards_' + file, "rb") + header_rewards = f.readline() + header_rewards= header_rewards.split(',') + header_rewards[-1] = header_rewards[-1][:-2] + f.close() + print header_rewards + data_matrix = np.loadtxt(open(path + file, "rb"), delimiter=",", skiprows=1) + + tasks = np.unique(data_matrix[:,header.index('exp_id')]) + + reward_matrix = np.loadtxt(open(path + 'rewards_file_' + file, "rb"), delimiter=",", skiprows=1) + + for t in tasks: + task_data_matrix = data_matrix[data_matrix[:,header.index('exp_id')]== t] + weathers = np.unique(task_data_matrix[:,header.index('weather')]) + summaries = {} + for sw in summary_weathers: + summaries[sw] = {'completion': 0., 'infractions': np.zeros(5, dtype=np.float), 'num_weathers': 0} + for w in weathers: + + task_data_matrix =data_matrix[np.logical_and(data_matrix[:,header.index('exp_id')]== t, data_matrix[:,header.index('weather')]== w)] + if compute_infractions: + task_reward_matrix =reward_matrix[np.logical_and(reward_matrix[:,header_rewards.index('exp_id')]== float(t), reward_matrix[:,header_rewards.index('weather')]== float(w))] + + completed_episodes = sum(task_data_matrix[:,header.index('result')])/task_data_matrix.shape[0] + print 'Task ',t , 'Weather', w + + print ' Entire Episodes Completed (%) - > ', completed_episodes + print '' + + #completions_acc = [sum(x) for x in zip(completions, completions_acc)] + + for sw in summary_weathers: + if w in summary_weathers[sw]: + summaries[sw]['completion'] += completed_episodes + summaries[sw]['num_weathers'] += 1 + + if compute_infractions: + print ' ==== Infraction Related =====' + km_run = get_distance_traveled(task_reward_matrix,header_rewards) + print ' Drove (KM) - > ', km_run + lane_road = get_out_of_road_lane(task_reward_matrix,header_rewards) + colisions = get_colisions(task_reward_matrix,header_rewards) + infractions = [lane_road[0]/km_run,lane_road[1]/km_run,colisions[0]/km_run,colisions[1]/km_run,colisions[2]/km_run] + print_infractions(infractions) + + for sw in summary_weathers: + if w in summary_weathers[sw]: + # print summaries[sw] + # print infractions + summaries[sw]['infractions'] += np.array(infractions) + + print '\n\n >>> Task', t, 'summary <<<\n\n' + for sw in summary_weathers: + print sw, summary_weathers[sw] + print 'Num weathers', summaries[sw]['num_weathers'] + print 'Avg completion', summaries[sw]['completion']/summaries[sw]['num_weathers'] + print 'Avg infractions' + print_infractions(summaries[sw]['infractions']/summaries[sw]['num_weathers']) + # + # + #infractions_vec = [sum(x) for x in zip(infractions, infractions_vec)] + #print 'Non_Colisions/Km', (infractions[1]+ infractions[0])/2.0 ,'Lane Cross/Km ',infractions[0],'Side Cross/Km ',infractions[1],'Col Gen /Km ',infractions[2]\ + #,'Col Ped /Km ',infractions[3],'Col Ped /Km ',infractions[4], 'Acidents/Km ', (infractions[4] +infractions[2] + infractions[3])/3,\ + #'total', 1/((infractions[4] +infractions[2] + infractions[3] + infractions[1] + infractions[0])/5.0) + + return summaries + + + + diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py new file mode 100644 index 000000000..e239247ad --- /dev/null +++ b/PythonClient/carla/planner/astar.py @@ -0,0 +1,145 @@ +import heapq + + +class Cell(object): + def __init__(self, x, y, reachable): + """Initialize new cell. + + @param reachable is cell reachable? not a wall? + @param x cell x coordinate + @param y cell y coordinate + @param g cost to move from the starting cell to this cell. + @param h estimation of the cost to move from this cell + to the ending cell. + @param f f = g + h + """ + self.reachable = reachable + self.x = x + self.y = y + self.parent = None + self.g = 0 + self.h = 0 + self.f = 0 + + +class AStar(object): + def __init__(self): + # open list + self.opened = [] + heapq.heapify(self.opened) + # visited cells list + self.closed = set() + # grid cells + self.cells = [] + self.grid_height = None + self.grid_width = None + + def init_grid(self, width, height, walls, start, end): + """Prepare grid cells, walls. + + @param width grid's width. + @param height grid's height. + @param walls list of wall x,y tuples. + @param start grid starting point x,y tuple. + @param end grid ending point x,y tuple. + """ + self.grid_height = height + self.grid_width = width + for x in range(self.grid_width): + for y in range(self.grid_height): + if (x, y) in walls: + reachable = False + else: + reachable = True + self.cells.append(Cell(x, y, reachable)) + self.start = self.get_cell(*start) + self.end = self.get_cell(*end) + + def get_heuristic(self, cell): + """Compute the heuristic value H for a cell. + + Distance between this cell and the ending cell multiply by 10. + + @returns heuristic value H + """ + return 10 * (abs(cell.x - self.end.x) + abs(cell.y - self.end.y)) + + def get_cell(self, x, y): + """Returns a cell from the cells list. + + @param x cell x coordinate + @param y cell y coordinate + @returns cell + """ + return self.cells[x * self.grid_height + y] + + def get_adjacent_cells(self, cell): + """Returns adjacent cells to a cell. + + Clockwise starting from the one on the right. + + @param cell get adjacent cells for this cell + @returns adjacent cells list. + """ + cells = [] + if cell.x < self.grid_width-1: + cells.append(self.get_cell(cell.x+1, cell.y)) + if cell.y > 0: + cells.append(self.get_cell(cell.x, cell.y-1)) + if cell.x > 0: + cells.append(self.get_cell(cell.x-1, cell.y)) + if cell.y < self.grid_height-1: + cells.append(self.get_cell(cell.x, cell.y+1)) + return cells + + def get_path(self): + cell = self.end + path = [(cell.x, cell.y)] + while cell.parent is not self.start: + cell = cell.parent + path.append((cell.x, cell.y)) + + path.append((self.start.x, self.start.y)) + path.reverse() + return path + + def update_cell(self, adj, cell): + """Update adjacent cell. + + @param adj adjacent cell to current cell + @param cell current cell being processed + """ + adj.g = cell.g + 10 + adj.h = self.get_heuristic(adj) + adj.parent = cell + adj.f = adj.h + adj.g + + def solve(self): + """Solve maze, find path to ending cell. + + @returns path or None if not found. + """ + # add starting cell to open heap queue + heapq.heappush(self.opened, (self.start.f, self.start)) + while len(self.opened): + # pop cell from heap queue + f, cell = heapq.heappop(self.opened) + # add cell to closed list so we don't process it twice + self.closed.add(cell) + # if ending cell, return found path + if cell is self.end: + return self.get_path() + # get adjacent cells for cell + adj_cells = self.get_adjacent_cells(cell) + for adj_cell in adj_cells: + if adj_cell.reachable and adj_cell not in self.closed: + if (adj_cell.f, adj_cell) in self.opened: + # if adj cell in open list, check if current path is + # better than the one previously found + # for this adj cell. + if adj_cell.g > cell.g + 10: + self.update_cell(adj_cell, cell) + else: + self.update_cell(adj_cell, cell) + # add adj cell to open list + heapq.heappush(self.opened, (adj_cell.f, adj_cell)) diff --git a/PythonClient/carla/planner/bezier.py b/PythonClient/carla/planner/bezier.py new file mode 100644 index 000000000..04e46d150 --- /dev/null +++ b/PythonClient/carla/planner/bezier.py @@ -0,0 +1,37 @@ +import numpy as np +from scipy.misc import comb + +def bernstein_poly(i, n, t): + """ + The Bernstein polynomial of n, i as a function of t + """ + + return comb(n, i) * ( t**(n-i) ) * (1 - t)**i + + +def bezier_curve(points, nTimes=1000): + """ + Given a set of control points, return the + bezier curve defined by the control points. + + points should be a list of lists, or list of tuples + such as [ [1,1], + [2,3], + [4,5], ..[Xn, Yn] ] + nTimes is the number of time steps, defaults to 1000 + + See http://processingjs.nihongoresources.com/bezierinfo/ + """ + + nPoints = len(points) + xPoints = np.array([p[0] for p in points]) + yPoints = np.array([p[1] for p in points]) + + t = np.linspace(0.0, 1.0, nTimes) + + polynomial_array = np.array([ bernstein_poly(i, nPoints-1, t) for i in range(0, nPoints) ]) + + xvals = np.dot(xPoints, polynomial_array) + yvals = np.dot(yPoints, polynomial_array) + + return xvals, yvals diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py new file mode 100644 index 000000000..a3a4d7d4b --- /dev/null +++ b/PythonClient/carla/planner/graph.py @@ -0,0 +1,152 @@ +import math +import numpy as np +from matplotlib import collections as mc +import matplotlib.pyplot as plt + +def string_to_node(string): + vec = string.split(',') + + return (int(vec[0]),int(vec[1])) + +def string_to_floats(string): + vec = string.split(',') + + return (float(vec[0]),float(vec[1]),float(vec[2])) + +def angle_between(v1,v2): + return np.arccos(np.dot(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) +def signal(v1,v2): + return np.cross(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2) + +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + +sldist3 = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2 + (c2[2] - c1[2])**2) + +class Graph(object): + """ + A simple directed, weighted graph + """ + + + + + def __init__(self,graph_file=None): + + + self.nodes = set() + self.angles ={} + self.edges = {} + self.distances = {} + if graph_file != None: + with open(graph_file, 'r') as file: + for i in range(5): + next(file) + for line in file: + + from_node, to_node, d = line.split() + from_node = string_to_node(from_node) + to_node = string_to_node(to_node) + + if from_node not in self.nodes: + self.add_node(from_node) + if to_node not in self.nodes: + self.add_node(to_node) + + + + self.edges.setdefault(from_node,[]) + self.edges[from_node].append(to_node) + self.distances[(from_node, to_node)] = float(d) + + + + def add_node(self, value): + self.nodes.add(value) + + + + def make_orientations(self,node,heading): + + import collections + distance_dic = {} + for node_iter in self.nodes: + if node_iter != node: + distance_dic[sldist(node,node_iter)] = node_iter + + + + + distance_dic = collections.OrderedDict(sorted(distance_dic.items())) + + self.angles[node ] = heading + for k, v in distance_dic.iteritems(): + + #print k + #print v + + start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) + + print start_to_goal + + self.angles[v] = start_to_goal / np.linalg.norm(start_to_goal) + + + def add_edge(self, from_node, to_node, distance): + self._add_edge(from_node, to_node, distance) + + + def _add_edge(self, from_node, to_node, distance): + self.edges.setdefault(from_node, []) + self.edges[from_node].append(to_node) + self.distances[(from_node, to_node)] = distance + + def intersection_nodes(self): + + intersect_nodes = [] + for node in self.nodes: + if len(self.edges[node]) > 2: + intersect_nodes.append(node) + + return intersect_nodes + + # This contains also the non-intersection turns... + + def turn_nodes(self): + + + return self.nodes + + def plot_ori(self,c): + line_len = 1 + print self.angles + lines = [[(p[0], p[1]), (p[0] + line_len*self.angles[p][0], p[1] + \ + line_len*self.angles[p][1])] for p in self.nodes] + lc = mc.LineCollection(lines, linewidth=2,color='green') + fig, ax = plt.subplots() + ax.add_collection(lc) + + + ax.autoscale() + ax.margins(0.1) + + xs = [p[0] for p in self.nodes] + ys = [p[1] for p in self.nodes] + + + plt.scatter(xs, ys,color=c) + + + + def plot(self,c): + + xs = [p[0] for p in self.nodes] + ys = [p[1] for p in self.nodes] + + + plt.scatter(xs, ys,color=c) + + + + + + diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py new file mode 100644 index 000000000..04c72cd12 --- /dev/null +++ b/PythonClient/carla/planner/planner.py @@ -0,0 +1,541 @@ +from graph import * +from PIL import Image +import math +from astar import * +import time +import collections + +compare = lambda x, y: collections.Counter(x) == collections.Counter(y) + +def angle_between(v1,v2): + return np.arccos(np.dot(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) + +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + +def color_to_angle(color): + return ((float(color)/255.0) ) *2*math.pi + + + +class Planner(object): + + # The built graph. This is the exact same graph that unreal builds. This is a generic structure used for many cases + def __init__(self,city_file,map_file): + # read the conversion parameters from the city file + with open(city_file, 'r') as file: + + linewordloffset = file.readline() + # The offset of the world from the zero coordinates ( The coordinate we consider zero) + self.worldoffset = string_to_floats(linewordloffset) + + #WARNING: for now just considering the y angle + lineworldangles = file.readline() + self.angles = string_to_floats(lineworldangles) + #self.worldrotation = np.array([[math.cos(math.radians(self.angles[0])),0,math.sin(math.radians(self.angles[0])) ],[0,1,0],[-math.sin(math.radians(self.angles[0])),0,math.cos(math.radians(self.angles[0]))]]) + + self.worldrotation = np.array([[math.cos(math.radians(self.angles[2])),-math.sin(math.radians(self.angles[2])) ,0.0],[math.sin(math.radians(self.angles[2])),math.cos(math.radians(self.angles[2])),0.0],[0.0,0.0,1.0]]) + + # Ignore for now + lineworscale = file.readline() + + linemapoffset = file.readline() + + # The offset of the map zero coordinate + self.mapoffset = string_to_floats(linemapoffset) + + # the graph resolution. + linegraphres = file.readline() + self.resolution = string_to_node(linegraphres) + + + #This is the bmp map that will be associated with the graph. + #This map contains the navigable paths drawed + self.graph = Graph(city_file) + + self.map_image = Image.open(map_file) + self.map_image.load() + self.map_image = np.asarray(self.map_image, dtype="int32" ) + + + import os + dir_path = os.path.dirname(__file__) + self.central_path_map_image = Image.open(map_file[:-4] +'c.png') + self.central_path_map_image.load() + self.central_path_map_image = np.asarray(self.central_path_map_image, dtype="int32" ) + self.central_path_map_image =self.central_path_map_image[:,:,0] # Just take the red dimension + + self.grid = self.make_grid() + self.walls = self.make_walls() + + + self.previous_source = (0,0) + self.distance = 0 + self.complete_distance = 0 + + #print self.map_image + self.commands = [] + + self.route =[] + + + # The number of game units per pixel + self.pixel_density = 16.43 + #A pixel positions with respect to graph node position is: Pixel = Node*50 +2 + self.node_density = 50.0 + # This function converts the 2d map into a 3D one in a vector. + + + + + + def _draw_line(self,grid,xi,yi,xf,yf): + + if xf< xi: + aux = xi + xi = xf + xf = aux + + if yf< yi: + aux = yi + yi = yf + yf = aux + + + for i in range(xi,xf+1): + + for j in range(yi,yf+1): + + grid[i,j] = 0.0 + + return grid + + def make_grid(self): # The resolution could be easily increased + + + grid = np.ones((self.resolution[0],self.resolution[1])) + + for key,connections in self.graph.edges.iteritems(): + + # draw a line + for con in connections: + + #print key[0],key[1],con[0],con[1] + grid = self._draw_line(grid,key[0],key[1],con[0],con[1]) + #print grid + + + np.set_printoptions( linewidth =206,threshold=np.nan) + + + return grid + + + def make_walls(self): + walls = set() + + for i in range(self.grid.shape[0]): + + for j in range(self.grid.shape[1]): + if self.grid[i,j] == 1.0: + walls.add((i,j)) + + return walls + + def init(self,source,target): + + self.a_star.init_grid(self.resolution[0],self.resolution[1], self.walls,source,target) + + + def solve(self): + return self.a_star.solve() + + + + + # Convert world position into "Graph World" node positions + def make_node(self,worldvertex): + + pixel = self.make_map_world(worldvertex) + + + node = [] + + + + + node.append((pixel[0])/self.node_density - 2) + node.append((pixel[1])/self.node_density - 2 ) + + return tuple(node) + + def make_map_world(self,world): + + relative_location = [] + pixel=[] + + rotation = np.array([world[0],world[1],world[2]]) + rotation = rotation.dot(self.worldrotation) + + + + relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) + relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) + relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) + + + pixel.append(math.floor(relative_location[0]/float(self.pixel_density))) + pixel.append(math.floor(relative_location[1]/float(self.pixel_density))) + + return pixel + def make_map_node(self,node): + pixel = [] + pixel.append((node[0] +2) *self.node_density) + pixel.append((node[1] +2) *self.node_density) + + return pixel + + def make_world_map(self,pixel): + + relative_location =[] + world_vertex = [] + relative_location.append(pixel[0]*self.pixel_density) + relative_location.append(pixel[1]*self.pixel_density) + + world_vertex.append(relative_location[0]+self.mapoffset[0] -self.worldoffset[0]) + world_vertex.append(relative_location[1]+self.mapoffset[1] -self.worldoffset[1]) + world_vertex.append(22) + return world_vertex + + + def make_world_node(self,node): + + return self.make_world_map(self.make_map_node(node)) + + + def get_distance_closest_node(self,pos): + import collections + distance = [] + for node_iter in self.graph.intersection_nodes(): + + distance.append( sldist(node_iter,pos)) + + return sorted(distance)[0] + + def get_distance_closest_node(self,pos): + import collections + distance = [] + for node_iter in self.graph.intersection_nodes(): + + distance.append( sldist(node_iter,pos)) + + return sorted(distance)[0] + + def get_distance_closest_node_route(self,pos,route): + import collections + distance = [] + #if self.graph.intersection_nodes() == set(): + + for node_iter in route: + + if node_iter in self.graph.intersection_nodes(): + + distance.append( sldist(node_iter,pos)) + + if not distance: + + return sldist(route[-1],pos) + return sorted(distance)[0] + + + def get_target_ori(self,target_pos): + + relative_location = [] + pixel=[] + rotation = np.array([target_pos[0],target_pos[1],target_pos[2]]) + rotation = rotation.dot(self.worldrotation) + + #print 'rot ', rotation + + relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) + relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) + relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) + #print 'trans ', relative_location + + pixel.append(math.floor(relative_location[0]/float(self.pixel_density))) + pixel.append(math.floor(relative_location[1]/float(self.pixel_density))) + #print self.map_image.shape + ori = self.map_image[int(pixel[1]),int(pixel[0]),2] + ori = ((float(ori)/255.0) ) *2*math.pi + + #print self.map_image[int(pixel[1]),int(pixel[0]),:] + #print ori + #print (math.cos(ori),math.sin(ori)) + #print exit() + + return (-math.cos(ori),-math.sin(ori)) + + + + + + + + def search(self,x,y): + visit = [[0,1],[0,-1],[1,0],[1,1],[1,-1],[-1,0],[-1,1],[-1,-1]] + c_x,c_y = x,y + scale=1 + while(self.grid[c_x,c_y] !=0 ): + for offset in visit: + c_x,c_y = x + offset[0]*scale,y + offset[1]*scale + + if c_x>= 0 and c_x = 0 and c_y = 0 and node[0] = 0 and node[1] 1.6 and adj !=target) : + self.grid[adj[0],adj[1]] =1.0 + + added_walls.add((adj[0],adj[1])) + self.walls.add((adj[0],adj[1])) + + return added_walls + + def set_grid_direction_target(self,pos,pos_ori,source): + + free_nodes = self.get_adjacent_free_nodes(pos) + + + added_walls =set() + heading_start = np.array([pos_ori[0], pos_ori[1]]) + for adj in free_nodes: + + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1] ]) + angle = angle_between(heading_start,start_to_goal) + + if (angle < 1.0 and adj !=source) : + self.grid[adj[0],adj[1]] =1.0 + + added_walls.add((adj[0],adj[1])) + self.walls.add((adj[0],adj[1])) + + return added_walls + + + #from the shortest path graph, transform it into a list of commands + # @param the sub graph containing the shortest path + # @param Orientation of the car + # returns list of commands ( 3 is left, 4 is right, 5 is straight) + + def graph_to_commands(self, route ): + + commands_list = [] + + for i in range(0,len(route)): + if route[i] not in self.graph.intersection_nodes(): + continue + + current = route[i] + past =route[i-1] + future = route[i+1] + + past_to_current = np.array([current[0]-past[0], current[1]-past[1]]) + current_to_future = np.array([future[0]-current[0], future[1]-current[1]]) + angle =signal(current_to_future,past_to_current) + + command = 0.0 + if angle < -0.1: + command = 4.0 + elif angle > 0.1: + command = 3.0 + else: + command =5.0 + + commands_list.append(command) + + + return commands_list + + def check_command_completed(self,commands,previous_commands): + if compare(commands,previous_commands): + return False,False + elif (len(commands) + 1) < len(previous_commands): + return True,False + + elif len(commands) < len(previous_commands): + + + + return True,compare(commands,previous_commands[1:]) + else: + return True,False + + + + def get_full_distance_route(self,pos,route): + import collections + distance = 0 + #if self.graph.intersection_nodes() == set(): + current_pos = pos + for node_iter in route: + + + + distance += sldist(node_iter,current_pos) + current_pos = node_iter + + + return distance + + + + + + def get_next_command(self,source,source_ori, target,target_ori): + + + node_source = self.make_node(source) + node_target = self.make_node(target) + + source_ori = np.array([source_ori[0],source_ori[1],source_ori[2]]) + source_ori = source_ori.dot(self.worldrotation) + + + # Trunkate ! + node_source = tuple([ int(x) for x in node_source ]) + node_target = tuple([ int(x) for x in node_target ]) + target_ori = self.get_target_ori(target) + # Set to zero if it is less than zero. + + + + target_ori = np.array([target_ori[0],target_ori[1],0]) + target_ori = target_ori.dot(self.worldrotation) + + + node_source =(max(0,node_source[0]),max(0,node_source[1])) + node_source =(min(self.resolution[0]-1,node_source[0]),min(self.resolution[1]-1,node_source[1])) + # is it x or y ? Check to avoid special corner cases + + + if math.fabs(source_ori[0]) > math.fabs(source_ori[1]): + source_ori = (source_ori[0],0.0,0.0) + else: + source_ori = (0.0,source_ori[1],0.0) + + + + node_source = self.search(node_source[0],node_source[1]) + node_target = self.search(node_target[0],node_target[1]) + #print '' + #print node_source + #print node_target + #print self.grid + + # reach the goal + if node_source == node_target: + return 0,0 + + + # This is to avoid computing a new route when inside the route + distance_node = self.get_distance_closest_node(node_source) + + if (distance_node >1 and self.previous_source != node_source) or self.complete_distance ==0: + + #print node_source + #print node_target + added_walls = self.set_grid_direction(node_source,source_ori,node_target) + #print added_walls + added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) + #print added_walls + self.previous_source = node_source + + #print self.grid + + self.a_star =AStar() + self.init(node_source, node_target) + route = self.solve() + #print route # JuSt a Corner Case + if route == None: + for i in added_walls: + self.walls.remove(i) + + self.grid[i[0],i[1]] = 0.0 + added_walls = self.set_grid_direction(node_source,source_ori,node_target) + self.a_star =AStar() + self.init(node_source, node_target) + route = self.solve() + + #print route + + # We recompute the distance based on route + self.distance= self.get_distance_closest_node_route(node_source,route) + self.complete_distance = self.get_full_distance_route(node_source,route)*50.0*16.42 + + for i in added_walls: + self.walls.remove(i) + + self.grid[i[0],i[1]] = 0.0 + + commands = self.graph_to_commands(route) + made_turn,completed_command = self.check_command_completed(commands,self.commands) + + + self.commands = commands + next_node=route[0] + for i in route: + if i in self.graph.nodes: + next_node = i + break + + + + if self.distance > 4: + return 2.0,self.complete_distance + else: + if self.commands: + return self.commands[0],self.complete_distance + else: + return 2.0,self.complete_distance + else: + + if self.distance >4: + return 2.0,self.complete_distance + + if self.commands: + return self.commands[0],self.complete_distance + else: + return 2.0,self.complete_distance + diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py new file mode 100644 index 000000000..0d43c12bf --- /dev/null +++ b/PythonClient/run_benchmark.py @@ -0,0 +1,77 @@ + +import argparse +import logging +import sys + + +from benchmarks.corl import CoRL +from benchmarks.agent import Agent + +from carla.tcp import TCPConnectionError +from carla.client import make_carla_client + + +class Manual(Agent): + def run_step(self, data,target): + control = Control() + control.steer = 0.0 + control.throttle = 0.9 + control.brake = 0.0 + control.hand_brake = False + control.reverse = False + + return control + + +if(__name__ == '__main__'): + + + argparser = argparse.ArgumentParser(description=__doc__) + argparser.add_argument( + '-v', '--verbose', + action='store_true', + dest='debug', + help='print debug information') + argparser.add_argument( + '--host', + metavar='H', + default='localhost', + help='IP of the host server (default: localhost)') + argparser.add_argument( + '-p', '--port', + metavar='P', + default=2000, + type=int, + help='TCP port to listen to (default: 2000)') + + + + args = argparser.parse_args() + + log_level = logging.DEBUG if args.debug else logging.INFO + logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) + + logging.info('listening to server %s:%s', args.host, args.port) + + while True: + try: + with make_carla_client(host, port) as client: + corl= CoRL('test') + agent = Manual() + results = corl.benchmark_agent(agent,carla) + + break + + except TCPConnectionError as error: + logging.error(error) + time.sleep(1) + except Exception as exception: + logging.exception(exception) + sys.exit(1) + + + + + + +# DETECT AN ERROR AND WRITE THE COMPLETE SUMMARY ALREADY \ No newline at end of file From 85d693032ec769da4a8e5719139dbde24fd64ad3 Mon Sep 17 00:00:00 2001 From: felipecode Date: Tue, 5 Dec 2017 14:22:37 +0100 Subject: [PATCH 002/121] benchmark seems to be working a first version. The planner needs further work " ; --- PythonClient/benchmarks/agent.py | 16 +-- PythonClient/benchmarks/benchmark.py | 129 +++++++++---------- PythonClient/benchmarks/corl.py | 13 +- PythonClient/benchmarks/experiment.py | 2 +- PythonClient/carla/client.py | 2 +- PythonClient/carla/planner/Town01Central.png | Bin 0 -> 27332 bytes PythonClient/carla/planner/Town02Central.png | Bin 0 -> 10624 bytes PythonClient/carla/planner/planner.py | 2 +- PythonClient/run_benchmark.py | 19 ++- 9 files changed, 91 insertions(+), 92 deletions(-) create mode 100644 PythonClient/carla/planner/Town01Central.png create mode 100644 PythonClient/carla/planner/Town02Central.png diff --git a/PythonClient/benchmarks/agent.py b/PythonClient/benchmarks/agent.py index a0d450307..7918c74d7 100644 --- a/PythonClient/benchmarks/agent.py +++ b/PythonClient/benchmarks/agent.py @@ -21,21 +21,21 @@ from carla.carla_server_pb2 import Control class Agent(object, ): - def __init__(self, **kwargs): + def __init__(self,city_name, **kwargs): import os dir_path = os.path.dirname(__file__) - planner = Planner(dir_path+'/../planner/' + city_name + '.txt',\ - dir_path+'/../planner/' + city_name + '.png') + self._planner = Planner(dir_path+'/../carla/planner/' + city_name + '.txt',\ + dir_path+'/../carla/planner/' + city_name + '.png') - def get_initial_distance(self): + def get_distance(self,start_point,end_point): - _,path_distance=planner.get_next_command([positions[start_point].location.x\ - ,positions[start_point].location.y,22],[positions[start_point].orientation.x\ - ,positions[start_point].orientation.y,22],[positions[end_point].location.x\ - ,positions[end_point].location.y,22],(1,0,0)) + _,path_distance=self._planner.get_next_command([start_point.location.x\ + ,start_point.location.y,22],[start_point.orientation.x\ + ,start_point.orientation.y,22],[end_point.location.x\ + ,end_point.location.y,22],(1,0,0)) # We calculate the timout based on the distance return path_distance diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py index 11b13d1f6..7424452b9 100644 --- a/PythonClient/benchmarks/benchmark.py +++ b/PythonClient/benchmarks/benchmark.py @@ -1,10 +1,19 @@ from .metrics import plot_summary +try: + from carla import carla_server_pb2 as carla_protocol +except ImportError: + raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') + + +import json, csv, time + class Benchmark(object,): # Param @name to be used for saving purposes - def __init__(self,name): + def __init__(self,city_name,name): + self._city_name = city_name # The name of the city that is going to be used. self._base_name = name # Sends a base name, the rest will be saved with respect to what the episode was about self._dict_stats = {'exp_id':-1, 'rep':-1, @@ -19,10 +28,6 @@ class Benchmark(object,): } - with open(self._base_name + self._suffix_name , 'wb') as ofd: - - w = csv.DictWriter(ofd, self._dict_stats.keys()) - w.writeheader() self._dict_rewards = { @@ -47,7 +52,7 @@ class Benchmark(object,): prev_x = -1 prev_y = -1 measurements,sensor_data= carla.read_data() - carla.send_control(Control()) + carla.send_control(carla_protocol.Control()) t0 = measurements.game_timestamp t1=t0 success = False @@ -59,9 +64,7 @@ class Benchmark(object,): while((t1-t0) < (time_out*1000) and not success): capture_time = time.time() measurements,sensor_data = carla.read_data() - print (sensor_data) - print (measurements) - print (time.time()-capture_time) + control = agent.run_step(measurements,sensor_data,target) print ('STEER ',control.steer,'GAS ',control.throttle,'Brake ',control.brake) carla.send_control(control) @@ -78,17 +81,12 @@ class Benchmark(object,): measurement_vec.append(measurements.player_measurements) t1 = measurements.game_timestamp - print (t1-t0) - # accumulate layout related signal - # accum_lane_intersect += reward.road_intersect - #accum_sidewalk_intersect += reward.sidewalk_intersect + step += 1 - # This distance is wrong - - agent.compute_distance() - #distance = self.compute_distance([curr_x, curr_y], [prev_x, prev_y], [target.location.x, target.location.y]) - # debug + # The distance is based on graph but quite not exact. + distance = agent.get_distance(measurements.player_measurements.transform,target) + print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % (float(distance), curr_x, curr_y, target.location.x, target.location.y)) if(distance < 200.0): @@ -107,51 +105,46 @@ class Benchmark(object,): experiments = self._build_experiments() # Returns a experiment class that is build from a benchmark inherited class - self._suffix_name = self._get_names(experiments[starting_position:]) # The fixed name considering all the experiments being run + self._suffix_name = self._get_experiments_names(experiments[starting_position:]) # The fixed name considering all the experiments being run + with open(self._base_name + self._suffix_name , 'wb') as ofd: + + w = csv.DictWriter(ofd, self._dict_stats.keys()) + w.writeheader() + + + with open('rewards_' + self._base_name + self._suffix_name , 'wb') as rfd: + + rw = csv.DictWriter(rfd, self._dict_rewards.keys()) + rw.writeheader() + + + + self.write_experiment() # write the experiment being run for experiment in experiments[starting_position:]: - self.write_experiment(experiment) # write the experiment being run - - - #poses_exp = start_goal_poses[experiment_id] - #repetitions = repetitions_per_experiment[experiment_id] - #pedestrians_exp = pedestrians[experiment_id] - #ehicles_exp = vehicles[experiment_id] - - #for rep in range(repetitions): # CONTROL REPETITION INSIDE EXPERIMENT ??? - - # for the different weathers - #for weather_cond in weathers: - # let's go through all the starting-goal positions of the experiment - - - positions = carla.load_settings(experiment.conditions).player_start_spots for pose in experiment.poses: - for rep in experiment.repetitions: + for rep in range(experiment.repetitions): - trajectory = experiment.poses - #ped = pedestrians_exp[i] - #vehic = vehicles_exp[i] - start_point = trajectory[0] - end_point = trajectory[1] + start_point = pose[0] + end_point = pose[1] carla.start_episode(start_point) print('======== !!!! ==========') - path_distance = agent.get_initial_distance(positions[start_point],positions[end_point]) + path_distance = agent.get_distance(positions[start_point],positions[end_point]) time_out = self._calculate_time_out(path_distance) # running the agent - (result, reward_vec, final_time, remaining_distance) = self.run_until(agent,carla,time_out,positions[end_point]) + (result, reward_vec, final_time, remaining_distance) = self.run_navigation_episode(agent,carla,time_out,positions[end_point]) @@ -160,18 +153,11 @@ class Benchmark(object,): self.write_summary_results(experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result) - #rw.writerow(dict_rewards) - self.write_reward_results(reward_vec) + self.write_reward_results(experiment,rep,reward_vec) - # save results of the experiment - #list_stats.append(dict_stats) - #print (dict_stats) - #w.writerow(dict_stats) - - if(result > 0): print('+++++ Target achieved in %f seconds! +++++' % final_time) else: @@ -182,8 +168,11 @@ class Benchmark(object,): - def write_details(self): - pass + def write_experiment(self): + + with open(self._get_details() , 'wb') as ofd: + pass + def write_summary_results(self,experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result): @@ -205,31 +194,31 @@ class Benchmark(object,): w = csv.DictWriter(ofd, self._dict_stats.keys()) - w.writerow(dict_stats) + w.writerow(self._dict_stats) def write_reward_results(self,experiment,rep,reward_vec): - with open('rewards_' + self._base_name + self._suffix_name , 'a+') as ofd: + with open('rewards_' + self._base_name + self._suffix_name , 'a+') as rfd: - rw = csv.DictWriter(rfd, dict_rewards.keys()) + rw = csv.DictWriter(rfd, self._dict_rewards.keys()) rw.writeheader() for i in range(len(reward_vec)): - dict_rewards['exp_id'] = experiment.id - dict_rewards['rep'] = rep - dict_rewards['weather'] = experiment.Conditions.WeatherId - dict_rewards['collision_gen'] = reward_vec[i].collision_other - dict_rewards['collision_ped'] = reward_vec[i].collision_pedestrians - dict_rewards['collision_car'] = reward_vec[i].collision_vehicles - dict_rewards['lane_intersect'] = reward_vec[i].intersection_otherlane - dict_rewards['sidewalk_intersect'] = reward_vec[i].intersection_offroad - dict_rewards['pos_x'] = reward_vec[i].transform.location.x - dict_rewards['pos_y'] = reward_vec[i].transform.location.y + self._dict_rewards['exp_id'] = experiment.id + self._dict_rewards['rep'] = rep + self._dict_rewards['weather'] = experiment.Conditions.WeatherId + self._dict_rewards['collision_gen'] = reward_vec[i].collision_other + self._dict_rewards['collision_ped'] = reward_vec[i].collision_pedestrians + self._dict_rewards['collision_car'] = reward_vec[i].collision_vehicles + self._dict_rewards['lane_intersect'] = reward_vec[i].intersection_otherlane + self._dict_rewards['sidewalk_intersect'] = reward_vec[i].intersection_offroad + self._dict_rewards['pos_x'] = reward_vec[i].transform.location.x + self._dict_rewards['pos_y'] = reward_vec[i].transform.location.y - rw.writerow(dict_rewards) + rw.writerow(self._dict_rewards) @@ -240,7 +229,7 @@ class Benchmark(object,): summary_weathers = {'train_weather': [1,3,6,8]} - summary = plot_summary(self._base_name + self._suffix_name,summary_weathers, ) + summary = plot_summary(self._base_name + self._suffix_name,summary_weathers) def plot_summary_train(self): @@ -257,11 +246,11 @@ class Benchmark(object,): return 0 # To be redefined on subclasses - def build_experiments(self): + def _build_experiments(self): pass - def _get_experiments(self,experiments): + def _get_experiments_names(self,experiments): name_cat ='_t' for experiment in experiments: diff --git a/PythonClient/benchmarks/corl.py b/PythonClient/benchmarks/corl.py index c7b032493..17fe61d21 100644 --- a/PythonClient/benchmarks/corl.py +++ b/PythonClient/benchmarks/corl.py @@ -1,7 +1,8 @@ from .benchmark import Benchmark from .experiment import Experiment - +from carla.sensor import Camera +from carla.settings import CarlaSettings # Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. # This is the same timeout as used on the CoRL paper. @@ -10,7 +11,7 @@ from .experiment import Experiment class CoRL(Benchmark): - def _calculate_time_out(self,distance): + def _calculate_time_out(self,path_distance): return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 def _poses_town01(self): @@ -72,7 +73,7 @@ class CoRL(Benchmark): ] - def build_experiments(self,town): + def _build_experiments(self): # We set the camera that is going to be used for all experiments @@ -86,7 +87,7 @@ class CoRL(Benchmark): camera.set_rotation(-15.0,0,0) weathers = [1,3,6,8,4,14] - if town == 'Town01': + if self._city_name == 'Town01': poses_tasks = self._poses_town01() vehicles_tasks =[0,0,0,20] pedestrians_tasks = [0,0,0,50] @@ -130,8 +131,10 @@ class CoRL(Benchmark): Conditions=conditions, Poses= poses, Id = iteration, - Repetions = 1 + Repetitions = 1 ) experiments_vector.append(experiment) return experiments_vector + def _get_details(self): # Function to get automatic information from the experiment for writing purposes + return 'corl_' + self._city_name \ No newline at end of file diff --git a/PythonClient/benchmarks/experiment.py b/PythonClient/benchmarks/experiment.py index 3d26052c3..7e31821ad 100644 --- a/PythonClient/benchmarks/experiment.py +++ b/PythonClient/benchmarks/experiment.py @@ -20,7 +20,7 @@ class Experiment(object): setattr(self, key, value) @property - def name(self): + def id(self): return self.Id @property diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index 748200928..80fde992b 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -126,7 +126,7 @@ class CarlaClient(object): def send_control(self, *args, **kwargs): """ Send the VehicleControl to be applied this frame. - + If synchronous mode was requested, the server will pause the simulation until this message is received. """ diff --git a/PythonClient/carla/planner/Town01Central.png b/PythonClient/carla/planner/Town01Central.png new file mode 100644 index 0000000000000000000000000000000000000000..b2d769f94b463364721d7d9e3ffd2e8ba0405441 GIT binary patch literal 27332 zcmeI5ZAep57{{N<-gTr+NXuYls4zoiUwo<1nCLKvMIaKRnP`Co^96|%nj<1JGAKgR zV&D3d)|awOnL#n5=tG1rWiG7n!g1M@feXhi%8k4l(Q{mt)su#ll)XgnUPlc!#R5I2HT>tmDjWo#cTPW zgl-R{u#JjVQ)Q{*vs$YuG;}u&HWKN`WGp#;ZpJ$^uCeQqW#c`6{8wcQ6W;NKBdSHZ z=uKcRLxBQNU@I$NtLyVvmR>)K3mv4ZrDB(&ImxCX z{*+JK#2b3zJNL5Q+Qx>O0DZpv1*vDK<42@>^^5e1*pn}c%}!-_1r?A4Fc8cDW&ksQ z83+c@KnfY)6X6rr!zcF6&dWk$0oeP&x?o*ltN;UG01WVn0R}cS;&|qreW-EeCP?#A z-7ESc?Qqvne8KZcg(~pbNRtR1kS5_W00zJy6o`2kdYF65pEi8p1AKYu*u%!odCt7a z){9lwZiR%F^*MKuwm^155P?*ckO8SGA;TI|RY-wy6(J&50T#to01QF}zyKH!a>6GH zD}YagPYeu|^VBb1J4=^pb(bfKmrhRixhgv>?xe9pL)3VOkq^N(N`?1J4*8oaYjOdj{Zt`T!jJmQdDv3;` z#YYf9C?XI=1iK(R90ag@BrZfk4O<7AUt3gAUt3<*Tsbx!UJXt2oDe* z@TPH-^d6WeYoD^88`#f(BLHFBKb#k5+xK22CCaV3sN-Gsev@K^~P+;(MaSW-r_2$k-US>lc7ROf) z|3y#Z{&A$>2y2?xjs^j<3p_xLqhK@yFhii;O6|teb1~W=nGJU@iaqpwzzSq0So3E0 zA7=rp_hr%t(GF7%aD!+8)elS{+J$ouh++sFl?DaFXt0bX2VgQ7%_XCy1E@F{Efq&A z3t%!Btt3a=4!~qE+Bg_(8~~HSXyahCaR5vPqm6?h-;?}mc+jr=Srj8EHWl3Nu-?&O zV0bUYP(D5W=OT!p7q}nI&>>U-<}YH21F3D$XcPzQ8I>LlmeJ&(Fq#dB%mxo`pOc-# zz{3!{WT4bUd1nhkOHhbdqQ^A&)jp=s51Tv*WK6 zaLE88Xf42K0XjNYJvv7}+Kw3Q7moG|hevbziqXN?Z)diF3$^Xhx0Jw*t5IS!1kghu YSAT|%VlYqiT1$|Or>mdKI;Vst0Q|Fa2><{9 literal 0 HcmV?d00001 diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 04c72cd12..cf898ee20 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -59,7 +59,7 @@ class Planner(object): import os dir_path = os.path.dirname(__file__) - self.central_path_map_image = Image.open(map_file[:-4] +'c.png') + self.central_path_map_image = Image.open(map_file[:-4] +'Central.png') self.central_path_map_image.load() self.central_path_map_image = np.asarray(self.central_path_map_image, dtype="int32" ) self.central_path_map_image =self.central_path_map_image[:,:,0] # Just take the red dimension diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 0d43c12bf..b6cc05a74 100644 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -9,11 +9,16 @@ from benchmarks.agent import Agent from carla.tcp import TCPConnectionError from carla.client import make_carla_client +import time +try: + from carla import carla_server_pb2 as carla_protocol +except ImportError: + raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') class Manual(Agent): - def run_step(self, data,target): - control = Control() + def run_step(self,measurements,sensor_data,target): + control = carla_protocol.Control() control.steer = 0.0 control.throttle = 0.9 control.brake = 0.0 @@ -55,10 +60,12 @@ if(__name__ == '__main__'): while True: try: - with make_carla_client(host, port) as client: - corl= CoRL('test') - agent = Manual() - results = corl.benchmark_agent(agent,carla) + with make_carla_client(args.host, args.port) as client: + corl= CoRL('Town02','test') + agent = Manual('Town02') + results = corl.benchmark_agent(agent,client) + corl.plot_summary_test() + corl.plot_summary_train() break From 5406d5f0ebe74926b7d3360eb992bf9e525bcabb Mon Sep 17 00:00:00 2001 From: felipecode Date: Tue, 5 Dec 2017 17:02:16 +0100 Subject: [PATCH 003/121] changed the used distance function --- PythonClient/benchmarks/benchmark.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py index 7424452b9..48c08fab0 100644 --- a/PythonClient/benchmarks/benchmark.py +++ b/PythonClient/benchmarks/benchmark.py @@ -9,6 +9,8 @@ except ImportError: import json, csv, time +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + class Benchmark(object,): # Param @name to be used for saving purposes @@ -85,7 +87,9 @@ class Benchmark(object,): step += 1 # The distance is based on graph but quite not exact. - distance = agent.get_distance(measurements.player_measurements.transform,target) + distance = sldist([curr_x,curr_y],[target.location.x, target.location.y]) + + print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % (float(distance), curr_x, curr_y, target.location.x, target.location.y)) @@ -139,6 +143,7 @@ class Benchmark(object,): carla.start_episode(start_point) print('======== !!!! ==========') + print(' Start Position ',start_point,' End Position ',end_point) path_distance = agent.get_distance(positions[start_point],positions[end_point]) From 1b89041375c11dda68e313b9dcf28922fd2235c1 Mon Sep 17 00:00:00 2001 From: felipecode Date: Tue, 5 Dec 2017 17:04:34 +0100 Subject: [PATCH 004/121] changed the used distance function --- PythonClient/benchmarks/benchmark.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py index 48c08fab0..26d4b840c 100644 --- a/PythonClient/benchmarks/benchmark.py +++ b/PythonClient/benchmarks/benchmark.py @@ -6,7 +6,7 @@ except ImportError: raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') -import json, csv, time +import json, csv, time, math sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) From 269979d0c72e05713b2526fcb9c9ae6a17830f10 Mon Sep 17 00:00:00 2001 From: felipecode Date: Tue, 5 Dec 2017 18:28:25 +0100 Subject: [PATCH 005/121] changing spaces. Debugging ploting --- PythonClient/benchmarks/benchmark.py | 19 +-- PythonClient/benchmarks/corl.py | 204 ++++++++++++++------------- PythonClient/benchmarks/metrics.py | 7 +- 3 files changed, 121 insertions(+), 109 deletions(-) diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py index 26d4b840c..82f4554a5 100644 --- a/PythonClient/benchmarks/benchmark.py +++ b/PythonClient/benchmarks/benchmark.py @@ -14,7 +14,7 @@ sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) class Benchmark(object,): # Param @name to be used for saving purposes - def __init__(self,city_name,name): + def __init__(self,city_name,name,starting_position=0): self._city_name = city_name # The name of the city that is going to be used. self._base_name = name # Sends a base name, the rest will be saved with respect to what the episode was about self._dict_stats = {'exp_id':-1, @@ -45,6 +45,11 @@ class Benchmark(object,): 'pos_y':-1 } + # Returns a experiment class that is build from a benchmark inherited class + self._experiments = self._build_experiments() + + self._suffix_name = self._get_experiments_names(self._experiments) + def run_navigation_episode(self, agent,carla, time_out, target): @@ -104,12 +109,10 @@ class Benchmark(object,): return (0, measurement_vec, time_out,distance) - def benchmark_agent(self,agent,carla,starting_position=0): + def benchmark_agent(self,agent,carla): - + # The fixed name considering all the experiments being run - experiments = self._build_experiments() # Returns a experiment class that is build from a benchmark inherited class - self._suffix_name = self._get_experiments_names(experiments[starting_position:]) # The fixed name considering all the experiments being run with open(self._base_name + self._suffix_name , 'wb') as ofd: w = csv.DictWriter(ofd, self._dict_stats.keys()) @@ -126,7 +129,7 @@ class Benchmark(object,): self.write_experiment() # write the experiment being run - for experiment in experiments[starting_position:]: + for experiment in self._experiments[starting_position:]: @@ -208,7 +211,7 @@ class Benchmark(object,): with open('rewards_' + self._base_name + self._suffix_name , 'a+') as rfd: rw = csv.DictWriter(rfd, self._dict_rewards.keys()) - rw.writeheader() + for i in range(len(reward_vec)): @@ -258,7 +261,7 @@ class Benchmark(object,): def _get_experiments_names(self,experiments): name_cat ='_t' - for experiment in experiments: + for experiment in experiments: name_cat += str(experiment.id) + '.' diff --git a/PythonClient/benchmarks/corl.py b/PythonClient/benchmarks/corl.py index 17fe61d21..ecd522e1b 100644 --- a/PythonClient/benchmarks/corl.py +++ b/PythonClient/benchmarks/corl.py @@ -1,3 +1,11 @@ +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . + +# CORL experiment set. + from .benchmark import Benchmark from .experiment import Experiment @@ -11,130 +19,136 @@ from carla.settings import CarlaSettings class CoRL(Benchmark): - def _calculate_time_out(self,path_distance): - return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 + def _calculate_time_out(self,path_distance): + return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 - def _poses_town01(self): + def _poses_town01(self): - return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\ - [68,50],[61,59],[47,64],[147,90],[33,87],\ - [26,19],[80,76],[45,49],[55,44],[29,107],\ - [95,104],[34,84],[51,67],[22,17],[91,148],\ - [20,107],[78,70],[95,102],[68,44],[45,69]], + return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\ + [68,50],[61,59],[47,64],[147,90],[33,87],\ + [26,19],[80,76],[45,49],[55,44],[29,107],\ + [95,104],[34,84],[51,67],[22,17],[91,148],\ + [20,107],[78,70],[95,102],[68,44],[45,69]], - [[138,17],[46,16],[26,9],[42,49],[140,26],\ - [85,97],[65,133],[137,51],[76,66],[46,39],\ - [40,60],[1,28],[4,129],[121,107],[2,129],\ - [78,44],[68,85],[41,102],[95,70],[68,129],\ - [84,69],[47,79],[110,15],[130,17],[0,17]], + [[138,17],[46,16],[26,9],[42,49],[140,26],\ + [85,97],[65,133],[137,51],[76,66],[46,39],\ + [40,60],[1,28],[4,129],[121,107],[2,129],\ + [78,44],[68,85],[41,102],[95,70],[68,129],\ + [84,69],[47,79],[110,15],[130,17],[0,17]], - [[105,29],[27,130],[102,87],[132,27],[24,44],\ - [96,26],[34,67],[28,1],[140,134],[105,9],\ - [148,129],[65,18],[21,16],[147,97],[42,51],\ - [30,41],[18,107],[69,45],[102,95],[18,145],\ - [111,64],[79,45],[84,69],[73,31],[37,81]], + [[105,29],[27,130],[102,87],[132,27],[24,44],\ + [96,26],[34,67],[28,1],[140,134],[105,9],\ + [148,129],[65,18],[21,16],[147,97],[42,51],\ + [30,41],[18,107],[69,45],[102,95],[18,145],\ + [111,64],[79,45],[84,69],[73,31],[37,81]], - [[105,29],[27,130],[102,87],[132,27],[24,44],\ - [96,26],[34,67],[28,1],[140,134],[105,9],\ - [148,129],[65,18],[21,16],[147,97],[42,51],\ - [30,41],[18,107],[69,45],[102,95],[18,145],\ - [111,64],[79,45],[84,69],[73,31],[37,81]] + [[105,29],[27,130],[102,87],[132,27],[24,44],\ + [96,26],[34,67],[28,1],[140,134],[105,9],\ + [148,129],[65,18],[21,16],[147,97],[42,51],\ + [30,41],[18,107],[69,45],[102,95],[18,145],\ + [111,64],[79,45],[84,69],[73,31],[37,81]] - ] + ] - def _poses_town02(self): + def _poses_town02(self): - return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ - [64, 66], [78, 76],[59,57],[61,18],[35,39],\ - [12,8],[0,18],[75,68],[54,60],[45,49],\ - [46,42],[53,46],[80,29],[65,63],[0,81],\ - [54,63],[51,42],[16,19],[17,26],[77,68]], + return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ + [64, 66], [78, 76],[59,57],[61,18],[35,39],\ + [12,8],[0,18],[75,68],[54,60],[45,49],\ + [46,42],[53,46],[80,29],[65,63],[0,81],\ + [54,63],[51,42],[16,19],[17,26],[77,68]], - [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ - [58,71],[74,32],[44,0],[71,16],[14,24],\ - [34,11],[43,14],[75,16],[80,21],[3,23],\ - [75,59],[50,47],[11,19],[77,34],[79,25] ,\ - [40,63],[58,76],[79,55],[16,61],[27,11]], + [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ + [58,71],[74,32],[44,0],[71,16],[14,24],\ + [34,11],[43,14],[75,16],[80,21],[3,23],\ + [75,59],[50,47],[11,19],[77,34],[79,25] ,\ + [40,63],[58,76],[79,55],[16,61],[27,11]], - [[19,66],[79,14],[19,57],[23,1],\ - [53,76],[42,13],[31,71],[33,5],\ - [54,30],[10,61],[66,3],[27,12],\ - [79,19],[2,29],[16,14],[5,57],\ - [70,73],[46,67],[57,50],[61,49],[21,12],\ - [51,81],[77,68],[56,65],[43,54]], + [[19,66],[79,14],[19,57],[23,1],\ + [53,76],[42,13],[31,71],[33,5],\ + [54,30],[10,61],[66,3],[27,12],\ + [79,19],[2,29],[16,14],[5,57],\ + [70,73],[46,67],[57,50],[61,49],[21,12],\ + [51,81],[77,68],[56,65],[43,54]], - [[19,66],[79,14],[19,57],[23,1],\ - [53,76],[42,13],[31,71],[33,5],\ - [54,30],[10,61],[66,3],[27,12],\ - [79,19],[2,29],[16,14],[5,57],\ - [70,73],[46,67],[57,50],[61,49],[21,12],\ - [51,81],[77,68],[56,65],[43,54]] + [[19,66],[79,14],[19,57],[23,1],\ + [53,76],[42,13],[31,71],[33,5],\ + [54,30],[10,61],[66,3],[27,12],\ + [79,19],[2,29],[16,14],[5,57],\ + [70,73],[46,67],[57,50],[61,49],[21,12],\ + [51,81],[77,68],[56,65],[43,54]] - ] + ] - def _build_experiments(self): + def _build_experiments(self): + """ Creates the whole set of experiment objects, + The experiments created depend on the selected Town. + """ + + # We set the camera + # This single RGB camera is used on every experiment + + camera = Camera('CameraRGB') + camera.set(CameraFOV=100) - # We set the camera that is going to be used for all experiments - camera = Camera('CameraRGB') - camera.set(CameraFOV=100) + camera.set_image_size(800, 600) + camera.set_position(200, 0, 140) + camera.set_rotation(-15.0,0,0) - camera.set_image_size(800, 600) - - camera.set_position(200, 0, 140) - camera.set_rotation(-15.0,0,0) - - weathers = [1,3,6,8,4,14] - if self._city_name == 'Town01': - poses_tasks = self._poses_town01() - vehicles_tasks =[0,0,0,20] - pedestrians_tasks = [0,0,0,50] - else: - poses_tasks = self._poses_town02() - vehicles_tasks =[0,0,0,15] - pedestrians_tasks = [0,0,0,50] + weathers = [1,3,6,8,4,14] + if self._city_name == 'Town01': + poses_tasks = self._poses_town01() + vehicles_tasks =[0,0,0,20] + pedestrians_tasks = [0,0,0,50] + else: + poses_tasks = self._poses_town02() + vehicles_tasks =[0,0,0,15] + pedestrians_tasks = [0,0,0,50] - experiments_vector = [] + experiments_vector = [] - for weather in weathers: + for weather in weathers: - for iteration in range(len(poses_tasks)): + for iteration in range(len(poses_tasks)): - poses = poses_tasks[iteration] - vehicles = vehicles_tasks[iteration] - pedestrians = pedestrians_tasks[iteration] + poses = poses_tasks[iteration] + vehicles = vehicles_tasks[iteration] + pedestrians = pedestrians_tasks[iteration] - conditions = CarlaSettings() - conditions.set( - SynchronousMode=True, - SendNonPlayerAgentsInfo=True, - NumberOfVehicles=vehicles, - NumberOfPedestrians=pedestrians, - WeatherId=weather, - SeedVehicles=123456789, - SeedPedestrians=123456789 - ) - # Add all the cameras that were set for this experiments + conditions = CarlaSettings() + conditions.set( + SynchronousMode=True, + SendNonPlayerAgentsInfo=True, + NumberOfVehicles=vehicles, + NumberOfPedestrians=pedestrians, + WeatherId=weather, + SeedVehicles=123456789, + SeedPedestrians=123456789 + ) + # Add all the cameras that were set for this experiments - conditions.add_sensor(camera) + conditions.add_sensor(camera) - experiment = Experiment() - experiment.set( - Conditions=conditions, - Poses= poses, - Id = iteration, - Repetitions = 1 - ) - experiments_vector.append(experiment) + experiment = Experiment() + experiment.set( + Conditions=conditions, + Poses= poses, + Id = iteration, + Repetitions = 1 + ) + experiments_vector.append(experiment) - return experiments_vector - def _get_details(self): # Function to get automatic information from the experiment for writing purposes - return 'corl_' + self._city_name \ No newline at end of file + return experiments_vector + + def _get_details(self): + # Function to get automatic information from the experiment for writing purposes + return 'corl_' + self._city_name \ No newline at end of file diff --git a/PythonClient/benchmarks/metrics.py b/PythonClient/benchmarks/metrics.py index 3e8bf2859..bd3856ad5 100644 --- a/PythonClient/benchmarks/metrics.py +++ b/PythonClient/benchmarks/metrics.py @@ -278,12 +278,7 @@ def plot_summary(file,summary_weathers): print 'Avg completion', summaries[sw]['completion']/summaries[sw]['num_weathers'] print 'Avg infractions' print_infractions(summaries[sw]['infractions']/summaries[sw]['num_weathers']) - # - # - #infractions_vec = [sum(x) for x in zip(infractions, infractions_vec)] - #print 'Non_Colisions/Km', (infractions[1]+ infractions[0])/2.0 ,'Lane Cross/Km ',infractions[0],'Side Cross/Km ',infractions[1],'Col Gen /Km ',infractions[2]\ - #,'Col Ped /Km ',infractions[3],'Col Ped /Km ',infractions[4], 'Acidents/Km ', (infractions[4] +infractions[2] + infractions[3])/3,\ - #'total', 1/((infractions[4] +infractions[2] + infractions[3] + infractions[1] + infractions[0])/5.0) + return summaries From 876d5a091ec9808b559468acb3945bcc29264495 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 6 Dec 2017 15:17:46 +0100 Subject: [PATCH 006/121] Correcting the metrics path and adding a new path definition for the experiments --- PythonClient/benchmarks/benchmark.py | 20 ++++++++++++-------- PythonClient/benchmarks/corl.py | 9 +++++++-- PythonClient/benchmarks/metrics.py | 17 ++++++++--------- 3 files changed, 27 insertions(+), 19 deletions(-) diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py index 82f4554a5..428a036f1 100644 --- a/PythonClient/benchmarks/benchmark.py +++ b/PythonClient/benchmarks/benchmark.py @@ -6,7 +6,7 @@ except ImportError: raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') -import json, csv, time, math +import json, csv, time, math,os sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) @@ -49,7 +49,15 @@ class Benchmark(object,): self._experiments = self._build_experiments() self._suffix_name = self._get_experiments_names(self._experiments) - + + + self._full_name = '_benchmarks_results/' + self._base_name +'_' + self._get_details() +'/' + folder = os.path.dirname(self._full_name) + if not os.path.isdir(folder): + os.makedirs(folder) + + + def run_navigation_episode(self, agent,carla, time_out, target): @@ -174,12 +182,8 @@ class Benchmark(object,): return list_stats - - - def write_experiment(self): - with open(self._get_details() , 'wb') as ofd: - pass + def write_summary_results(self,experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result): @@ -236,7 +240,7 @@ class Benchmark(object,): summary_weathers = {'train_weather': [1,3,6,8]} - + print self._base_name + self._suffix_name summary = plot_summary(self._base_name + self._suffix_name,summary_weathers) diff --git a/PythonClient/benchmarks/corl.py b/PythonClient/benchmarks/corl.py index ecd522e1b..59872bff6 100644 --- a/PythonClient/benchmarks/corl.py +++ b/PythonClient/benchmarks/corl.py @@ -12,6 +12,9 @@ from .experiment import Experiment from carla.sensor import Camera from carla.settings import CarlaSettings +import datetime + + # Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. # This is the same timeout as used on the CoRL paper. @@ -88,7 +91,7 @@ class CoRL(Benchmark): # We set the camera # This single RGB camera is used on every experiment - + camera = Camera('CameraRGB') camera.set(CameraFOV=100) @@ -150,5 +153,7 @@ class CoRL(Benchmark): return experiments_vector def _get_details(self): + + now = datetime.datetime.now() # Function to get automatic information from the experiment for writing purposes - return 'corl_' + self._city_name \ No newline at end of file + return 'corl_' + self._city_name + '_' + now.strftime("%Y%m%d%H%M") \ No newline at end of file diff --git a/PythonClient/benchmarks/metrics.py b/PythonClient/benchmarks/metrics.py index bd3856ad5..5597ed6c9 100644 --- a/PythonClient/benchmarks/metrics.py +++ b/PythonClient/benchmarks/metrics.py @@ -206,30 +206,29 @@ def plot_summary(file,summary_weathers): infractions_vec = [0,0,0,0,0] compute_infractions = True - #,'test_weather':[4,14] - # 'test_weather':[4,14] + # Separate the PATH and the basename + path = os.path.dirname(file) + base_name = os.path.basename(file) + - #tasks =[0] - #tasks =[0,1,2,3] - #weathers = [1,3,6,8,2,14] - #for file in files_parsed: f = open(file, "rb") header = f.readline() header= header.split(',') header[-1] = header[-1][:-2] f.close() print header - f = open('rewards_' + file, "rb") + + f = open(os.path.join(path,'rewards_' , base_name), "rb") header_rewards = f.readline() header_rewards= header_rewards.split(',') header_rewards[-1] = header_rewards[-1][:-2] f.close() print header_rewards - data_matrix = np.loadtxt(open(path + file, "rb"), delimiter=",", skiprows=1) + data_matrix = np.loadtxt(open(file, "rb"), delimiter=",", skiprows=1) tasks = np.unique(data_matrix[:,header.index('exp_id')]) - reward_matrix = np.loadtxt(open(path + 'rewards_file_' + file, "rb"), delimiter=",", skiprows=1) + reward_matrix = np.loadtxt(open(os.path.join(path,'rewards_' , base_name), "rb"), delimiter=",", skiprows=1) for t in tasks: task_data_matrix = data_matrix[data_matrix[:,header.index('exp_id')]== t] From 9a622b5fbef4b906beba66e2bfd92fe1d17b1615 Mon Sep 17 00:00:00 2001 From: felipecode Date: Sat, 9 Dec 2017 18:51:34 +0100 Subject: [PATCH 007/121] A new version of the benchmark, now able to continue were stopped Added a installation script, currently have to install for pip --- PythonClient/MANIFEST.in | 2 + PythonClient/benchmarks/benchmark.py | 310 ------------------ PythonClient/benchmarks/metrics.py | 286 ---------------- .../{ => carla}/benchmarks/__init__.py | 0 PythonClient/{ => carla}/benchmarks/agent.py | 4 +- PythonClient/carla/benchmarks/benchmark.py | 296 +++++++++++++++++ PythonClient/{ => carla}/benchmarks/corl.py | 145 ++++++-- .../{ => carla}/benchmarks/experiment.py | 0 PythonClient/carla/benchmarks/metrics.py | 201 ++++++++++++ PythonClient/run_benchmark.py | 91 ++--- PythonClient/setup.py | 12 + 11 files changed, 673 insertions(+), 674 deletions(-) create mode 100644 PythonClient/MANIFEST.in delete mode 100644 PythonClient/benchmarks/benchmark.py delete mode 100644 PythonClient/benchmarks/metrics.py rename PythonClient/{ => carla}/benchmarks/__init__.py (100%) rename PythonClient/{ => carla}/benchmarks/agent.py (93%) create mode 100644 PythonClient/carla/benchmarks/benchmark.py rename PythonClient/{ => carla}/benchmarks/corl.py (55%) rename PythonClient/{ => carla}/benchmarks/experiment.py (100%) create mode 100644 PythonClient/carla/benchmarks/metrics.py create mode 100644 PythonClient/setup.py diff --git a/PythonClient/MANIFEST.in b/PythonClient/MANIFEST.in new file mode 100644 index 000000000..824b0ad1d --- /dev/null +++ b/PythonClient/MANIFEST.in @@ -0,0 +1,2 @@ +include carla/planner/*.txt +include carla/planner/*.png diff --git a/PythonClient/benchmarks/benchmark.py b/PythonClient/benchmarks/benchmark.py deleted file mode 100644 index 428a036f1..000000000 --- a/PythonClient/benchmarks/benchmark.py +++ /dev/null @@ -1,310 +0,0 @@ - -from .metrics import plot_summary -try: - from carla import carla_server_pb2 as carla_protocol -except ImportError: - raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') - - -import json, csv, time, math,os - - -sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) - -class Benchmark(object,): - - # Param @name to be used for saving purposes - def __init__(self,city_name,name,starting_position=0): - self._city_name = city_name # The name of the city that is going to be used. - self._base_name = name # Sends a base name, the rest will be saved with respect to what the episode was about - self._dict_stats = {'exp_id':-1, - 'rep':-1, - 'weather':-1, - 'start_point':-1, - 'end_point':-1, - 'result':-1, - 'initial_distance':-1, - 'final_distance':-1, - 'final_time':-1, - 'time_out':-1 - - - } - - - self._dict_rewards = { - 'exp_id':-1, - 'rep':-1, - 'weather':-1, - 'collision_gen':-1, - 'collision_ped':-1, - 'collision_car':-1, - 'lane_intersect':-1, - 'sidewalk_intersect':-1, - 'pos_x':-1, - 'pos_y':-1 - } - - # Returns a experiment class that is build from a benchmark inherited class - self._experiments = self._build_experiments() - - self._suffix_name = self._get_experiments_names(self._experiments) - - - self._full_name = '_benchmarks_results/' + self._base_name +'_' + self._get_details() +'/' - folder = os.path.dirname(self._full_name) - if not os.path.isdir(folder): - os.makedirs(folder) - - - - - def run_navigation_episode(self, agent,carla, time_out, target): - - - curr_x = -1 - curr_y = -1 - prev_x = -1 - prev_y = -1 - measurements,sensor_data= carla.read_data() - carla.send_control(carla_protocol.Control()) - t0 = measurements.game_timestamp - t1=t0 - success = False - step = 0 - accum_lane_intersect = 0.0 - accum_sidewalk_intersect = 0.0 - distance = 100000 - measurement_vec=[] - while((t1-t0) < (time_out*1000) and not success): - capture_time = time.time() - measurements,sensor_data = carla.read_data() - - control = agent.run_step(measurements,sensor_data,target) - print ('STEER ',control.steer,'GAS ',control.throttle,'Brake ',control.brake) - carla.send_control(control) - - - # meassure distance to target - - prev_x = curr_x - prev_y = curr_y - curr_x = measurements.player_measurements.transform.location.x - curr_y = measurements.player_measurements.transform.location.y - - - measurement_vec.append(measurements.player_measurements) - - t1 = measurements.game_timestamp - - - step += 1 - # The distance is based on graph but quite not exact. - distance = sldist([curr_x,curr_y],[target.location.x, target.location.y]) - - - - print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % (float(distance), curr_x, curr_y, target.location.x, target.location.y)) - - if(distance < 200.0): - success = True - - - - if(success): - return (1, measurement_vec, float(t1-t0)/1000.0,distance) - else: - return (0, measurement_vec, time_out,distance) - - - def benchmark_agent(self,agent,carla): - - # The fixed name considering all the experiments being run - - with open(self._base_name + self._suffix_name , 'wb') as ofd: - - w = csv.DictWriter(ofd, self._dict_stats.keys()) - w.writeheader() - - - with open('rewards_' + self._base_name + self._suffix_name , 'wb') as rfd: - - rw = csv.DictWriter(rfd, self._dict_rewards.keys()) - rw.writeheader() - - - - self.write_experiment() # write the experiment being run - - - for experiment in self._experiments[starting_position:]: - - - - positions = carla.load_settings(experiment.conditions).player_start_spots - - for pose in experiment.poses: - for rep in range(experiment.repetitions): - - - - start_point = pose[0] - end_point = pose[1] - - carla.start_episode(start_point) - - print('======== !!!! ==========') - print(' Start Position ',start_point,' End Position ',end_point) - - path_distance = agent.get_distance(positions[start_point],positions[end_point]) - - time_out = self._calculate_time_out(path_distance) - # running the agent - (result, reward_vec, final_time, remaining_distance) = self.run_navigation_episode(agent,carla,time_out,positions[end_point]) - - - - # compute stats for the experiment - - self.write_summary_results(experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result) - - - - self.write_reward_results(experiment,rep,reward_vec) - - - - if(result > 0): - print('+++++ Target achieved in %f seconds! +++++' % final_time) - else: - print('----- Tmeout! -----') - - return list_stats - - - - - - - def write_summary_results(self,experiment,pose,rep,path_distance,remaining_distance,final_time,time_out,result): - - self._dict_stats['exp_id'] = experiment.id - self._dict_stats['rep'] = rep - self._dict_stats['weather'] = experiment.Conditions.WeatherId - self._dict_stats['start_point'] = pose[0] - self._dict_stats['end_point'] = pose[1] - self._dict_stats['result'] = result - self._dict_stats['initial_distance'] = path_distance - self._dict_stats['final_distance'] = remaining_distance - self._dict_stats['final_time'] = final_time - self._dict_stats['time_out'] = time_out - - - - with open(self._base_name + self._suffix_name , 'a+') as ofd: - - w = csv.DictWriter(ofd, self._dict_stats.keys()) - - - w.writerow(self._dict_stats) - - - - def write_reward_results(self,experiment,rep,reward_vec): - - with open('rewards_' + self._base_name + self._suffix_name , 'a+') as rfd: - - rw = csv.DictWriter(rfd, self._dict_rewards.keys()) - - - - for i in range(len(reward_vec)): - self._dict_rewards['exp_id'] = experiment.id - self._dict_rewards['rep'] = rep - self._dict_rewards['weather'] = experiment.Conditions.WeatherId - self._dict_rewards['collision_gen'] = reward_vec[i].collision_other - self._dict_rewards['collision_ped'] = reward_vec[i].collision_pedestrians - self._dict_rewards['collision_car'] = reward_vec[i].collision_vehicles - self._dict_rewards['lane_intersect'] = reward_vec[i].intersection_otherlane - self._dict_rewards['sidewalk_intersect'] = reward_vec[i].intersection_offroad - self._dict_rewards['pos_x'] = reward_vec[i].transform.location.x - self._dict_rewards['pos_y'] = reward_vec[i].transform.location.y - - rw.writerow(self._dict_rewards) - - - - - - def plot_summary_test(self): - - - summary_weathers = {'train_weather': [1,3,6,8]} - print self._base_name + self._suffix_name - summary = plot_summary(self._base_name + self._suffix_name,summary_weathers) - - - def plot_summary_train(self): - - - summary_weathers = {'test_weather': [4,14]} - - summary = plot_summary(self._base_name + self._suffix_name,summary_weathers) - - - - # To be redefined on subclasses on how to calculate timeout for an episode - def _calculate_time_out(self,distance): - return 0 - - # To be redefined on subclasses - def _build_experiments(self): - pass - - - def _get_experiments_names(self,experiments): - - name_cat ='_t' - for experiment in experiments: - - name_cat += str(experiment.id) + '.' - - name_cat ='_w' - - for experiment in experiments: - - name_cat += str(experiment.Conditions.WeatherId) +'.' - - - return name_cat - - - - -""" - w = csv.DictWriter(ofd, dict_stats.keys()) - w.writeheader() - rw = csv.DictWriter(rfd, dict_rewards.keys()) - rw.writeheader() - - - - carla = opt_dict['CARLA'] - width = opt_dict['WIDTH'] - height = opt_dict['HEIGHT'] - host = opt_dict['HOST'] - port = opt_dict['PORT'] - - output_summary = opt_dict['OUTPUT_SUMMARY'] - runnable = opt_dict['RUNNABLE'] - experiments_to_run = opt_dict['EXPERIMENTS_TO_RUN'] - pedestrians = opt_dict['PEDESTRIANS'] - vehicles = opt_dict['VEHICLES'] - repetitions_per_experiment = opt_dict['REPETITIONS'] - weathers = opt_dict['WEATHERS'] - start_goal_poses = opt_dict['START_GOAL_POSES'] - cameras = opt_dict['CAMERAS'] - - list_stats = [] - -""" diff --git a/PythonClient/benchmarks/metrics.py b/PythonClient/benchmarks/metrics.py deleted file mode 100644 index 5597ed6c9..000000000 --- a/PythonClient/benchmarks/metrics.py +++ /dev/null @@ -1,286 +0,0 @@ - -import numpy as np -import math -import matplotlib.pyplot as plt - - -import argparse -sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -flatten = lambda l: [item for sublist in l for item in sublist] - - - -def task_complete_percentages(data_matrix): - - complete_per = [] - pos_ant =0 - for pos in reset_positions: - complete_per.append(sum(data_matrix[pos_ant:pos,1])/len(reset_positions)) - pos_ant =pos - - return complete_per - -def task_average_time_percentages(data_matrix,reset_positions): - - complete_per = [] - pos_ant =0 - for pos in reset_positions: - complete_per.append(sum(data_matrix[pos_ant:pos,0])/25.0) - pos_ant =pos - - return complete_per - - -def get_colisions(selected_matrix,header): - - count_gen =0 - count_ped =0 - count_car = 0 - i=1 - - while i < selected_matrix.shape[0]: - if (selected_matrix[i,header.index('collision_gen')] - selected_matrix[(i-10),header.index('collision_gen')]) > 40000: - count_gen+=1 - i+=20 - i+=1 - - - i=1 - while i < selected_matrix.shape[0]: - if (selected_matrix[i,header.index('collision_car')] - selected_matrix[(i-10),header.index('collision_car')]) > 40000: - count_car+=1 - i+=30 - i+=1 - - - i=1 - while i < selected_matrix.shape[0]: - if (selected_matrix[i,header.index('collision_ped')] - selected_matrix[i-5,header.index('collision_ped')]) > 30000: - count_ped+=1 - i+=100 - i+=1 - - - return count_gen,count_car,count_ped - -def get_distance_traveled(selected_matrix,header): - - prev_x = selected_matrix[0,header.index('pos_x')] - prev_y = selected_matrix[0,header.index('pos_y')] - - i =1 - acummulated_distance =0 - while i < selected_matrix.shape[0]: - - x = selected_matrix[i,header.index('pos_x')] - y = selected_matrix[i,header.index('pos_y')] - - - acummulated_distance += sldist((x,y),(prev_x,prev_y)) - #print sldist((x,y),(prev_x,prev_y)) - - prev_x =x - prev_y =y - - i+=1 - return (float(acummulated_distance)/float(100*1000)) - -def get_end_positions(data_matrix): - - - i=0 - end_positions_vec = [] - accumulated_time = 0 - while i < data_matrix.shape[0]: - - end_positions_vec.append(accumulated_time) - accumulated_time += data_matrix[i,2]*10 - i+=1 - - return end_positions_vec - - -def is_car_static(pos,reward_matrix): - - - x = reward_matrix[pos,0] - y = reward_matrix[pos,1] - - prev_x = reward_matrix[pos,0] - prev_y = reward_matrix[pos,1] - - if sldist((x,y),(prev_x,prev_y)) > 100: - return False - else: - return True - - - - - - -def get_end_positions_state(end_positions,data_matrix, reward_matrix): - - - vector_of_infractions = [0,0,0,0] # Inf1+inf3 , inf2+inf3 or inf3, , inf1+inf4, timeout - - - for i in range(len(end_positions)): - pos = int(end_positions[i] -20) - - if data_matrix[i,1] == 0: # if it failed, lets find the reason - - if reward_matrix[pos,4] > 30000 and is_car_static(pos,reward_matrix): # If it crashed_general - - if reward_matrix[pos,5] > 0.4: # Check if it is out of road - # Case 0 - vector_of_infractions[0] +=1 - else: # Check it is out of lane or whaever - vector_of_infractions[1] +=1 - - - - - - - elif reward_matrix[pos,2] > 30000 and is_car_static(pos,reward_matrix): - - - if reward_matrix[pos,6] > 0.1: # Check if it is out of lane - vector_of_infractions[2]+=1 - - else: # Likely that the it bumped the car but it didn't bother - vector_of_infractions[3]+=1 - - else: # TimeOUt - vector_of_infractions[3]+=1 - - - return vector_of_infractions - - - - - -def get_out_of_road_lane(selected_matrix,header): - - count_road =0 - count_lane =0 - - - i=0 - - while i < selected_matrix.shape[0]: - #print selected_matrix[i,6] - if (selected_matrix[i,header.index('sidewalk_intersect')] - selected_matrix[(i-10),header.index('sidewalk_intersect')]) > 0.3: - count_road+=1 - i+=20 - if i >= selected_matrix.shape[0]: - break - - if (selected_matrix[i,header.index('lane_intersect')] - selected_matrix[(i-10),header.index('lane_intersect')]) > 0.4: - count_lane+=1 - i+=20 - - i+=1 - - - - - return count_lane,count_road - -def print_infractions(infractions): - print ' Killometers Without Pedestrians Colision - > ',1.0/(infractions[4]+0.0001) - print ' Average Colision',3.0/(infractions[4]+infractions[3] + infractions[2]+0.0001) - print ' Killometers Without Car Colision - > ',1.0/(infractions[3]+0.0001) - print ' Killometers Without Other Colision - > ',1.0/(infractions[2]+0.0001) - print ' Killometers Without Crossing Lane - > ',1.0/(infractions[0]+0.0001) - print ' Killometers Without Going to Sidewalk - > ',1.0/(infractions[1]+0.0001) - print ' Average Infraction ',2.0/(infractions[0]+infractions[1]+0.0001) - - -def plot_summary(file,summary_weathers): - - intervention_acc =[0,0,0,0,0] - completions_acc = [0,0,0,0] - infractions_vec = [0,0,0,0,0] - - compute_infractions = True - # Separate the PATH and the basename - path = os.path.dirname(file) - base_name = os.path.basename(file) - - - f = open(file, "rb") - header = f.readline() - header= header.split(',') - header[-1] = header[-1][:-2] - f.close() - print header - - f = open(os.path.join(path,'rewards_' , base_name), "rb") - header_rewards = f.readline() - header_rewards= header_rewards.split(',') - header_rewards[-1] = header_rewards[-1][:-2] - f.close() - print header_rewards - data_matrix = np.loadtxt(open(file, "rb"), delimiter=",", skiprows=1) - - tasks = np.unique(data_matrix[:,header.index('exp_id')]) - - reward_matrix = np.loadtxt(open(os.path.join(path,'rewards_' , base_name), "rb"), delimiter=",", skiprows=1) - - for t in tasks: - task_data_matrix = data_matrix[data_matrix[:,header.index('exp_id')]== t] - weathers = np.unique(task_data_matrix[:,header.index('weather')]) - summaries = {} - for sw in summary_weathers: - summaries[sw] = {'completion': 0., 'infractions': np.zeros(5, dtype=np.float), 'num_weathers': 0} - for w in weathers: - - task_data_matrix =data_matrix[np.logical_and(data_matrix[:,header.index('exp_id')]== t, data_matrix[:,header.index('weather')]== w)] - if compute_infractions: - task_reward_matrix =reward_matrix[np.logical_and(reward_matrix[:,header_rewards.index('exp_id')]== float(t), reward_matrix[:,header_rewards.index('weather')]== float(w))] - - completed_episodes = sum(task_data_matrix[:,header.index('result')])/task_data_matrix.shape[0] - print 'Task ',t , 'Weather', w - - print ' Entire Episodes Completed (%) - > ', completed_episodes - print '' - - #completions_acc = [sum(x) for x in zip(completions, completions_acc)] - - for sw in summary_weathers: - if w in summary_weathers[sw]: - summaries[sw]['completion'] += completed_episodes - summaries[sw]['num_weathers'] += 1 - - if compute_infractions: - print ' ==== Infraction Related =====' - km_run = get_distance_traveled(task_reward_matrix,header_rewards) - print ' Drove (KM) - > ', km_run - lane_road = get_out_of_road_lane(task_reward_matrix,header_rewards) - colisions = get_colisions(task_reward_matrix,header_rewards) - infractions = [lane_road[0]/km_run,lane_road[1]/km_run,colisions[0]/km_run,colisions[1]/km_run,colisions[2]/km_run] - print_infractions(infractions) - - for sw in summary_weathers: - if w in summary_weathers[sw]: - # print summaries[sw] - # print infractions - summaries[sw]['infractions'] += np.array(infractions) - - print '\n\n >>> Task', t, 'summary <<<\n\n' - for sw in summary_weathers: - print sw, summary_weathers[sw] - print 'Num weathers', summaries[sw]['num_weathers'] - print 'Avg completion', summaries[sw]['completion']/summaries[sw]['num_weathers'] - print 'Avg infractions' - print_infractions(summaries[sw]['infractions']/summaries[sw]['num_weathers']) - - - return summaries - - - - diff --git a/PythonClient/benchmarks/__init__.py b/PythonClient/carla/benchmarks/__init__.py similarity index 100% rename from PythonClient/benchmarks/__init__.py rename to PythonClient/carla/benchmarks/__init__.py diff --git a/PythonClient/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py similarity index 93% rename from PythonClient/benchmarks/agent.py rename to PythonClient/carla/benchmarks/agent.py index 7918c74d7..9bfe3aca9 100644 --- a/PythonClient/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -25,8 +25,8 @@ class Agent(object, ): import os dir_path = os.path.dirname(__file__) - self._planner = Planner(dir_path+'/../carla/planner/' + city_name + '.txt',\ - dir_path+'/../carla/planner/' + city_name + '.png') + self._planner = Planner(dir_path+'/../planner/' + city_name + '.txt',\ + dir_path+'/../planner/' + city_name + '.png') diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py new file mode 100644 index 000000000..4d52d5d6a --- /dev/null +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -0,0 +1,296 @@ + +import os +import math +import time +import csv +import json + +import datetime + + +try: + from carla import carla_server_pb2 as carla_protocol +except ImportError: + raise RuntimeError( + 'cannot import "carla_server_pb2.py' + +', run the protobuf compiler to generate this file') + + +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + + +class Benchmark(object,): + + # Param @name to be used for saving purposes + def __init__(self, city_name, name_to_save, continue_exp=False): + # The name of the city that is going to be used. + self._city_name = city_name + # Sends a base name, the rest will be saved with respect to what the + # episode was about + self._base_name = name_to_save + self._dict_stats = {'exp_id': -1, + 'rep': -1, + 'weather': -1, + 'start_point': -1, + 'end_point': -1, + 'result': -1, + 'initial_distance': -1, + 'final_distance': -1, + 'final_time': -1, + 'time_out': -1 + + + } + + self._dict_rewards = {'exp_id': -1, + 'rep': -1, + 'weather': -1, + 'collision_gen': -1, + 'collision_ped': -1, + 'collision_car': -1, + 'lane_intersect': -1, + 'sidewalk_intersect': -1, + 'pos_x': -1, + 'pos_y': -1 + } + + # If this name was run try to continue + + # Returns a experiment class that is build from a benchmark inherited + # class + + self._experiments = self._build_experiments() + self._suffix_name = self._get_experiments_names(self._experiments) + self._full_name = os.path.join('_benchmarks_results', + self._base_name + '_' + + self._get_details() + '/') + + if self._experiment_exist(): + # If continue_exp was set we continue directly, else we ask for + if continue_exp: + self._line_on_file = self._get_last_position() + + else: + answer = str(raw_input("The experiment was already found in the files" + + ", Do you want to Continue ? \n")) + if answer == 'Yes' or answer == 'y': + self._line_on_file = self._get_last_position() + else: + self._line_on_file = 0 + + else: + self._line_on_file = 0 + + folder = os.path.dirname(self._full_name) + if not os.path.isdir(folder): + os.makedirs(folder) + + # Make a date file: to show when this was modified, + # the number of times the experiments were run + now = datetime.datetime.now() + with open(os.path.join(self._full_name, + now.strftime("%Y%m%d%H%M")), 'wb') as f: + pass + + def run_navigation_episode(self, agent, carla, time_out, target): + + curr_x = -1 + curr_y = -1 + prev_x = -1 + prev_y = -1 + measurements, sensor_data = carla.read_data() + carla.send_control(carla_protocol.Control()) + t0 = measurements.game_timestamp + t1 = t0 + success = False + step = 0 + accum_lane_intersect = 0.0 + accum_sidewalk_intersect = 0.0 + distance = 100000 + measurement_vec = [] + while((t1-t0) < (time_out*1000) and not success): + capture_time = time.time() + measurements, sensor_data = carla.read_data() + + control = agent.run_step(measurements, sensor_data, target) + print('STEER ', control.steer, 'GAS ', + control.throttle, 'Brake ', control.brake) + carla.send_control(control) + + # meassure distance to target + + prev_x = curr_x + prev_y = curr_y + curr_x = measurements.player_measurements.transform.location.x + curr_y = measurements.player_measurements.transform.location.y + + measurement_vec.append(measurements.player_measurements) + + t1 = measurements.game_timestamp + + step += 1 + # The distance is based on graph but quite not exact. + distance = sldist([curr_x, curr_y], + [target.location.x, target.location.y]) + + print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % + (float(distance), curr_x, curr_y, target.location.x, target.location.y)) + + if(distance < 200.0): + success = True + + if(success): + return (1, measurement_vec, float(t1-t0)/1000.0, distance) + else: + return (0, measurement_vec, time_out, distance) + + def benchmark_agent(self, agent, carla): + + if self._line_on_file == 0: + # The fixed name considering all the experiments being run + with open(os.path.join(self._full_name, + self._suffix_name), 'wb') as ofd: + + w = csv.DictWriter(ofd, self._dict_stats.keys()) + w.writeheader() + + with open(os.path.join(self._full_name, + 'rewards_' + self._suffix_name), 'wb') as rfd: + + rw = csv.DictWriter(rfd, self._dict_rewards.keys()) + rw.writeheader() + start_task = 0 + start_pose = 0 + else: + (start_task,start_pose) = self._get_pose_and_task(self._line_on_file) + + print (' START ') + + + + for experiment in self._experiments[start_task:]: + + positions = carla.load_settings( + experiment.conditions).player_start_spots + + for pose in experiment.poses[start_pose:]: + for rep in range(experiment.repetitions): + + start_point = pose[0] + end_point = pose[1] + + carla.start_episode(start_point) + + print('======== !!!! ==========') + print(' Start Position ', start_point, + ' End Position ', end_point) + + path_distance = agent.get_distance( + positions[start_point], positions[end_point]) + + time_out = self._calculate_time_out(path_distance) + # running the agent + (result, reward_vec, final_time, remaining_distance) = \ + self.run_navigation_episode( + agent, carla, time_out, positions[end_point]) + + # compute stats for the experiment + + self.write_summary_results( + experiment, pose, rep, path_distance, + remaining_distance, final_time, time_out, result) + + self.write_reward_results(experiment, rep, reward_vec) + + if(result > 0): + print('+++++ Target achieved in %f seconds! +++++' % + final_time) + else: + print('----- Timeout! -----') + return self.get_all_statistics() + + + + def write_summary_results(self, experiment, pose, rep, + path_distance, remaining_distance, + final_time, time_out, result): + + self._dict_stats['exp_id'] = experiment.id + self._dict_stats['rep'] = rep + self._dict_stats['weather'] = experiment.Conditions.WeatherId + self._dict_stats['start_point'] = pose[0] + self._dict_stats['end_point'] = pose[1] + self._dict_stats['result'] = result + self._dict_stats['initial_distance'] = path_distance + self._dict_stats['final_distance'] = remaining_distance + self._dict_stats['final_time'] = final_time + self._dict_stats['time_out'] = time_out + + with open(os.path.join(self._full_name, self._suffix_name), 'a+') as ofd: + + w = csv.DictWriter(ofd, self._dict_stats.keys()) + + w.writerow(self._dict_stats) + + def write_reward_results(self, experiment, rep, reward_vec): + + with open(os.path.join(self._full_name, + 'rewards_' + self._suffix_name), 'a+') as rfd: + + rw = csv.DictWriter(rfd, self._dict_rewards.keys()) + + for i in range(len(reward_vec)): + self._dict_rewards['exp_id'] = experiment.id + self._dict_rewards['rep'] = rep + self._dict_rewards['weather'] = experiment.Conditions.WeatherId + self._dict_rewards['collision_gen'] = reward_vec[ + i].collision_other + self._dict_rewards['collision_ped'] = reward_vec[ + i].collision_pedestrians + self._dict_rewards['collision_car'] = reward_vec[ + i].collision_vehicles + self._dict_rewards['lane_intersect'] = reward_vec[ + i].intersection_otherlane + self._dict_rewards['sidewalk_intersect'] = reward_vec[ + i].intersection_offroad + self._dict_rewards['pos_x'] = reward_vec[ + i].transform.location.x + self._dict_rewards['pos_y'] = reward_vec[ + i].transform.location.y + + rw.writerow(self._dict_rewards) + + + + # To be redefined on subclasses on how to calculate timeout for an episode + def _calculate_time_out(self, distance): + return 0 + + # To be redefined on subclasses + def _build_experiments(self): + pass + + def _get_experiments_names(self, experiments): + + name_cat = 'w' + + for experiment in experiments: + + name_cat += str(experiment.Conditions.WeatherId) + '.' + + return name_cat + + def _experiment_exist(self): + + folder = os.path.dirname(self._full_name) + return os.path.isdir(folder) + + def _get_last_position(self): + + with open(os.path.join(self._full_name, self._suffix_name)) as f: + + # Function to count the lines. + for i, l in enumerate(f): + pass + return i + diff --git a/PythonClient/benchmarks/corl.py b/PythonClient/carla/benchmarks/corl.py similarity index 55% rename from PythonClient/benchmarks/corl.py rename to PythonClient/carla/benchmarks/corl.py index 59872bff6..b9ac67bff 100644 --- a/PythonClient/benchmarks/corl.py +++ b/PythonClient/carla/benchmarks/corl.py @@ -6,87 +6,156 @@ # CORL experiment set. +from __future__ import print_function + +import os +import datetime from .benchmark import Benchmark from .experiment import Experiment from carla.sensor import Camera from carla.settings import CarlaSettings -import datetime - -# Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. -# This is the same timeout as used on the CoRL paper. +from .metrics import compute_summary class CoRL(Benchmark): + + def get_all_statistics(self): + + summary = compute_summary(os.path.join( + self._full_name, self._suffix_name),[3]) + + return summary + + + + def plot_summary_train(self): + + + self._plot_summary([1.0,3.0,6.0,8.0]) + + def plot_summary_test(self): + + + self._plot_summary([4.0,14.0]) + + + def _plot_summary(self,weathers): + """ + We plot the summary of the testing for the set selected weathers. + The test weathers are [4,14] + + """ + + + metrics_summary = compute_summary(os.path.join( + self._full_name, self._suffix_name),[3]) + + + for metric,values in metrics_summary.items(): + + print('Metric : ',metric) + for weather,tasks in values.items(): + if weather in set(weathers): + print(' Weather: ',weather) + count =0 + for t in tasks: + + print(' Task ',count,' -> ',t) + count += 1 + + + print(' AvG -> ',float(sum(tasks))/float(len(tasks))) + + + + + def _calculate_time_out(self,path_distance): + """ + Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. + This is the same timeout as used on the CoRL paper. + """ + return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 - def _poses_town01(self): - return [ [[36,40],[39,35],[110,114],[7,3],[0,4],\ + + + def _poses_town01(self): + """ + For each matrix is a new task + + """ + def _poses_straight(): + return [[36,40],[39,35],[110,114],[7,3],[0,4],\ [68,50],[61,59],[47,64],[147,90],[33,87],\ [26,19],[80,76],[45,49],[55,44],[29,107],\ [95,104],[34,84],[51,67],[22,17],[91,148],\ - [20,107],[78,70],[95,102],[68,44],[45,69]], + [20,107],[78,70],[95,102],[68,44],[45,69]] - [[138,17],[46,16],[26,9],[42,49],[140,26],\ + def _poses_one_curve(): + return [[138,17],[46,16],[26,9],[42,49],[140,26],\ [85,97],[65,133],[137,51],[76,66],[46,39],\ [40,60],[1,28],[4,129],[121,107],[2,129],\ [78,44],[68,85],[41,102],[95,70],[68,129],\ - [84,69],[47,79],[110,15],[130,17],[0,17]], + [84,69],[47,79],[110,15],[130,17],[0,17]] - [[105,29],[27,130],[102,87],[132,27],[24,44],\ - [96,26],[34,67],[28,1],[140,134],[105,9],\ - [148,129],[65,18],[21,16],[147,97],[42,51],\ - [30,41],[18,107],[69,45],[102,95],[18,145],\ - [111,64],[79,45],[84,69],[73,31],[37,81]], - - [[105,29],[27,130],[102,87],[132,27],[24,44],\ + def _poses_navigation(): + return [[105,29],[27,130],[102,87],[132,27],[24,44],\ [96,26],[34,67],[28,1],[140,134],[105,9],\ [148,129],[65,18],[21,16],[147,97],[42,51],\ [30,41],[18,107],[69,45],[102,95],[18,145],\ [111,64],[79,45],[84,69],[73,31],[37,81]] - ] + + return [ _poses_straight(), + _poses_one_curve(), + _poses_navigation(), + _poses_navigation()] + + def _poses_town02(self): - return [ [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ + + def _poses_straight(): + return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ [64, 66], [78, 76],[59,57],[61,18],[35,39],\ [12,8],[0,18],[75,68],[54,60],[45,49],\ [46,42],[53,46],[80,29],[65,63],[0,81],\ - [54,63],[51,42],[16,19],[17,26],[77,68]], + [54,63],[51,42],[16,19],[17,26],[77,68]] - [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ + def _poses_one_curve(): + return [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ [58,71],[74,32],[44,0],[71,16],[14,24],\ [34,11],[43,14],[75,16],[80,21],[3,23],\ [75,59],[50,47],[11,19],[77,34],[79,25] ,\ - [40,63],[58,76],[79,55],[16,61],[27,11]], + [40,63],[58,76],[79,55],[16,61],[27,11]] - [[19,66],[79,14],[19,57],[23,1],\ - [53,76],[42,13],[31,71],[33,5],\ - [54,30],[10,61],[66,3],[27,12],\ - [79,19],[2,29],[16,14],[5,57],\ - [70,73],[46,67],[57,50],[61,49],[21,12],\ - [51,81],[77,68],[56,65],[43,54]], - - [[19,66],[79,14],[19,57],[23,1],\ + def _poses_navigation(): + return [[19,66],[79,14],[19,57],[23,1],\ [53,76],[42,13],[31,71],[33,5],\ [54,30],[10,61],[66,3],[27,12],\ [79,19],[2,29],[16,14],[5,57],\ [70,73],[46,67],[57,50],[61,49],[21,12],\ [51,81],[77,68],[56,65],[43,54]] - ] + return [ _poses_straight(), + _poses_one_curve(), + _poses_navigation(), + _poses_navigation() + ] def _build_experiments(self): - """ Creates the whole set of experiment objects, - The experiments created depend on the selected Town. + """ + Creates the whole set of experiment objects, + The experiments created depend on the selected Town. """ # We set the camera @@ -156,4 +225,14 @@ class CoRL(Benchmark): now = datetime.datetime.now() # Function to get automatic information from the experiment for writing purposes - return 'corl_' + self._city_name + '_' + now.strftime("%Y%m%d%H%M") \ No newline at end of file + return 'corl_' + self._city_name + + + def _get_pose_and_task(self,line_on_file): + """ + Returns the pose and task this experiment is, based on the line it was + on the log file. + """ + # We assume that the number of poses is constant + return line_on_file/len(self._experiments),line_on_file%25 + diff --git a/PythonClient/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py similarity index 100% rename from PythonClient/benchmarks/experiment.py rename to PythonClient/carla/benchmarks/experiment.py diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py new file mode 100644 index 000000000..46e22e316 --- /dev/null +++ b/PythonClient/carla/benchmarks/metrics.py @@ -0,0 +1,201 @@ +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . + + +import numpy as np +import math +import os +import matplotlib.pyplot as plt + + +import argparse +sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) +flatten = lambda l: [item for sublist in l for item in sublist] + + +def get_colisions(selected_matrix, header): + + count_gen = 0 + count_ped = 0 + count_car = 0 + i = 1 + + while i < selected_matrix.shape[0]: + if (selected_matrix[i, header.index('collision_gen')] + - selected_matrix[(i-10), header.index('collision_gen')]) > 40000: + count_gen += 1 + i += 20 + i += 1 + + i = 1 + while i < selected_matrix.shape[0]: + if (selected_matrix[i, header.index('collision_car')] + - selected_matrix[(i-10), header.index('collision_car')]) > 40000: + count_car += 1 + i += 30 + i += 1 + + i = 1 + while i < selected_matrix.shape[0]: + if (selected_matrix[i, header.index('collision_ped')] + - selected_matrix[i-5, header.index('collision_ped')]) > 30000: + count_ped += 1 + i += 100 + i += 1 + + return count_gen, count_car, count_ped + + +def get_distance_traveled(selected_matrix, header): + + prev_x = selected_matrix[0, header.index('pos_x')] + prev_y = selected_matrix[0, header.index('pos_y')] + + i = 1 + acummulated_distance = 0 + while i < selected_matrix.shape[0]: + + x = selected_matrix[i, header.index('pos_x')] + y = selected_matrix[i, header.index('pos_y')] + # Here we defined a maximun distance in a tick, this case 8 meters or 288km/h + if sldist((x, y), (prev_x, prev_y)) < 800: + acummulated_distance += sldist((x, y), (prev_x, prev_y)) + + + prev_x = x + prev_y = y + + i += 1 + + return (float(acummulated_distance)/float(100*1000)) + + + + + +def get_out_of_road_lane(selected_matrix, header): + + count_road = 0 + count_lane = 0 + + i = 0 + + while i < selected_matrix.shape[0]: + # print selected_matrix[i,6] + if (selected_matrix[i, header.index('sidewalk_intersect')] + - selected_matrix[(i-10), header.index('sidewalk_intersect')]) > 0.3: + count_road += 1 + i += 20 + if i >= selected_matrix.shape[0]: + break + + if (selected_matrix[i, header.index('lane_intersect')] + - selected_matrix[(i-10), header.index('lane_intersect')]) > 0.4: + count_lane += 1 + i += 20 + + i += 1 + + return count_lane, count_road + + + +def compute_summary(file, dynamic_episodes): + + # Separate the PATH and the basename + path = os.path.dirname(file) + base_name = os.path.basename(file) + + f = open(file, "rb") + header = f.readline() + header = header.split(',') + header[-1] = header[-1][:-2] + f.close() + + f = open(os.path.join(path, 'rewards_' + base_name), "rb") + header_rewards = f.readline() + header_rewards = header_rewards.split(',') + header_rewards[-1] = header_rewards[-1][:-2] + f.close() + + data_matrix = np.loadtxt(open(file, "rb"), delimiter=",", skiprows=1) + + tasks = np.unique(data_matrix[:, header.index('exp_id')]) + + all_weathers = np.unique(data_matrix[:, header.index('weather')]) + + reward_matrix = np.loadtxt(open(os.path.join( + path, 'rewards_' + base_name), "rb"), delimiter=",", skiprows=1) + + metrics_dictionary = {'average_completion': {w: [0.0]*len(tasks) for w in all_weathers}, + 'intersection_offroad': {w: [0.0]*len(tasks) for w in all_weathers}, + 'intersection_otherlane': {w: [0.0]*len(tasks) for w in all_weathers}, + 'collision_pedestrians': {w: [0.0]*len(tasks) for w in all_weathers}, + 'collision_vehicles': {w: [0.0]*len(tasks) for w in all_weathers}, + 'collision_other': {w: [0.0]*len(tasks) for w in all_weathers}, + 'average_fully_completed': {w: [0.0]*len(tasks) for w in all_weathers}, + 'average_speed': {w: [0.0]*len(tasks) for w in all_weathers}, + 'driven_kilometers': {w: [0.0]*len(tasks) for w in all_weathers} + } + + for t in tasks: + task_data_matrix = data_matrix[ + data_matrix[:, header.index('exp_id')] == t] + weathers = np.unique(task_data_matrix[:, header.index('weather')]) + + + + for w in weathers: + t = int(t) + + task_data_matrix = data_matrix[np.logical_and(data_matrix[:, header.index( + 'exp_id')] == t, data_matrix[:, header.index('weather')] == w)] + + + task_reward_matrix = reward_matrix[np.logical_and(reward_matrix[:, header_rewards.index( + 'exp_id')] == float(t), reward_matrix[:, header_rewards.index('weather')] == float(w))] + + km_run = get_distance_traveled( + task_reward_matrix, header_rewards) + + metrics_dictionary['average_fully_completed'][w][t] = sum( + task_data_matrix[:, header.index('result')])/task_data_matrix.shape[0] + + metrics_dictionary['average_completion'][w][t] = sum( + (task_data_matrix[:, header.index('initial_distance')] + - task_data_matrix[:, header.index('final_distance')]) + / task_data_matrix[:, header.index('initial_distance')]) \ + / len(task_data_matrix[:, header.index('final_distance')]) + + + metrics_dictionary['driven_kilometers'][w][t]= km_run + metrics_dictionary['average_speed'][w][t]= km_run/ \ + ((sum(task_data_matrix[:, header.index('final_time')]))/3600.0) + + + + if list(tasks).index(t) in set(dynamic_episodes): + + lane_road = get_out_of_road_lane( + task_reward_matrix, header_rewards) + colisions = get_colisions(task_reward_matrix, header_rewards) + infractions = [lane_road[0]/km_run, lane_road[1]/km_run, + colisions[0]/km_run, colisions[1]/km_run, colisions[2]/km_run] + + + metrics_dictionary['intersection_offroad'][ + w][t] = lane_road[0]/km_run + metrics_dictionary['intersection_otherlane'][ + w][t] = lane_road[1]/km_run + metrics_dictionary['collision_pedestrians'][ + w][t] = colisions[2]/km_run + metrics_dictionary['collision_vehicles'][ + w][t] = colisions[1]/km_run + metrics_dictionary['collision_other'][ + w][t] = colisions[0]/km_run + + + return metrics_dictionary diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index b6cc05a74..ce7824d09 100644 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -1,7 +1,9 @@ +import time +import sys import argparse import logging -import sys + from benchmarks.corl import CoRL @@ -9,7 +11,7 @@ from benchmarks.agent import Agent from carla.tcp import TCPConnectionError from carla.client import make_carla_client -import time + try: from carla import carla_server_pb2 as carla_protocol @@ -31,54 +33,57 @@ class Manual(Agent): if(__name__ == '__main__'): - argparser = argparse.ArgumentParser(description=__doc__) - argparser.add_argument( - '-v', '--verbose', - action='store_true', - dest='debug', - help='print debug information') - argparser.add_argument( - '--host', - metavar='H', - default='localhost', - help='IP of the host server (default: localhost)') - argparser.add_argument( - '-p', '--port', - metavar='P', - default=2000, - type=int, - help='TCP port to listen to (default: 2000)') + argparser = argparse.ArgumentParser(description=__doc__) + argparser.add_argument( + '-v', '--verbose', + action='store_true', + dest='debug', + help='print debug information') + argparser.add_argument( + '--host', + metavar='H', + default='localhost', + help='IP of the host server (default: localhost)') + argparser.add_argument( + '-p', '--port', + metavar='P', + default=2000, + type=int, + help='TCP port to listen to (default: 2000)') + argparser.add_argument( + '-c', '--city-name', + metavar='C', + default='Town01', + help='plot the map of the current city' + +'(needs to match active map in server, options: Town01 or Town02)') - args = argparser.parse_args() + args = argparser.parse_args() - log_level = logging.DEBUG if args.debug else logging.INFO - logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) + log_level = logging.DEBUG if args.debug else logging.INFO + logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) - logging.info('listening to server %s:%s', args.host, args.port) - - while True: - try: - with make_carla_client(args.host, args.port) as client: - corl= CoRL('Town02','test') - agent = Manual('Town02') - results = corl.benchmark_agent(agent,client) - corl.plot_summary_test() - corl.plot_summary_train() - - break - - except TCPConnectionError as error: - logging.error(error) - time.sleep(1) - except Exception as exception: - logging.exception(exception) - sys.exit(1) + logging.info('listening to server %s:%s', args.host, args.port) - + while True: + try: + with make_carla_client(args.host, args.port) as client: + corl= CoRL(city_name= args.city_name,name_to_save='test') + agent = Manual(args.map_name) + results = corl.benchmark_agent(agent,client) + corl.plot_summary_test() + corl.plot_summary_train() + + break + + except TCPConnectionError as error: + logging.error(error) + time.sleep(1) + except Exception as exception: + logging.exception(exception) + sys.exit(1) -# DETECT AN ERROR AND WRITE THE COMPLETE SUMMARY ALREADY \ No newline at end of file diff --git a/PythonClient/setup.py b/PythonClient/setup.py new file mode 100644 index 000000000..d1317032d --- /dev/null +++ b/PythonClient/setup.py @@ -0,0 +1,12 @@ +from setuptools import setup + +setup( + name='PythonClient', + version='0.7', + packages=['carla','carla.planner','carla.benchmarks','carla.planner'], + license='', + long_description=open('README.txt').read(), + include_package_data=True, + package_data={'carla.planner' : ['Town01.txt']} +) + From f36bd466c27697ef90d264667eb4c9bd0ce6889d Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 11 Dec 2017 17:07:29 +0100 Subject: [PATCH 008/121] Planner complete refactoring, pt 1 --- PythonClient/carla/benchmarks/agent.py | 3 +- PythonClient/carla/benchmarks/benchmark.py | 8 +- PythonClient/carla/benchmarks/experiment.py | 49 +- PythonClient/carla/planner/astar.py | 14 +- PythonClient/carla/planner/city_track.py | 121 ++++ PythonClient/carla/planner/graph.py | 15 +- PythonClient/carla/planner/grid.py | 133 +++++ PythonClient/carla/planner/map.py | 230 +++++++- PythonClient/carla/planner/planner.py | 592 +++++--------------- PythonClient/run_benchmark.py | 8 +- 10 files changed, 665 insertions(+), 508 deletions(-) create mode 100644 PythonClient/carla/planner/city_track.py create mode 100644 PythonClient/carla/planner/grid.py diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index 9bfe3aca9..3a03ea1cb 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -25,8 +25,7 @@ class Agent(object, ): import os dir_path = os.path.dirname(__file__) - self._planner = Planner(dir_path+'/../planner/' + city_name + '.txt',\ - dir_path+'/../planner/' + city_name + '.png') + self._planner = Planner(city_name) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 4d52d5d6a..fe9214189 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -196,11 +196,11 @@ class Benchmark(object,): # compute stats for the experiment - self.write_summary_results( + self._write_summary_results( experiment, pose, rep, path_distance, remaining_distance, final_time, time_out, result) - self.write_reward_results(experiment, rep, reward_vec) + self._write_reward_results(experiment, rep, reward_vec) if(result > 0): print('+++++ Target achieved in %f seconds! +++++' % @@ -211,7 +211,7 @@ class Benchmark(object,): - def write_summary_results(self, experiment, pose, rep, + def _write_summary_results(self, experiment, pose, rep, path_distance, remaining_distance, final_time, time_out, result): @@ -232,7 +232,7 @@ class Benchmark(object,): w.writerow(self._dict_stats) - def write_reward_results(self, experiment, rep, reward_vec): + def _write_reward_results(self, experiment, rep, reward_vec): with open(os.path.join(self._full_name, 'rewards_' + self._suffix_name), 'a+') as rfd: diff --git a/PythonClient/carla/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py index 7e31821ad..7c13c50b5 100644 --- a/PythonClient/carla/benchmarks/experiment.py +++ b/PythonClient/carla/benchmarks/experiment.py @@ -2,36 +2,35 @@ from carla.settings import CarlaSettings from carla.sensor import Camera + class Experiment(object): - def __init__(self,**kwargs): - self.Id = '' - self.Conditions = CarlaSettings() - self.Poses = [[]] - self.Repetitions = 1 + def __init__(self, **kwargs): + self.Id = '' + self.Conditions = CarlaSettings() + self.Poses = [[]] + self.Repetitions = 1 - #self. ,vehicles,pedestrians,weather,cameras + # self. ,vehicles,pedestrians,weather,cameras + def set(self, **kwargs): + for key, value in kwargs.items(): + if not hasattr(self, key): + raise ValueError('Experiment: no key named %r' % key) + setattr(self, key, value) - def set(self, **kwargs): - for key, value in kwargs.items(): - if not hasattr(self, key): - raise ValueError('Experiment: no key named %r' % key) - setattr(self, key, value) + @property + def id(self): + return self.Id - @property - def id(self): - return self.Id + @property + def conditions(self): + return self.Conditions - @property - def conditions(self): - return self.Conditions - - @property - def poses(self): - return self.Poses - - @property - def repetitions(self): - return self.Repetitions + @property + def poses(self): + return self.Poses + @property + def repetitions(self): + return self.Repetitions diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index e239247ad..26d1c371e 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -1,7 +1,9 @@ import heapq +from carla.planner.map import CarlaMap class Cell(object): + def __init__(self, x, y, reachable): """Initialize new cell. @@ -23,7 +25,10 @@ class Cell(object): class AStar(object): + def __init__(self): + + # open list self.opened = [] heapq.heapify(self.opened) @@ -34,8 +39,10 @@ class AStar(object): self.grid_height = None self.grid_width = None - def init_grid(self, width, height, walls, start, end): - """Prepare grid cells, walls. + def init_grid(self, width, height, walls,start, end): + + """ + Prepare grid cells, walls. @param width grid's width. @param height grid's height. @@ -143,3 +150,6 @@ class AStar(object): self.update_cell(adj_cell, cell) # add adj cell to open list heapq.heappush(self.opened, (adj_cell.f, adj_cell)) + + + diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py new file mode 100644 index 000000000..db37285be --- /dev/null +++ b/PythonClient/carla/planner/city_track.py @@ -0,0 +1,121 @@ + +class CityTrack(object) + + + def __init__(self,city_name) + + + self._map = CarlaMap(city_name) + + self._astar = AStar() + + # Refers to the start position of the previous route computation + self._previous_node = [] + + + + + + + def project_node(self,node,node_orientation): + """ + Projecting the graph node into the city road + """ + + # To change the orientation with respect to the map standards + node_orientation = np.array([node_orientation[0], + node_orientation[1],node_orientation[2]]) + node_orientation = source_ori.dot(self.worldrotation) + + node = tuple([ int(x) for x in node ]) + + # Set to zero if it is less than zero. + + + node =(max(0,node[0]),max(0,node[1])) + node =(min(self._map.get_graph_resolution()[0]-1,node[0]), + min(self._map.get_graph_resolution()[1]-1,node[1])) + # is it x or y ? Check to avoid special corner cases + + + if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): + node_orientation = (source_ori[0],0.0,0.0) + else: + node_orientation = (0.0,source_ori[1],0.0) + + node = self.map.grid_search(node[0],node[1]) + + + return node + + def is_at_goal(self,source,target): + return source == target + + def is_at_new_node(self,current_node): + return current_node != self._previous_node + + + def is_away_from_intersection(self,current_node): + return self._closest_intersection_position(current_node) > 1 + + def is_far_away_from_route_intersection(self,current_node): + # CHECK FOR THE EMPTY CASE + return self._closest_intersection_route_position(current_node, + self._previous_route) > 4 + + + + def compute_route(self,node_source,source_ori,node_target,target_ori): + + + self._previous_node = node_source + + + a_star =AStar() + a_star.init_grid(node_source,self._map.get_graph_resolution()[0], + self._map.get_graph_resolution()[1], + self._map.get_walls_directed(node_target,target_ori,node_source), + node_target) + + + route = a_star.solve() + + + + #print route # JuSt a Corner Case + # REALLY, I want to remove this + if route == None: + a_star =AStar() + a_star.init_grid(node_source,self._map.get_graph_resolution()[0], + self._map.get_graph_resolution()[1],self._map.get_walls(), node_target) + + route = a_star.solve() + + + + return route + + + + + def _closest_intersection_position(self, current_node): + + distance_vector = [] + for node_iterator in self._map._graph.intersection_nodes(): + + distance_vector.append(sldist(node_iterator, current_node)) + + return sorted(distance_vector)[0] + + def _closest_intersection_route_position(self, current_node): + + distance_vector = [] + for node_iterator in self._map._graph.intersection_nodes(): + + distance_vector.append(sldist(node_iterator, current_node)) + + return sorted(distance_vector)[0] + + + + diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index a3a4d7d4b..3b7579358 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -28,8 +28,6 @@ class Graph(object): """ - - def __init__(self,graph_file=None): @@ -37,12 +35,18 @@ class Graph(object): self.angles ={} self.edges = {} self.distances = {} + self.node_density =50 if graph_file != None: with open(graph_file, 'r') as file: - for i in range(5): + for i in range(4): next(file) + + # the graph resolution. + linegraphres = file.readline() + self._resolution = string_to_node(linegraphres) for line in file: + from_node, to_node, d = line.split() from_node = string_to_node(from_node) to_node = string_to_node(to_node) @@ -63,7 +67,12 @@ class Graph(object): def add_node(self, value): self.nodes.add(value) + def project_pixel(self,pixel) + node = [] + node.append((pixel[0])/self.node_density - 2) + node.append((pixel[1])/self.node_density - 2) + return tuple(node) def make_orientations(self,node,heading): diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py new file mode 100644 index 000000000..aecbe2d16 --- /dev/null +++ b/PythonClient/carla/planner/grid.py @@ -0,0 +1,133 @@ + + +class Grid(object): + + def __init__(self,graph): + + self.graph = graph + self.structure = self._make_structure() + self.walls = self._make_walls() + + #np.set_printoptions(linewidth=206, threshold=np.nan) + + + + + + + def _draw_line(self, grid, xi, yi, xf, yf): + + if xf < xi: + aux = xi + xi = xf + xf = aux + + if yf < yi: + aux = yi + yi = yf + yf = aux + + for i in range(xi, xf+1): + + for j in range(yi, yf+1): + + grid[i, j] = 0.0 + + return grid + + def _make_structure(self): + structure =np.ones((self.graph.resolution[0], self.graph.resolution[1])) + + for key, connections in self.graph.edges.iteritems(): + + # draw a line + for con in connections: + + # print key[0],key[1],con[0],con[1] + structure = self._draw_line(structure, key[0], key[1], con[0], con[1]) + # print grid + return structure + + def _make_walls(self): + walls = set() + + for i in range(self.grid.shape[0]): + + for j in range(self.grid.shape[1]): + if self.grid[i, j] == 1.0: + walls.add((i, j)) + + return walls + + def search_on_grid(self, x, y): + visit = [[0, 1], [0, -1], [1, 0], [1, 1], + [1, -1], [-1, 0], [-1, 1], [-1, -1]] + c_x, c_y = x, y + scale = 1 + while(self.grid[c_x, c_y] != 0): + for offset in visit: + c_x, c_y = x + offset[0]*scale, y + offset[1]*scale + + if c_x >= 0 and c_x < self.resolution[0] and c_y >= 0 and c_y < self.resolution[1]: + if self.grid[c_x, c_y] == 0: + break + else: + c_x, c_y = x, y + scale += 1 + + return (c_x, c_y) + + + + def get_adjacent_free_nodes(self, pos): + """ Acht nodes in total """ + visit = [[0, 1], [0, -1], [1, 0], [1, 1], + [1, -1], [-1, 0], [-1, 1], [-1, -1]] + + adjacent = set() + for offset in visit: + node = (pos[0] + offset[0], pos[1]+offset[1]) + + if node[0] >= 0 and node[0] < self.resolution[0] and node[1] >= 0 and node[1] < self.resolution[1]: + + if self.grid[node[0], node[1]] == 0.0: + adjacent.add(node) + + return adjacent + + def set_grid_direction(self, pos, pos_ori, target): + + free_nodes = self.get_adjacent_free_nodes(pos) + + added_walls = set() + heading_start = np.array([pos_ori[0], pos_ori[1]]) + for adj in free_nodes: + + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + angle = angle_between(heading_start, start_to_goal) + if (angle > 1.6 and adj != target): + self.grid[adj[0], adj[1]] = 1.0 + + added_walls.add((adj[0], adj[1])) + self.walls.add((adj[0], adj[1])) + + return added_walls + + def set_grid_direction_target(self, pos, pos_ori, source): + + free_nodes = self.get_adjacent_free_nodes(pos) + + added_walls = set() + heading_start = np.array([pos_ori[0], pos_ori[1]]) + for adj in free_nodes: + + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + angle = angle_between(heading_start, start_to_goal) + + if (angle < 1.0 and adj != source): + self.grid[adj[0], adj[1]] = 1.0 + + added_walls.add((adj[0], adj[1])) + self.walls.add((adj[0], adj[1])) + + return added_walls \ No newline at end of file diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 142fc2a14..c8ba8247f 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -9,6 +9,7 @@ import math import os + try: import numpy as np except ImportError: @@ -19,15 +20,44 @@ try: except ImportError: raise RuntimeError('cannot import PIL, make sure pillow package is installed') - -def string_to_node(string): - vec = string.split(',') - return (int(vec[0]), int(vec[1])) +from graph import string_to_node,string_to_floats -def string_to_floats(string): - vec = string.split(',') - return (float(vec[0]), float(vec[1]), float(vec[2])) + + + +""" + + with open(city_file + '.txt', 'r') as file: + + linewordloffset = file.readline() + # The offset of the world from the zero coordinates ( The + # coordinate we consider zero) + self.worldoffset = string_to_floats(linewordloffset) + + # WARNING: for now just considering the y angle + lineworldangles = file.readline() + self.angles = string_to_floats(lineworldangles) + #self.worldrotation = np.array([[math.cos(math.radians(self.angles[0])),0,math.sin(math.radians(self.angles[0])) ],[0,1,0],[-math.sin(math.radians(self.angles[0])),0,math.cos(math.radians(self.angles[0]))]]) + + self.worldrotation = np.array([[math.cos(math.radians(self.angles[2])), -math.sin(math.radians(self.angles[2])), 0.0], [ + math.sin(math.radians(self.angles[2])), math.cos(math.radians(self.angles[2])), 0.0], [0.0, 0.0, 1.0]]) + + # Ignore for now + lineworscale = file.readline() + + linemapoffset = file.readline() + + # The offset of the map zero coordinate + self.mapoffset = string_to_floats(linemapoffset) + + # the graph resolution. + linegraphres = file.readline() + self.resolution = string_to_node(linegraphres) + +""" + +# The map contains a graph class CarlaMap(object): @@ -37,6 +67,15 @@ class CarlaMap(object): city_map_file = os.path.join(dir_path, city + '.png') city_map_file_lanes = os.path.join(dir_path, city + 'Lanes.png') + city_map_file_center = os.path.join(dir_path, city + 'Center.png') + + + # The built graph. This is the exact same graph that unreal builds. This + # is a generic structure used for many cases + + self._graph = Graph(city_file) + + self._grid = Grid() with open(city_file, 'r') as file: @@ -48,6 +87,7 @@ class CarlaMap(object): lineworldangles = file.readline() self.angles = string_to_floats(lineworldangles) + # If tere is an rotation between the world and map coordinates. self.worldrotation = np.array([ [math.cos(math.radians(self.angles[2])), -math.sin(math.radians(self.angles[2])), 0.0], [math.sin(math.radians(self.angles[2])), math.cos(math.radians(self.angles[2])), 0.0], @@ -55,17 +95,14 @@ class CarlaMap(object): # Ignore for now, these are offsets for map coordinates and scale # (not used). - _ = file.readline() + map_scale = file.readline() linemapoffset = file.readline() # The offset of the map zero coordinate. self.mapoffset = string_to_floats(linemapoffset) - # the graph resolution. - linegraphres = file.readline() - self.resolution = string_to_node(linegraphres) - # The number of game units per pixel. + # The number of game units per pixel. For now this is fixed. self.pixel_density = 16.43 # Load the lanes image self.map_image_lanes = Image.open(city_map_file_lanes) @@ -76,6 +113,15 @@ class CarlaMap(object): self.map_image.load() self.map_image = np.asarray(self.map_image, dtype="int32") + # Load the lanes image + self.map_image_center = Image.open(city_map_file_center) + self.map_image_center.load() + self.map_image_center = np.asarray(self.map_image_center, dtype="int32") + + + def get_graph_resolution(self): + + return self._graph._resolution def get_map(self, height=None): if height is not None: @@ -113,6 +159,14 @@ class CarlaMap(object): return pixel + def get_position_on_graph(self, world): + """Get the position on the map for a certain world position.""" + pixel = self.get_position_on_map(world) + return self._graph.project_pixel(pixel) + + + + def get_position_on_world(self, pixel): """Get world position of a certain map position.""" relative_location = [] @@ -144,3 +198,155 @@ class CarlaMap(object): ori = ((float(ori) / 255.0)) * 2 * math.pi return (-math.cos(ori), -math.sin(ori)) + + + + + + + + def + + + + + + + + + def make_map_world(self, world): + + relative_location = [] + pixel = [] + + rotation = np.array([world[0], world[1], world[2]]) + rotation = rotation.dot(self.worldrotation) + + relative_location.append( + rotation[0] + self.worldoffset[0] - self.mapoffset[0]) + relative_location.append( + rotation[1] + self.worldoffset[1] - self.mapoffset[1]) + relative_location.append( + rotation[2] + self.worldoffset[2] - self.mapoffset[2]) + + pixel.append(math.floor(relative_location[ + 0]/float(self.pixel_density))) + pixel.append(math.floor(relative_location[ + 1]/float(self.pixel_density))) + + return pixel + + def make_map_node(self, node): + pixel = [] + pixel.append((node[0] + 2) * self.node_density) + pixel.append((node[1] + 2) * self.node_density) + + return pixel + + def make_world_map(self, pixel): + + relative_location = [] + world_vertex = [] + relative_location.append(pixel[0]*self.pixel_density) + relative_location.append(pixel[1]*self.pixel_density) + + world_vertex.append( + relative_location[0]+self.mapoffset[0] - self.worldoffset[0]) + world_vertex.append( + relative_location[1]+self.mapoffset[1] - self.worldoffset[1]) + world_vertex.append(22) + return world_vertex + + def make_world_node(self, node): + + return self.make_world_map(self.make_map_node(node)) + + + + def get_target_ori(self, target_pos): + + relative_location = [] + pixel = [] + rotation = np.array([target_pos[0], target_pos[1], target_pos[2]]) + rotation = rotation.dot(self.worldrotation) + + # print 'rot ', rotation + + relative_location.append( + rotation[0] + self.worldoffset[0] - self.mapoffset[0]) + relative_location.append( + rotation[1] + self.worldoffset[1] - self.mapoffset[1]) + relative_location.append( + rotation[2] + self.worldoffset[2] - self.mapoffset[2]) + # print 'trans ', relative_location + + pixel.append(math.floor(relative_location[ + 0]/float(self.pixel_density))) + pixel.append(math.floor(relative_location[ + 1]/float(self.pixel_density))) + # print self.map_image.shape + ori = self.map_image[int(pixel[1]), int(pixel[0]), 2] + ori = ((float(ori)/255.0)) * 2*math.pi + + # print self.map_image[int(pixel[1]),int(pixel[0]),:] + # print ori + #print (math.cos(ori),math.sin(ori)) + # print exit() + + return (-math.cos(ori), -math.sin(ori)) + +""" + def make_node(self, worldvertex): + + pixel = self.make_map_world(worldvertex) + + node = [] + + node.append((pixel[0])/self.node_density - 2) + node.append((pixel[1])/self.node_density - 2) + + return tuple(node) +""" + def get_walls_directed(self,node_target,target_ori,node_source): + + # GOes to Grid + #added_walls = self.set_grid_direction(node_source,source_ori,node_target) + + + #print added_walls + # Goes to grid + #added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) + #print added_walls + + def get_walls(self): + + return walss + + + + + def get_distance_closest_node(self, pos): + import collections + distance = [] + for node_iter in self.graph.intersection_nodes(): + + distance.append(sldist(node_iter, pos)) + + return sorted(distance)[0] + + def get_distance_closest_node_route(self, pos, route): + import collections + distance = [] + # if self.graph.intersection_nodes() == set(): + + for node_iter in route: + + if node_iter in self.graph.intersection_nodes(): + + distance.append(sldist(node_iter, pos)) + + if not distance: + + return sldist(route[-1], pos) + return sorted(distance)[0] + diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index cf898ee20..9e835e187 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -1,541 +1,221 @@ -from graph import * -from PIL import Image import math -from astar import * import time import collections +import os + + +from PIL import Image + +from graph import Graph +from astar import Astar compare = lambda x, y: collections.Counter(x) == collections.Counter(y) -def angle_between(v1,v2): - return np.arccos(np.dot(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) + +def angle_between(v1, v2): + return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -def color_to_angle(color): - return ((float(color)/255.0) ) *2*math.pi +def color_to_angle(color): + return ((float(color)/255.0)) * 2*math.pi class Planner(object): - # The built graph. This is the exact same graph that unreal builds. This is a generic structure used for many cases - def __init__(self,city_file,map_file): - # read the conversion parameters from the city file - with open(city_file, 'r') as file: - linewordloffset = file.readline() - # The offset of the world from the zero coordinates ( The coordinate we consider zero) - self.worldoffset = string_to_floats(linewordloffset) + def __init__(self, city_name): - #WARNING: for now just considering the y angle - lineworldangles = file.readline() - self.angles = string_to_floats(lineworldangles) - #self.worldrotation = np.array([[math.cos(math.radians(self.angles[0])),0,math.sin(math.radians(self.angles[0])) ],[0,1,0],[-math.sin(math.radians(self.angles[0])),0,math.cos(math.radians(self.angles[0]))]]) - self.worldrotation = np.array([[math.cos(math.radians(self.angles[2])),-math.sin(math.radians(self.angles[2])) ,0.0],[math.sin(math.radians(self.angles[2])),math.cos(math.radians(self.angles[2])),0.0],[0.0,0.0,1.0]]) + self._city_track = CityTrack(city_name) - # Ignore for now - lineworscale = file.readline() + #self.previous_source = (0, 0) + ##self.distance = 0 + #self.complete_distance = 0 - linemapoffset = file.readline() + # print self.map_image + self._commands = [] - # The offset of the map zero coordinate - self.mapoffset = string_to_floats(linemapoffset) + #self.route = [] - # the graph resolution. - linegraphres = file.readline() - self.resolution = string_to_node(linegraphres) - - - #This is the bmp map that will be associated with the graph. - #This map contains the navigable paths drawed - self.graph = Graph(city_file) - - self.map_image = Image.open(map_file) - self.map_image.load() - self.map_image = np.asarray(self.map_image, dtype="int32" ) + # The number of game units per pixel + #self.pixel_density = 16.43 + # A pixel positions with respect to graph node position is: Pixel = + # Node*50 +2 + #self.node_density = 50.0 + # This function converts the 2d map into a 3D one in a vector. - import os - dir_path = os.path.dirname(__file__) - self.central_path_map_image = Image.open(map_file[:-4] +'Central.png') - self.central_path_map_image.load() - self.central_path_map_image = np.asarray(self.central_path_map_image, dtype="int32" ) - self.central_path_map_image =self.central_path_map_image[:,:,0] # Just take the red dimension - self.grid = self.make_grid() - self.walls = self.make_walls() - - self.previous_source = (0,0) - self.distance = 0 - self.complete_distance = 0 - #print self.map_image - self.commands = [] - self.route =[] - # The number of game units per pixel - self.pixel_density = 16.43 - #A pixel positions with respect to graph node position is: Pixel = Node*50 +2 - self.node_density = 50.0 - # This function converts the 2d map into a 3D one in a vector. + def get_next_command(self, source, source_ori, target, target_ori): + #self.astar. + track_source = self._city_track.project_node(source,source_ori) + track_target = self._city_track.project_node(target,target_ori) - def _draw_line(self,grid,xi,yi,xf,yf): - if xf< xi: - aux = xi - xi = xf - xf = aux - if yf< yi: - aux = yi - yi = yf - yf = aux + # reach the goal + if self._city_track.is_at_goal(track_source,track_target) + return 0,0 + #if node_source == node_target: + # return 0, 0 - for i in range(xi,xf+1): - for j in range(yi,yf+1): + if self._city_track.is_at_new_node(track_source) + and self._city_track.is_away_from_intersection(track_source): - grid[i,j] = 0.0 - return grid - def make_grid(self): # The resolution could be easily increased + # print route + route= self._city_track.compute_route(track_source,source_ori, + track_target,target_ori) + #(node_source,source_ori,node_target,target_ori) - grid = np.ones((self.resolution[0],self.resolution[1])) - for key,connections in self.graph.edges.iteritems(): + # We recompute the distance based on route + #self.distance = self.get_distance_closest_node_route( + # node_source, route) - # draw a line - for con in connections: + #self.complete_distance = self.get_full_distance_route( + # node_source, route)*50.0*16.42 # This is bad - #print key[0],key[1],con[0],con[1] - grid = self._draw_line(grid,key[0],key[1],con[0],con[1]) - #print grid + self._commands = self._route_to_commands(route) - np.set_printoptions( linewidth =206,threshold=np.nan) - return grid + if self._city_track.is_far_away_from_route_intersection(track_source): + return 2.0 + else: + if self.commands: + return self.commands[0] + else: + return 2.0 + else: - def make_walls(self): - walls = set() + if self._city_track.is_far_away_from_route_intersection(track_source): + return 2.0 - for i in range(self.grid.shape[0]): - - for j in range(self.grid.shape[1]): - if self.grid[i,j] == 1.0: - walls.add((i,j)) + # If there is computed commands + if self.commands: + return self.commands[0] + else: + return 2.0 - return walls - def init(self,source,target): + def get_shortest_path_distance(self, source, source_ori, target, target_ori): + import collections + distance = 0 + # if self.graph.intersection_nodes() == set(): + current_pos = pos + for node_iter in route: - self.a_star.init_grid(self.resolution[0],self.resolution[1], self.walls,source,target) + distance += sldist(node_iter, current_pos) + current_pos = node_iter + return distance# *50.0*16.42 , maybe this goes to another layer - def solve(self): - return self.a_star.solve() + def is_there_posible_route(self,source,source_ori,target,target_ori): + track_source = self._city_track.project_node(source,source_ori) + track_target = self._city_track.project_node(target,target_ori) - # Convert world position into "Graph World" node positions - def make_node(self,worldvertex): + return len(self._city_track.compute_route( + node_source,source_ori,node_target,target_ori))>0 - pixel = self.make_map_world(worldvertex) - node = [] + # from the shortest path graph, transform it into a list of commands + # @param the sub graph containing the shortest path + # @param Orientation of the car + # returns list of commands ( 3 is left, 4 is right, 5 is straight) + def _route_to_commands(self, route): + commands_list = [] - node.append((pixel[0])/self.node_density - 2) - node.append((pixel[1])/self.node_density - 2 ) + for i in range(0, len(route)): + if route[i] not in self.astar.intersection_nodes(): + continue - return tuple(node) + current = route[i] + past = route[i-1] + future = route[i+1] - def make_map_world(self,world): + past_to_current = np.array( + [current[0]-past[0], current[1]-past[1]]) + current_to_future = np.array( + [future[0]-current[0], future[1]-current[1]]) + angle = signal(current_to_future, past_to_current) - relative_location = [] - pixel=[] + command = 0.0 + if angle < -0.1: + command = 4.0 + elif angle > 0.1: + command = 3.0 + else: + command = 5.0 - rotation = np.array([world[0],world[1],world[2]]) - rotation = rotation.dot(self.worldrotation) + commands_list.append(command) + return commands_list +""" +# print node_source +# print node_target +added_walls = self.set_grid_direction( + node_source, source_ori, node_target) +# print added_walls +added_walls = added_walls.union( + self.set_grid_direction_target(node_target, target_ori, node_source)) +# print added_walls +self.previous_source = node_source - relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) +# print self.grid - - pixel.append(math.floor(relative_location[0]/float(self.pixel_density))) - pixel.append(math.floor(relative_location[1]/float(self.pixel_density))) +self.a_star = AStar() +self.init(node_source, node_target) +route = self.solve() +# print route # JuSt a Corner Case +if route == None: + for i in added_walls: + self.walls.remove(i) - return pixel - def make_map_node(self,node): - pixel = [] - pixel.append((node[0] +2) *self.node_density) - pixel.append((node[1] +2) *self.node_density) + self.grid[i[0], i[1]] = 0.0 + added_walls = self.set_grid_direction( + node_source, source_ori, node_target) + self.a_star = AStar() + self.init(node_source, node_target) + route = self.solve() - return pixel - def make_world_map(self,pixel): + def check_command_completed(self, commands, previous_commands): + if compare(commands, previous_commands): + return False, False + elif (len(commands) + 1) < len(previous_commands): + return True, False - relative_location =[] - world_vertex = [] - relative_location.append(pixel[0]*self.pixel_density) - relative_location.append(pixel[1]*self.pixel_density) + elif len(commands) < len(previous_commands): - world_vertex.append(relative_location[0]+self.mapoffset[0] -self.worldoffset[0]) - world_vertex.append(relative_location[1]+self.mapoffset[1] -self.worldoffset[1]) - world_vertex.append(22) - return world_vertex + return True, compare(commands, previous_commands[1:]) + else: + return True, False - def make_world_node(self,node): - - return self.make_world_map(self.make_map_node(node)) - - - def get_distance_closest_node(self,pos): - import collections - distance = [] - for node_iter in self.graph.intersection_nodes(): - - distance.append( sldist(node_iter,pos)) - - return sorted(distance)[0] - - def get_distance_closest_node(self,pos): - import collections - distance = [] - for node_iter in self.graph.intersection_nodes(): - - distance.append( sldist(node_iter,pos)) - - return sorted(distance)[0] - - def get_distance_closest_node_route(self,pos,route): - import collections - distance = [] - #if self.graph.intersection_nodes() == set(): - - for node_iter in route: - - if node_iter in self.graph.intersection_nodes(): - - distance.append( sldist(node_iter,pos)) - - if not distance: - - return sldist(route[-1],pos) - return sorted(distance)[0] - - - def get_target_ori(self,target_pos): - - relative_location = [] - pixel=[] - rotation = np.array([target_pos[0],target_pos[1],target_pos[2]]) - rotation = rotation.dot(self.worldrotation) - - #print 'rot ', rotation - - relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) - #print 'trans ', relative_location - - pixel.append(math.floor(relative_location[0]/float(self.pixel_density))) - pixel.append(math.floor(relative_location[1]/float(self.pixel_density))) - #print self.map_image.shape - ori = self.map_image[int(pixel[1]),int(pixel[0]),2] - ori = ((float(ori)/255.0) ) *2*math.pi - - #print self.map_image[int(pixel[1]),int(pixel[0]),:] - #print ori - #print (math.cos(ori),math.sin(ori)) - #print exit() - - return (-math.cos(ori),-math.sin(ori)) - - - - - - - - def search(self,x,y): - visit = [[0,1],[0,-1],[1,0],[1,1],[1,-1],[-1,0],[-1,1],[-1,-1]] - c_x,c_y = x,y - scale=1 - while(self.grid[c_x,c_y] !=0 ): - for offset in visit: - c_x,c_y = x + offset[0]*scale,y + offset[1]*scale - - if c_x>= 0 and c_x = 0 and c_y = 0 and node[0] = 0 and node[1] 1.6 and adj !=target) : - self.grid[adj[0],adj[1]] =1.0 - - added_walls.add((adj[0],adj[1])) - self.walls.add((adj[0],adj[1])) - - return added_walls - - def set_grid_direction_target(self,pos,pos_ori,source): - - free_nodes = self.get_adjacent_free_nodes(pos) - - - added_walls =set() - heading_start = np.array([pos_ori[0], pos_ori[1]]) - for adj in free_nodes: - - start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1] ]) - angle = angle_between(heading_start,start_to_goal) - - if (angle < 1.0 and adj !=source) : - self.grid[adj[0],adj[1]] =1.0 - - added_walls.add((adj[0],adj[1])) - self.walls.add((adj[0],adj[1])) - - return added_walls - - - #from the shortest path graph, transform it into a list of commands - # @param the sub graph containing the shortest path - # @param Orientation of the car - # returns list of commands ( 3 is left, 4 is right, 5 is straight) - - def graph_to_commands(self, route ): - - commands_list = [] - - for i in range(0,len(route)): - if route[i] not in self.graph.intersection_nodes(): - continue - - current = route[i] - past =route[i-1] - future = route[i+1] - - past_to_current = np.array([current[0]-past[0], current[1]-past[1]]) - current_to_future = np.array([future[0]-current[0], future[1]-current[1]]) - angle =signal(current_to_future,past_to_current) - - command = 0.0 - if angle < -0.1: - command = 4.0 - elif angle > 0.1: - command = 3.0 - else: - command =5.0 - - commands_list.append(command) - - - return commands_list - - def check_command_completed(self,commands,previous_commands): - if compare(commands,previous_commands): - return False,False - elif (len(commands) + 1) < len(previous_commands): - return True,False - - elif len(commands) < len(previous_commands): - - - - return True,compare(commands,previous_commands[1:]) - else: - return True,False - - - - def get_full_distance_route(self,pos,route): - import collections - distance = 0 - #if self.graph.intersection_nodes() == set(): - current_pos = pos - for node_iter in route: - - - - distance += sldist(node_iter,current_pos) - current_pos = node_iter - - - return distance - - - - - - def get_next_command(self,source,source_ori, target,target_ori): - - - node_source = self.make_node(source) - node_target = self.make_node(target) - - source_ori = np.array([source_ori[0],source_ori[1],source_ori[2]]) - source_ori = source_ori.dot(self.worldrotation) - - - # Trunkate ! - node_source = tuple([ int(x) for x in node_source ]) - node_target = tuple([ int(x) for x in node_target ]) - target_ori = self.get_target_ori(target) - # Set to zero if it is less than zero. - - - - target_ori = np.array([target_ori[0],target_ori[1],0]) - target_ori = target_ori.dot(self.worldrotation) - - - node_source =(max(0,node_source[0]),max(0,node_source[1])) - node_source =(min(self.resolution[0]-1,node_source[0]),min(self.resolution[1]-1,node_source[1])) - # is it x or y ? Check to avoid special corner cases - - - if math.fabs(source_ori[0]) > math.fabs(source_ori[1]): - source_ori = (source_ori[0],0.0,0.0) - else: - source_ori = (0.0,source_ori[1],0.0) - - - - node_source = self.search(node_source[0],node_source[1]) - node_target = self.search(node_target[0],node_target[1]) - #print '' - #print node_source - #print node_target - #print self.grid - - # reach the goal - if node_source == node_target: - return 0,0 - - - # This is to avoid computing a new route when inside the route - distance_node = self.get_distance_closest_node(node_source) - - if (distance_node >1 and self.previous_source != node_source) or self.complete_distance ==0: - - #print node_source - #print node_target - added_walls = self.set_grid_direction(node_source,source_ori,node_target) - #print added_walls - added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) - #print added_walls - self.previous_source = node_source - - #print self.grid - - self.a_star =AStar() - self.init(node_source, node_target) - route = self.solve() - #print route # JuSt a Corner Case - if route == None: - for i in added_walls: - self.walls.remove(i) - - self.grid[i[0],i[1]] = 0.0 - added_walls = self.set_grid_direction(node_source,source_ori,node_target) - self.a_star =AStar() - self.init(node_source, node_target) - route = self.solve() - - #print route - - # We recompute the distance based on route - self.distance= self.get_distance_closest_node_route(node_source,route) - self.complete_distance = self.get_full_distance_route(node_source,route)*50.0*16.42 - - for i in added_walls: - self.walls.remove(i) - - self.grid[i[0],i[1]] = 0.0 - - commands = self.graph_to_commands(route) - made_turn,completed_command = self.check_command_completed(commands,self.commands) - - - self.commands = commands - next_node=route[0] - for i in route: - if i in self.graph.nodes: - next_node = i - break - - - - if self.distance > 4: - return 2.0,self.complete_distance - else: - if self.commands: - return self.commands[0],self.complete_distance - else: - return 2.0,self.complete_distance - else: - - if self.distance >4: - return 2.0,self.complete_distance - - if self.commands: - return self.commands[0],self.complete_distance - else: - return 2.0,self.complete_distance - +""" \ No newline at end of file diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index ce7824d09..62a56eb14 100644 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -6,8 +6,8 @@ import logging -from benchmarks.corl import CoRL -from benchmarks.agent import Agent +from carla.benchmarks.corl import CoRL +from carla.benchmarks.agent import Agent from carla.tcp import TCPConnectionError from carla.client import make_carla_client @@ -71,8 +71,8 @@ if(__name__ == '__main__'): while True: try: with make_carla_client(args.host, args.port) as client: - corl= CoRL(city_name= args.city_name,name_to_save='test') - agent = Manual(args.map_name) + corl= CoRL(city_name= args.city_name,name_to_save='test2') + agent = Manual(args.city_name) results = corl.benchmark_agent(agent,client) corl.plot_summary_test() corl.plot_summary_train() From 35b7229b90cfceb987225ba45b84ee0307e4ad65 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 13 Dec 2017 19:20:59 +0100 Subject: [PATCH 009/121] Adding the planner --- PythonClient/carla/benchmarks/agent.py | 10 +- PythonClient/carla/benchmarks/benchmark.py | 12 +- PythonClient/carla/planner/city_track.py | 74 ++++++-- PythonClient/carla/planner/graph.py | 206 ++++++++++----------- PythonClient/carla/planner/grid.py | 150 ++++++++------- PythonClient/carla/planner/map.py | 84 +++------ PythonClient/carla/planner/planner.py | 122 ++++-------- PythonClient/carla/planner/topology.py | 78 ++++++++ 8 files changed, 385 insertions(+), 351 deletions(-) create mode 100644 PythonClient/carla/planner/topology.py diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index 3a03ea1cb..7f01401e0 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -20,7 +20,7 @@ from carla.carla_server_pb2 import Control -class Agent(object, ): +class Agent(object): def __init__(self,city_name, **kwargs): import os dir_path = os.path.dirname(__file__) @@ -31,10 +31,10 @@ class Agent(object, ): def get_distance(self,start_point,end_point): - _,path_distance=self._planner.get_next_command([start_point.location.x\ - ,start_point.location.y,22],[start_point.orientation.x\ - ,start_point.orientation.y,22],[end_point.location.x\ - ,end_point.location.y,22],(1,0,0)) + path_distance=self._planner.get_shortest_path_distance( + [start_point.location.x,start_point.location.y,22] + ,[start_point.orientation.x,start_point.orientation.y,22] + ,[end_point.location.x,end_point.location.y,22],(1,0,0)) # We calculate the timout based on the distance return path_distance diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index fe9214189..2d0e1021e 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -54,7 +54,6 @@ class Benchmark(object,): 'pos_y': -1 } - # If this name was run try to continue # Returns a experiment class that is build from a benchmark inherited # class @@ -98,14 +97,15 @@ class Benchmark(object,): curr_y = -1 prev_x = -1 prev_y = -1 + measurements, sensor_data = carla.read_data() carla.send_control(carla_protocol.Control()) + t0 = measurements.game_timestamp t1 = t0 success = False - step = 0 - accum_lane_intersect = 0.0 - accum_sidewalk_intersect = 0.0 + + distance = 100000 measurement_vec = [] while((t1-t0) < (time_out*1000) and not success): @@ -128,8 +128,8 @@ class Benchmark(object,): t1 = measurements.game_timestamp - step += 1 - # The distance is based on graph but quite not exact. + + distance = sldist([curr_x, curr_y], [target.location.x, target.location.y]) diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index db37285be..7e649eb2e 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -1,8 +1,16 @@ - -class CityTrack(object) +import math - def __init__(self,city_name) +import numpy as np + +from carla.planner.astar import AStar +from carla.planner.map import CarlaMap + + +class CityTrack(object): + + + def __init__(self,city_name): self._map = CarlaMap(city_name) @@ -11,6 +19,10 @@ class CityTrack(object) # Refers to the start position of the previous route computation self._previous_node = [] + + # The current computed rout + + self._route =None @@ -25,7 +37,7 @@ class CityTrack(object) # To change the orientation with respect to the map standards node_orientation = np.array([node_orientation[0], node_orientation[1],node_orientation[2]]) - node_orientation = source_ori.dot(self.worldrotation) + node = tuple([ int(x) for x in node ]) @@ -39,11 +51,11 @@ class CityTrack(object) if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): - node_orientation = (source_ori[0],0.0,0.0) + node_orientation = (node_orientation[0],0.0,0.0) else: - node_orientation = (0.0,source_ori[1],0.0) + node_orientation = (0.0,node_orientation[1],0.0) - node = self.map.grid_search(node[0],node[1]) + node = self._map._grid.search_on_grid(node[0],node[1]) return node @@ -60,8 +72,14 @@ class CityTrack(object) def is_far_away_from_route_intersection(self,current_node): # CHECK FOR THE EMPTY CASE + if self._route == None: + raise RuntimeError('Impossible to find route' + + ' Current planner is limited' + + ' Try to select start points away from interesections') + + return self._closest_intersection_route_position(current_node, - self._previous_route) > 4 + self._route) > 4 @@ -70,12 +88,18 @@ class CityTrack(object) self._previous_node = node_source + #print node_source + #print node_target + #print self._map.get_walls_directed(node_source,source_ori, + # node_target,target_ori) + print self._map.get_graph_resolution() a_star =AStar() - a_star.init_grid(node_source,self._map.get_graph_resolution()[0], + a_star.init_grid(self._map.get_graph_resolution()[0], self._map.get_graph_resolution()[1], - self._map.get_walls_directed(node_target,target_ori,node_source), - node_target) + self._map.get_walls_directed(node_source,source_ori, + node_target,target_ori),node_source, + node_target) route = a_star.solve() @@ -86,12 +110,14 @@ class CityTrack(object) # REALLY, I want to remove this if route == None: a_star =AStar() - a_star.init_grid(node_source,self._map.get_graph_resolution()[0], - self._map.get_graph_resolution()[1],self._map.get_walls(), node_target) + a_star.init_grid(self._map.get_graph_resolution()[0], + self._map.get_graph_resolution()[1],self._map.get_walls(), + node_source, node_target) route = a_star.solve() + self._route = route return route @@ -107,15 +133,31 @@ class CityTrack(object) return sorted(distance_vector)[0] - def _closest_intersection_route_position(self, current_node): + def _closest_intersection_route_position(self, current_node,route): distance_vector = [] - for node_iterator in self._map._graph.intersection_nodes(): + for node_iter in route: + for node_iterator in self._map._graph.intersection_nodes(): - distance_vector.append(sldist(node_iterator, current_node)) + distance_vector.append(sldist(node_iterator, current_node)) return sorted(distance_vector)[0] + def get_distance_closest_node_route(self, pos, route): + import collections + distance = [] + # if self.graph.intersection_nodes() == set(): + + for node_iter in route: + + if node_iter in self.graph.intersection_nodes(): + + distance.append(sldist(node_iter, pos)) + + if not distance: + + return sldist(route[-1], pos) + return sorted(distance)[0] diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 3b7579358..b8229f737 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -1,161 +1,143 @@ import math import numpy as np -from matplotlib import collections as mc +from matplotlib import collections as mc import matplotlib.pyplot as plt -def string_to_node(string): - vec = string.split(',') - return (int(vec[0]),int(vec[1])) +def string_to_node(string): + vec = string.split(',') + + return (int(vec[0]), int(vec[1])) + def string_to_floats(string): - vec = string.split(',') + vec = string.split(',') - return (float(vec[0]),float(vec[1]),float(vec[2])) + return (float(vec[0]), float(vec[1]), float(vec[2])) -def angle_between(v1,v2): - return np.arccos(np.dot(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) -def signal(v1,v2): - return np.cross(v1,v2) / np.linalg.norm(v1) / np.linalg.norm(v2) + + + +def signal(v1, v2): + return np.cross(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2) sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -sldist3 = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2 + (c2[2] - c1[2])**2) +sldist3 = lambda c1, c2: math.sqrt( + (c2[0] - c1[0])**2 + (c2[1] - c1[1])**2 + (c2[2] - c1[2])**2) + class Graph(object): - """ - A simple directed, weighted graph - """ + """ + A simple directed, weighted graph + """ + def __init__(self, graph_file=None): - def __init__(self,graph_file=None): + self._nodes = set() + self._angles = {} + self._edges = {} + self._distances = {} + self._node_density = 50 + if graph_file != None: + with open(graph_file, 'r') as file: + # Skipe the first four lines that + lines_after_4 = file.readlines()[4:] + # the graph resolution. + linegraphres = lines_after_4[0] + self._resolution = string_to_node(linegraphres) + for line in lines_after_4[1:]: - self.nodes = set() - self.angles ={} - self.edges = {} - self.distances = {} - self.node_density =50 - if graph_file != None: - with open(graph_file, 'r') as file: - for i in range(4): - next(file) + from_node, to_node, d = line.split() + from_node = string_to_node(from_node) + to_node = string_to_node(to_node) - # the graph resolution. - linegraphres = file.readline() - self._resolution = string_to_node(linegraphres) - for line in file: + if from_node not in self._nodes: + self.add_node(from_node) + if to_node not in self._nodes: + self.add_node(to_node) + self._edges.setdefault(from_node, []) + self._edges[from_node].append(to_node) + self._distances[(from_node, to_node)] = float(d) - from_node, to_node, d = line.split() - from_node = string_to_node(from_node) - to_node = string_to_node(to_node) + def add_node(self, value): + self._nodes.add(value) - if from_node not in self.nodes: - self.add_node(from_node) - if to_node not in self.nodes: - self.add_node(to_node) - - - - self.edges.setdefault(from_node,[]) - self.edges[from_node].append(to_node) - self.distances[(from_node, to_node)] = float(d) - - - - def add_node(self, value): - self.nodes.add(value) - - def project_pixel(self,pixel) + def project_pixel(self, pixel): node = [] - node.append((pixel[0])/self.node_density - 2) - node.append((pixel[1])/self.node_density - 2) + node.append((pixel[0])/self._node_density - 2) + node.append((pixel[1])/self._node_density - 2) return tuple(node) - def make_orientations(self,node,heading): + def make_orientations(self, node, heading): - import collections - distance_dic = {} - for node_iter in self.nodes: - if node_iter != node: - distance_dic[sldist(node,node_iter)] = node_iter + import collections + distance_dic = {} + for node_iter in self._nodes: + if node_iter != node: + distance_dic[sldist(node, node_iter)] = node_iter + distance_dic = collections.OrderedDict( + sorted(distance_dic.items())) + self._angles[node] = heading + for k, v in distance_dic.iteritems(): + # print k + # print v - distance_dic = collections.OrderedDict(sorted(distance_dic.items())) + start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) - self.angles[node ] = heading - for k, v in distance_dic.iteritems(): + print start_to_goal - #print k - #print v + self.angles[v] = start_to_goal / np.linalg.norm(start_to_goal) - start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) + def add_edge(self, from_node, to_node, distance): + self._add_edge(from_node, to_node, distance) - print start_to_goal + def _add_edge(self, from_node, to_node, distance): + self._edges.setdefault(from_node, []) + self._edges[from_node].append(to_node) + self._distances[(from_node, to_node)] = distance - self.angles[v] = start_to_goal / np.linalg.norm(start_to_goal) + def intersection_nodes(self): + intersect_nodes = [] + for node in self._nodes: + if len(self._edges[node]) > 2: + intersect_nodes.append(node) - def add_edge(self, from_node, to_node, distance): - self._add_edge(from_node, to_node, distance) + return intersect_nodes + # This contains also the non-intersection turns... - def _add_edge(self, from_node, to_node, distance): - self.edges.setdefault(from_node, []) - self.edges[from_node].append(to_node) - self.distances[(from_node, to_node)] = distance + def turn_nodes(self): - def intersection_nodes(self): + return self._nodes - intersect_nodes = [] - for node in self.nodes: - if len(self.edges[node]) > 2: - intersect_nodes.append(node) + def plot_ori(self, c): + line_len = 1 - return intersect_nodes + lines = [[(p[0], p[1]), (p[0] + line_len*self._angles[p][0], p[1] + + line_len*self._angles[p][1])] for p in self.nodes] + lc = mc.LineCollection(lines, linewidth=2, color='green') + fig, ax = plt.subplots() + ax.add_collection(lc) - # This contains also the non-intersection turns... + ax.autoscale() + ax.margins(0.1) - def turn_nodes(self): - - - return self.nodes - - def plot_ori(self,c): - line_len = 1 - print self.angles - lines = [[(p[0], p[1]), (p[0] + line_len*self.angles[p][0], p[1] + \ - line_len*self.angles[p][1])] for p in self.nodes] - lc = mc.LineCollection(lines, linewidth=2,color='green') - fig, ax = plt.subplots() - ax.add_collection(lc) - - - ax.autoscale() - ax.margins(0.1) - - xs = [p[0] for p in self.nodes] - ys = [p[1] for p in self.nodes] - - - plt.scatter(xs, ys,color=c) - - - - def plot(self,c): - - xs = [p[0] for p in self.nodes] - ys = [p[1] for p in self.nodes] - - - plt.scatter(xs, ys,color=c) - - + xs = [p[0] for p in self._nodes] + ys = [p[1] for p in self._nodes] + plt.scatter(xs, ys, color=c) + def plot(self, c): + xs = [p[0] for p in self._nodes] + ys = [p[1] for p in self._nodes] + plt.scatter(xs, ys, color=c) diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index aecbe2d16..f3ba5e670 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -1,18 +1,85 @@ +import copy +import numpy as np + +def angle_between(v1, v2): + return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) + class Grid(object): def __init__(self,graph): - self.graph = graph - self.structure = self._make_structure() - self.walls = self._make_walls() + self._graph = graph + self._structure = self._make_structure() + self._walls = self._make_walls() #np.set_printoptions(linewidth=206, threshold=np.nan) + def search_on_grid(self, x, y): + visit = [[0, 1], [0, -1], [1, 0], [1, 1], + [1, -1], [-1, 0], [-1, 1], [-1, -1]] + c_x, c_y = x, y + scale = 1 + while(self._structure[c_x, c_y] != 0): + for offset in visit: + c_x, c_y = x + offset[0]*scale, y + offset[1]*scale + + if c_x >= 0 and c_x < self._graph.resolution[0] and c_y >= 0 and c_y < self._graph.resolution[1]: + if self._structure[c_x, c_y] == 0: + break + else: + c_x, c_y = x, y + scale += 1 + + return (c_x, c_y) + + + + + + def get_wall_source(self, pos, pos_ori, target): + + free_nodes = self._get_adjacent_free_nodes(pos) + print self._walls + final_walls = copy.copy(self._walls) + print final_walls + heading_start = np.array([pos_ori[0], pos_ori[1]]) + for adj in free_nodes: + + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + angle = angle_between(heading_start, start_to_goal) + if (angle > 1.6 and adj != target): + #self.grid[adj[0], adj[1]] = 1.0 + + final_walls.add((adj[0], adj[1])) + #self.walls.add((adj[0], adj[1])) + + return final_walls + + def get_wall_target(self, pos, pos_ori, source): + + free_nodes = self._get_adjacent_free_nodes(pos) + final_walls = copy.copy(self._walls) + heading_start = np.array([pos_ori[0], pos_ori[1]]) + for adj in free_nodes: + + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + angle = angle_between(heading_start, start_to_goal) + + if (angle < 1.0 and adj != source): + #self.grid[adj[0], adj[1]] = 1.0 + + final_walls.add((adj[0], adj[1])) + #self.walls.add((adj[0], adj[1])) + + return final_walls + + + def _draw_line(self, grid, xi, yi, xf, yf): @@ -36,9 +103,9 @@ class Grid(object): return grid def _make_structure(self): - structure =np.ones((self.graph.resolution[0], self.graph.resolution[1])) + structure =np.ones((self._graph._resolution[0], self._graph._resolution[1])) - for key, connections in self.graph.edges.iteritems(): + for key, connections in self._graph._edges.iteritems(): # draw a line for con in connections: @@ -51,35 +118,14 @@ class Grid(object): def _make_walls(self): walls = set() - for i in range(self.grid.shape[0]): + for i in range(self._structure.shape[0]): - for j in range(self.grid.shape[1]): - if self.grid[i, j] == 1.0: + for j in range(self._structure.shape[1]): + if self._structure[i, j] == 1.0: walls.add((i, j)) return walls - - def search_on_grid(self, x, y): - visit = [[0, 1], [0, -1], [1, 0], [1, 1], - [1, -1], [-1, 0], [-1, 1], [-1, -1]] - c_x, c_y = x, y - scale = 1 - while(self.grid[c_x, c_y] != 0): - for offset in visit: - c_x, c_y = x + offset[0]*scale, y + offset[1]*scale - - if c_x >= 0 and c_x < self.resolution[0] and c_y >= 0 and c_y < self.resolution[1]: - if self.grid[c_x, c_y] == 0: - break - else: - c_x, c_y = x, y - scale += 1 - - return (c_x, c_y) - - - - def get_adjacent_free_nodes(self, pos): + def _get_adjacent_free_nodes(self, pos): """ Acht nodes in total """ visit = [[0, 1], [0, -1], [1, 0], [1, 1], [1, -1], [-1, 0], [-1, 1], [-1, -1]] @@ -88,46 +134,10 @@ class Grid(object): for offset in visit: node = (pos[0] + offset[0], pos[1]+offset[1]) - if node[0] >= 0 and node[0] < self.resolution[0] and node[1] >= 0 and node[1] < self.resolution[1]: + if (node[0] >= 0 and node[0] < self._graph._resolution[0] + and node[1] >= 0 and node[1] < self._graph._resolution[1]): - if self.grid[node[0], node[1]] == 0.0: + if self._structure[node[0], node[1]] == 0.0: adjacent.add(node) - return adjacent - - def set_grid_direction(self, pos, pos_ori, target): - - free_nodes = self.get_adjacent_free_nodes(pos) - - added_walls = set() - heading_start = np.array([pos_ori[0], pos_ori[1]]) - for adj in free_nodes: - - start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) - angle = angle_between(heading_start, start_to_goal) - if (angle > 1.6 and adj != target): - self.grid[adj[0], adj[1]] = 1.0 - - added_walls.add((adj[0], adj[1])) - self.walls.add((adj[0], adj[1])) - - return added_walls - - def set_grid_direction_target(self, pos, pos_ori, source): - - free_nodes = self.get_adjacent_free_nodes(pos) - - added_walls = set() - heading_start = np.array([pos_ori[0], pos_ori[1]]) - for adj in free_nodes: - - start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) - angle = angle_between(heading_start, start_to_goal) - - if (angle < 1.0 and adj != source): - self.grid[adj[0], adj[1]] = 1.0 - - added_walls.add((adj[0], adj[1])) - self.walls.add((adj[0], adj[1])) - - return added_walls \ No newline at end of file + return adjacent \ No newline at end of file diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index c8ba8247f..962b44c80 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -20,9 +20,14 @@ try: except ImportError: raise RuntimeError('cannot import PIL, make sure pillow package is installed') -from graph import string_to_node,string_to_floats +from carla.planner.graph import Graph +from carla.planner.grid import Grid +from carla.planner.graph import string_to_node,string_to_floats +def color_to_angle(color): + return ((float(color)/255.0)) * 2*math.pi + @@ -67,15 +72,15 @@ class CarlaMap(object): city_map_file = os.path.join(dir_path, city + '.png') city_map_file_lanes = os.path.join(dir_path, city + 'Lanes.png') - city_map_file_center = os.path.join(dir_path, city + 'Center.png') + city_map_file_center = os.path.join(dir_path, city + 'Central.png') # The built graph. This is the exact same graph that unreal builds. This # is a generic structure used for many cases self._graph = Graph(city_file) - - self._grid = Grid() + + self._grid = Grid(self._graph) with open(city_file, 'r') as file: @@ -163,7 +168,6 @@ class CarlaMap(object): """Get the position on the map for a certain world position.""" pixel = self.get_position_on_map(world) return self._graph.project_pixel(pixel) - @@ -195,25 +199,12 @@ class CarlaMap(object): pixel.append(math.floor(relative_location[1] / float(self.pixel_density))) ori = self.map_image_lanes[int(pixel[1]), int(pixel[0]), 2] - ori = ((float(ori) / 255.0)) * 2 * math.pi + ori = color_to_angle(ori) return (-math.cos(ori), -math.sin(ori)) - - - - - def - - - - - - - - def make_map_world(self, world): relative_location = [] @@ -286,42 +277,30 @@ class CarlaMap(object): 1]/float(self.pixel_density))) # print self.map_image.shape ori = self.map_image[int(pixel[1]), int(pixel[0]), 2] - ori = ((float(ori)/255.0)) * 2*math.pi + ori = color_to_angle(ori) - # print self.map_image[int(pixel[1]),int(pixel[0]),:] - # print ori - #print (math.cos(ori),math.sin(ori)) - # print exit() return (-math.cos(ori), -math.sin(ori)) -""" - def make_node(self, worldvertex): - pixel = self.make_map_world(worldvertex) + def get_walls_directed(self,node_source,source_ori,node_target,target_ori): + """ + This is the most hacky function. Instead of planning on two ways, + we basically use a one way road and interrupt the other road by adding + an artificial wall. - node = [] + """ + print self._grid._structure + final_walls = self._grid.get_wall_source(node_source,source_ori,node_target) + print 'Returned final ',final_walls + final_walls = final_walls.union(self._grid.get_wall_target( + node_target,target_ori,node_source)) + return final_walls - node.append((pixel[0])/self.node_density - 2) - node.append((pixel[1])/self.node_density - 2) - - return tuple(node) -""" - def get_walls_directed(self,node_target,target_ori,node_source): - - # GOes to Grid - #added_walls = self.set_grid_direction(node_source,source_ori,node_target) - - - #print added_walls - # Goes to grid - #added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) - #print added_walls def get_walls(self): - return walss - + return self._grid.walls @@ -334,19 +313,4 @@ class CarlaMap(object): return sorted(distance)[0] - def get_distance_closest_node_route(self, pos, route): - import collections - distance = [] - # if self.graph.intersection_nodes() == set(): - - for node_iter in route: - - if node_iter in self.graph.intersection_nodes(): - - distance.append(sldist(node_iter, pos)) - - if not distance: - - return sldist(route[-1], pos) - return sorted(distance)[0] diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 9e835e187..8ea3ac9bd 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -5,12 +5,20 @@ import os from PIL import Image - -from graph import Graph -from astar import Astar +from city_track import CityTrack compare = lambda x, y: collections.Counter(x) == collections.Counter(y) +""" +Constants Used for the high level commands +""" + +REACH_GOAL = 0.0 +GO_STRAIGHT = 5.0 +TURN_RIGHT = 4.0 +TURN_LEFT = 3.0 +LANE_FOLLOW =2.0 + def angle_between(v1, v2): return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) @@ -18,9 +26,6 @@ def angle_between(v1, v2): sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -def color_to_angle(color): - return ((float(color)/255.0)) * 2*math.pi - class Planner(object): @@ -58,7 +63,9 @@ class Planner(object): - #self.astar. + # Take the world position and project it on the road. + # The road is represented in a grid + track_source = self._city_track.project_node(source,source_ori) track_target = self._city_track.project_node(target,target_ori) @@ -66,67 +73,61 @@ class Planner(object): # reach the goal - if self._city_track.is_at_goal(track_source,track_target) - return 0,0 - #if node_source == node_target: - # return 0, 0 + if self._city_track.is_at_goal(track_source,track_target): + return REACH_GOAL - if self._city_track.is_at_new_node(track_source) - and self._city_track.is_away_from_intersection(track_source): + if (self._city_track.is_at_new_node(track_source) + and self._city_track.is_away_from_intersection(track_source)): - # print route route= self._city_track.compute_route(track_source,source_ori, track_target,target_ori) - - #(node_source,source_ori,node_target,target_ori) - - - # We recompute the distance based on route - #self.distance = self.get_distance_closest_node_route( - # node_source, route) - - #self.complete_distance = self.get_full_distance_route( - # node_source, route)*50.0*16.42 # This is bad + if route == None: + raise RuntimeError('Impossible to find route') self._commands = self._route_to_commands(route) - - if self._city_track.is_far_away_from_route_intersection(track_source): - return 2.0 + return LANE_FOLLOW else: if self.commands: return self.commands[0] else: - return 2.0 + return LANE_FOLLOW else: if self._city_track.is_far_away_from_route_intersection(track_source): - return 2.0 + return LANE_FOLLOW # If there is computed commands if self.commands: return self.commands[0] else: - return 2.0 + return LANE_FOLLOW def get_shortest_path_distance(self, source, source_ori, target, target_ori): - import collections + distance = 0 - # if self.graph.intersection_nodes() == set(): - current_pos = pos + track_source = self._city_track.project_node(source,source_ori) + track_target = self._city_track.project_node(target,target_ori) + + current_pos = track_source + + route = self._city_track.compute_route(track_source,source_ori, + track_target,target_ori) + for node_iter in route: distance += sldist(node_iter, current_pos) current_pos = node_iter - return distance# *50.0*16.42 , maybe this goes to another layer + # We multiply by these values to convert distance to world coordinates + return distance *50.0*16.42 # , maybe this goes to another layer def is_there_posible_route(self,source,source_ori,target,target_ori): @@ -135,8 +136,8 @@ class Planner(object): track_target = self._city_track.project_node(target,target_ori) - return len(self._city_track.compute_route( - node_source,source_ori,node_target,target_ori))>0 + return not self._city_track.compute_route( + node_source,source_ori,node_target,target_ori) == None @@ -166,56 +167,13 @@ class Planner(object): command = 0.0 if angle < -0.1: - command = 4.0 + command = TURN_RIGHT elif angle > 0.1: - command = 3.0 + command = TURN_LEFT else: - command = 5.0 + command = GO_STRAIGHT commands_list.append(command) return commands_list -""" -# print node_source -# print node_target -added_walls = self.set_grid_direction( - node_source, source_ori, node_target) -# print added_walls -added_walls = added_walls.union( - self.set_grid_direction_target(node_target, target_ori, node_source)) -# print added_walls -self.previous_source = node_source - -# print self.grid - -self.a_star = AStar() -self.init(node_source, node_target) -route = self.solve() -# print route # JuSt a Corner Case -if route == None: - for i in added_walls: - self.walls.remove(i) - - self.grid[i[0], i[1]] = 0.0 - added_walls = self.set_grid_direction( - node_source, source_ori, node_target) - self.a_star = AStar() - self.init(node_source, node_target) - route = self.solve() - - - def check_command_completed(self, commands, previous_commands): - if compare(commands, previous_commands): - return False, False - elif (len(commands) + 1) < len(previous_commands): - return True, False - - elif len(commands) < len(previous_commands): - - return True, compare(commands, previous_commands[1:]) - else: - return True, False - - -""" \ No newline at end of file diff --git a/PythonClient/carla/planner/topology.py b/PythonClient/carla/planner/topology.py new file mode 100644 index 000000000..6d21a5650 --- /dev/null +++ b/PythonClient/carla/planner/topology.py @@ -0,0 +1,78 @@ + + + # Projecting the nodes + node_source = self.make_node(source) + node_target = self.make_node(target) + + source_ori = np.array([source_ori[0], source_ori[1], source_ori[2]]) + source_ori = source_ori.dot(self.worldrotation) + + # Trunkate ! + node_source = tuple([int(x) for x in node_source]) + node_target = tuple([int(x) for x in node_target]) + #target_ori = self.get_target_ori(target) + # Set to zero if it is less than zero. + + target_ori = np.array([target_ori[0], target_ori[1], 0]) + target_ori = target_ori.dot(self.worldrotation) + + node_source = (max(0, node_source[0]), max(0, node_source[1])) + node_source = (min(self.resolution[ + 0]-1, node_source[0]), min(self.resolution[1]-1, node_source[1])) + + + # is it x or y ? Check to avoid special corner cases + + if math.fabs(source_ori[0]) > math.fabs(source_ori[1]): + source_ori = (source_ori[0], 0.0, 0.0) + else: + source_ori = (0.0, source_ori[1], 0.0) + + node_source = self.search(node_source[0], node_source[1]) + node_target = self.search(node_target[0], node_target[1]) + + def _route_compute(self,node_source,source_ori,node_target,target_ori): + + + # GOes to Grid + #added_walls = self.set_grid_direction(node_source,source_ori,node_target) + #print added_walls + # Goes to Walls + #added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) + #print added_walls + + + self.previous_source = node_source + + #print self.grid + + #self.a_star =AStar() + self.init(node_source, node_target) + self.route = self.solve() + #print route # JuSt a Corner Case + if self.route == None: + for i in added_walls: + self.walls.remove(i) + + self.grid[i[0],i[1]] = 0.0 + added_walls = self.set_grid_direction(node_source,source_ori,node_target) + self.a_star =AStar() + self.init(node_source, node_target) + self.route = self.solve() + + + for i in added_walls: + self.walls.remove(i) + + self.grid[i[0],i[1]] = 0.0 + + + + return self.route + + # This is to avoid computing a new route when inside the route + # distance_node = self.get_distance_closest_node(node_source) + # Planner shouldnt have knowledge about node + + #if (distance_node > 1 \ + # and self.previous_source != node_source) or self.complete_distance == 0: From b1f4db48052c1a95de922e5c9e4b5cebd5b55468 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 14 Dec 2017 00:05:34 +0100 Subject: [PATCH 010/121] printing --- PythonClient/carla/planner/grid.py | 4 ++-- PythonClient/carla/planner/map.py | 7 ++++++- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index f3ba5e670..f5df1155e 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -44,9 +44,9 @@ class Grid(object): def get_wall_source(self, pos, pos_ori, target): free_nodes = self._get_adjacent_free_nodes(pos) - print self._walls + #print self._walls final_walls = copy.copy(self._walls) - print final_walls + #print final_walls heading_start = np.array([pos_ori[0], pos_ori[1]]) for adj in free_nodes: diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 962b44c80..114eb57d7 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -290,9 +290,13 @@ class CarlaMap(object): an artificial wall. """ + + np.set_printoptions( linewidth =206,threshold=np.nan) + print self._grid._structure + final_walls = self._grid.get_wall_source(node_source,source_ori,node_target) - print 'Returned final ',final_walls + #print 'Returned final ',final_walls final_walls = final_walls.union(self._grid.get_wall_target( node_target,target_ori,node_source)) return final_walls @@ -300,6 +304,7 @@ class CarlaMap(object): def get_walls(self): + return self._grid.walls From 71aa3be5777aa0b544f611004a1d580234c7b24b Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 14 Dec 2017 00:24:54 +0100 Subject: [PATCH 011/121] Some more debugging on map --- PythonClient/carla/planner/city_track.py | 5 +++-- PythonClient/carla/planner/map.py | 8 ++++---- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index 7e649eb2e..aba351c52 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -97,8 +97,9 @@ class CityTrack(object): a_star =AStar() a_star.init_grid(self._map.get_graph_resolution()[0], self._map.get_graph_resolution()[1], - self._map.get_walls_directed(node_source,source_ori, - node_target,target_ori),node_source, + self._map.get_walls(),node_source, + #self._map.get_walls_directed(node_source,source_ori, + # node_target,target_ori),node_source, node_target) diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 114eb57d7..678dc0a1e 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -291,9 +291,9 @@ class CarlaMap(object): """ - np.set_printoptions( linewidth =206,threshold=np.nan) - - print self._grid._structure + #np.set_printoptions( linewidth =206,threshold=np.nan) + + #print self._grid._structure final_walls = self._grid.get_wall_source(node_source,source_ori,node_target) #print 'Returned final ',final_walls @@ -305,7 +305,7 @@ class CarlaMap(object): def get_walls(self): - return self._grid.walls + return self._grid._walls From f31eaa09987a16b1d17eee467383f37d60bfaa6f Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 14 Dec 2017 12:03:50 +0100 Subject: [PATCH 012/121] Planner full redefinition. Now tested on many positons --- PythonClient/carla/benchmarks/agent.py | 4 +-- PythonClient/carla/planner/astar.py | 4 +++ PythonClient/carla/planner/city_track.py | 18 ++++++---- PythonClient/carla/planner/graph.py | 6 ---- PythonClient/carla/planner/grid.py | 2 +- PythonClient/carla/planner/map.py | 34 +++--------------- PythonClient/carla/planner/planner.py | 20 +++++++---- PythonClient/carla/planner/test_planner.py | 41 ++++++++++++++++++++++ 8 files changed, 77 insertions(+), 52 deletions(-) create mode 100644 PythonClient/carla/planner/test_planner.py diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index 7f01401e0..cb32c185e 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -9,7 +9,6 @@ from __future__ import print_function import time import math from carla import sensor -from carla.client import make_carla_client from carla.sensor import Camera from carla.settings import CarlaSettings from carla.tcp import TCPConnectionError @@ -34,7 +33,8 @@ class Agent(object): path_distance=self._planner.get_shortest_path_distance( [start_point.location.x,start_point.location.y,22] ,[start_point.orientation.x,start_point.orientation.y,22] - ,[end_point.location.x,end_point.location.y,22],(1,0,0)) + ,[end_point.location.x,end_point.location.y,22] + ,[end_point.orientation.x,end_point.orientation.y,22]) # We calculate the timout based on the distance return path_distance diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index 26d1c371e..e9b3d4b70 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -52,6 +52,7 @@ class AStar(object): """ self.grid_height = height self.grid_width = width + #print walls for x in range(self.grid_width): for y in range(self.grid_height): if (x, y) in walls: @@ -59,6 +60,7 @@ class AStar(object): else: reachable = True self.cells.append(Cell(x, y, reachable)) + self.start = self.get_cell(*start) self.end = self.get_cell(*end) @@ -126,6 +128,8 @@ class AStar(object): @returns path or None if not found. """ + if self.start == self.end: + return None # add starting cell to open heap queue heapq.heappush(self.opened, (self.start.f, self.start)) while len(self.opened): diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index aba351c52..f1adbde20 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -3,6 +3,8 @@ import math import numpy as np +from carla.planner.graph import sldist + from carla.planner.astar import AStar from carla.planner.map import CarlaMap @@ -29,14 +31,16 @@ class CityTrack(object): - def project_node(self,node,node_orientation): + def project_node(self,position,node_orientation): """ Projecting the graph node into the city road """ + node =self._map.get_position_on_graph(position) + # To change the orientation with respect to the map standards node_orientation = np.array([node_orientation[0], - node_orientation[1],node_orientation[2]]) + node_orientation[1]]) node = tuple([ int(x) for x in node ]) @@ -92,14 +96,14 @@ class CityTrack(object): #print node_target #print self._map.get_walls_directed(node_source,source_ori, # node_target,target_ori) - print self._map.get_graph_resolution() - + #print self._map.get_graph_resolution() + #print self._map.get_walls() + #print 's ',node_source,'e ',node_target a_star =AStar() a_star.init_grid(self._map.get_graph_resolution()[0], self._map.get_graph_resolution()[1], - self._map.get_walls(),node_source, - #self._map.get_walls_directed(node_source,source_ori, - # node_target,target_ori),node_source, + self._map.get_walls_directed(node_source,source_ori, + node_target,target_ori),node_source, node_target) diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index b8229f737..de22b1d43 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -15,12 +15,6 @@ def string_to_floats(string): return (float(vec[0]), float(vec[1]), float(vec[2])) - - - -def signal(v1, v2): - return np.cross(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2) - sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) sldist3 = lambda c1, c2: math.sqrt( diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index f5df1155e..12bf8c602 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -28,7 +28,7 @@ class Grid(object): for offset in visit: c_x, c_y = x + offset[0]*scale, y + offset[1]*scale - if c_x >= 0 and c_x < self._graph.resolution[0] and c_y >= 0 and c_y < self._graph.resolution[1]: + if c_x >= 0 and c_x < self._graph._resolution[0] and c_y >= 0 and c_y < self._graph._resolution[1]: if self._structure[c_x, c_y] == 0: break else: diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 678dc0a1e..e71af686e 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -227,10 +227,12 @@ class CarlaMap(object): return pixel + + def make_map_node(self, node): pixel = [] - pixel.append((node[0] + 2) * self.node_density) - pixel.append((node[1] + 2) * self.node_density) + pixel.append((node[0] + 2) * self._graph._node_density) + pixel.append((node[1] + 2) * self._graph._node_density) return pixel @@ -254,34 +256,6 @@ class CarlaMap(object): - def get_target_ori(self, target_pos): - - relative_location = [] - pixel = [] - rotation = np.array([target_pos[0], target_pos[1], target_pos[2]]) - rotation = rotation.dot(self.worldrotation) - - # print 'rot ', rotation - - relative_location.append( - rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append( - rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append( - rotation[2] + self.worldoffset[2] - self.mapoffset[2]) - # print 'trans ', relative_location - - pixel.append(math.floor(relative_location[ - 0]/float(self.pixel_density))) - pixel.append(math.floor(relative_location[ - 1]/float(self.pixel_density))) - # print self.map_image.shape - ori = self.map_image[int(pixel[1]), int(pixel[0]), 2] - ori = color_to_angle(ori) - - - return (-math.cos(ori), -math.sin(ori)) - def get_walls_directed(self,node_source,source_ori,node_target,target_ori): """ diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 8ea3ac9bd..05608cdfc 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -2,9 +2,11 @@ import math import time import collections import os +import numpy as np from PIL import Image + from city_track import CityTrack compare = lambda x, y: collections.Counter(x) == collections.Counter(y) @@ -20,11 +22,14 @@ TURN_LEFT = 3.0 LANE_FOLLOW =2.0 +# Auxiliary algebra function def angle_between(v1, v2): return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) +def signal(v1, v2): + return np.cross(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2) class Planner(object): @@ -82,7 +87,7 @@ class Planner(object): - route= self._city_track.compute_route(track_source,source_ori, + route = self._city_track.compute_route(track_source,source_ori, track_target,target_ori) if route == None: raise RuntimeError('Impossible to find route') @@ -94,8 +99,8 @@ class Planner(object): if self._city_track.is_far_away_from_route_intersection(track_source): return LANE_FOLLOW else: - if self.commands: - return self.commands[0] + if self._commands: + return self._commands[0] else: return LANE_FOLLOW else: @@ -104,8 +109,8 @@ class Planner(object): return LANE_FOLLOW # If there is computed commands - if self.commands: - return self.commands[0] + if self._commands: + return self._commands[0] else: return LANE_FOLLOW @@ -120,6 +125,9 @@ class Planner(object): route = self._city_track.compute_route(track_source,source_ori, track_target,target_ori) + # No Route, distance is zero + if route == None: + return 0.0 for node_iter in route: @@ -152,7 +160,7 @@ class Planner(object): commands_list = [] for i in range(0, len(route)): - if route[i] not in self.astar.intersection_nodes(): + if route[i] not in self._city_track._map._graph.intersection_nodes(): continue current = route[i] diff --git a/PythonClient/carla/planner/test_planner.py b/PythonClient/carla/planner/test_planner.py new file mode 100644 index 000000000..667d350e0 --- /dev/null +++ b/PythonClient/carla/planner/test_planner.py @@ -0,0 +1,41 @@ +from carla import sensor +from carla.sensor import Camera +from carla.settings import CarlaSettings +from carla.tcp import TCPConnectionError +from carla.util import print_over_same_line +from carla.planner.planner import Planner + +from carla.carla_server_pb2 import Control + + + + +planner= Planner('Town01') + + + + +resolution = planner._city_track._map.get_graph_resolution() + +for i in range(resolution[0]): + for j in range(resolution[1]): + + world_source = planner._city_track._map.make_world_node((i,j)) + source_ori = planner._city_track._map.get_lane_orientation(world_source) + print ' Making Route from (',i, ',',j,') o (',source_ori[0],',',source_ori[1],')' + + for k in range(resolution[0]): + for l in range(resolution[1]): + world_target = planner._city_track._map.make_world_node((k,l)) + + target_ori = planner._city_track._map.get_lane_orientation(world_target) + print ' To (',k, ',',l,') o (',target_ori[0],',',target_ori[1],')' + + path_distance=planner.get_shortest_path_distance( + world_source,source_ori,world_target,target_ori) + + print 'Distance is ',path_distance + command=planner.get_next_command( + world_source,source_ori,world_target,target_ori) + print 'Command is ',command + print 'Latest Route ',planner._city_track._route \ No newline at end of file From a371b6347c6a31b633eb9cfda65fdbf0321c64ba Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 14 Dec 2017 16:50:01 +0100 Subject: [PATCH 013/121] Fixed some wrong positions on corl benchmark --- PythonClient/carla/benchmarks/corl.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/PythonClient/carla/benchmarks/corl.py b/PythonClient/carla/benchmarks/corl.py index b9ac67bff..379400cdd 100644 --- a/PythonClient/carla/benchmarks/corl.py +++ b/PythonClient/carla/benchmarks/corl.py @@ -88,20 +88,21 @@ class CoRL(Benchmark): def _poses_town01(self): """ - For each matrix is a new task + Each matrix is a new task """ def _poses_straight(): return [[36,40],[39,35],[110,114],[7,3],[0,4],\ [68,50],[61,59],[47,64],[147,90],[33,87],\ [26,19],[80,76],[45,49],[55,44],[29,107],\ - [95,104],[34,84],[51,67],[22,17],[91,148],\ + [95,104],[84,34],[53,67],[22,17],[91,148],\ [20,107],[78,70],[95,102],[68,44],[45,69]] + def _poses_one_curve(): - return [[138,17],[46,16],[26,9],[42,49],[140,26],\ - [85,97],[65,133],[137,51],[76,66],[46,39],\ - [40,60],[1,28],[4,129],[121,107],[2,129],\ + return [[138,17],[47,16],[26,9],[42,49],[140,124],\ + [85,98],[65,133],[137,51],[76,66],[46,39],\ + [40,60],[0,29],[4,129],[121,140],[2,129],\ [78,44],[68,85],[41,102],[95,70],[68,129],\ [84,69],[47,79],[110,15],[130,17],[0,17]] From d2a5a717679c8bbfa83ab9354c23494a7fda4919 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 14 Dec 2017 17:38:08 +0100 Subject: [PATCH 014/121] Planner --- PythonClient/carla/benchmarks/corl.py | 4 ++-- PythonClient/carla/planner/planner.py | 15 ++++++++++----- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/PythonClient/carla/benchmarks/corl.py b/PythonClient/carla/benchmarks/corl.py index 379400cdd..102959a96 100644 --- a/PythonClient/carla/benchmarks/corl.py +++ b/PythonClient/carla/benchmarks/corl.py @@ -125,7 +125,7 @@ class CoRL(Benchmark): def _poses_straight(): - return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ + return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ [64, 66], [78, 76],[59,57],[61,18],[35,39],\ [12,8],[0,18],[75,68],[54,60],[45,49],\ [46,42],[53,46],[80,29],[65,63],[0,81],\ @@ -135,7 +135,7 @@ class CoRL(Benchmark): return [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ [58,71],[74,32],[44,0],[71,16],[14,24],\ [34,11],[43,14],[75,16],[80,21],[3,23],\ - [75,59],[50,47],[11,19],[77,34],[79,25] ,\ + [75,59],[50,47],[11,19],[77,34],[79,25],\ [40,63],[58,76],[79,55],[16,61],[27,11]] def _poses_navigation(): diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 05608cdfc..e8dd83094 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -40,11 +40,7 @@ class Planner(object): self._city_track = CityTrack(city_name) - #self.previous_source = (0, 0) - ##self.distance = 0 - #self.complete_distance = 0 - # print self.map_image self._commands = [] #self.route = [] @@ -135,8 +131,10 @@ class Planner(object): current_pos = node_iter # We multiply by these values to convert distance to world coordinates - return distance *50.0*16.42 # , maybe this goes to another layer + return distance *self._city_track._map.pixel_density \ + *self._city_track._map._graph._node_density + def is_there_posible_route(self,source,source_ori,target,target_ori): @@ -147,6 +145,13 @@ class Planner(object): return not self._city_track.compute_route( node_source,source_ori,node_target,target_ori) == None + def test_position(self,source,source_ori): + + + node_source = self._city_track.project_node(source,source_ori) + + return self.is_away_from_intersection(node_source) + # from the shortest path graph, transform it into a list of commands From f4f238f248f1af41b66cff70d25c606ace5f5938 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 15 Dec 2017 15:06:17 +0100 Subject: [PATCH 015/121] Benchmark small changes --- PythonClient/carla/benchmarks/benchmark.py | 30 ++++++++++++++++----- PythonClient/carla/benchmarks/experiment.py | 1 - PythonClient/run_benchmark.py | 2 +- 3 files changed, 25 insertions(+), 8 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 2d0e1021e..88d0c1435 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -22,7 +22,7 @@ sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) class Benchmark(object,): # Param @name to be used for saving purposes - def __init__(self, city_name, name_to_save, continue_exp=False): + def __init__(self, city_name, name_to_save, continue_exp=False,save_images=False): # The name of the city that is going to be used. self._city_name = city_name # Sends a base name, the rest will be saved with respect to what the @@ -91,7 +91,14 @@ class Benchmark(object,): now.strftime("%Y%m%d%H%M")), 'wb') as f: pass - def run_navigation_episode(self, agent, carla, time_out, target): + + self._save_images = save_images + self._image_filename_format = os.path.join(self._full_name, + '_images/episode_{:s}/{:s}/image_{:0>5d}.jpg') + + + + def run_navigation_episode(self, agent, carla, time_out, target,episode_name): curr_x = -1 curr_y = -1 @@ -108,6 +115,7 @@ class Benchmark(object,): distance = 100000 measurement_vec = [] + frame = 0 while((t1-t0) < (time_out*1000) and not success): capture_time = time.time() measurements, sensor_data = carla.read_data() @@ -118,6 +126,11 @@ class Benchmark(object,): carla.send_control(control) # meassure distance to target + if self._save_images: + for name, image in sensor_data.items(): + image.save_to_disk(self._image_filename_format.format( + episode_name, name, frame)) + prev_x = curr_x prev_y = curr_y @@ -139,6 +152,8 @@ class Benchmark(object,): if(distance < 200.0): success = True + frame +=1 + if(success): return (1, measurement_vec, float(t1-t0)/1000.0, distance) else: @@ -192,7 +207,10 @@ class Benchmark(object,): # running the agent (result, reward_vec, final_time, remaining_distance) = \ self.run_navigation_episode( - agent, carla, time_out, positions[end_point]) + agent, carla, time_out, positions[end_point], + str(experiment.Conditions.WeatherId) + '_' + + str(experiment.id) +'_'+ str(start_point) + + '.' + str(end_point)) # compute stats for the experiment @@ -200,7 +218,7 @@ class Benchmark(object,): experiment, pose, rep, path_distance, remaining_distance, final_time, time_out, result) - self._write_reward_results(experiment, rep, reward_vec) + self._write_details_results(experiment, rep, reward_vec) if(result > 0): print('+++++ Target achieved in %f seconds! +++++' % @@ -232,10 +250,10 @@ class Benchmark(object,): w.writerow(self._dict_stats) - def _write_reward_results(self, experiment, rep, reward_vec): + def _write_details_results(self, experiment, rep, reward_vec): with open(os.path.join(self._full_name, - 'rewards_' + self._suffix_name), 'a+') as rfd: + 'details_' + self._suffix_name), 'a+') as rfd: rw = csv.DictWriter(rfd, self._dict_rewards.keys()) diff --git a/PythonClient/carla/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py index 7c13c50b5..7ec9496c1 100644 --- a/PythonClient/carla/benchmarks/experiment.py +++ b/PythonClient/carla/benchmarks/experiment.py @@ -11,7 +11,6 @@ class Experiment(object): self.Poses = [[]] self.Repetitions = 1 - # self. ,vehicles,pedestrians,weather,cameras def set(self, **kwargs): for key, value in kwargs.items(): diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 62a56eb14..8f600b9f6 100644 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -71,7 +71,7 @@ if(__name__ == '__main__'): while True: try: with make_carla_client(args.host, args.port) as client: - corl= CoRL(city_name= args.city_name,name_to_save='test2') + corl= CoRL(city_name= args.city_name,name_to_save='details') agent = Manual(args.city_name) results = corl.benchmark_agent(agent,client) corl.plot_summary_test() From a7dacc22b8571c50309aef33c4928345ca19f65c Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 19 Dec 2017 12:24:22 +0100 Subject: [PATCH 016/121] Make run_benchmark executable and some clean up --- PythonClient/run_benchmark.py | 41 +++++++++++++++-------------------- 1 file changed, 17 insertions(+), 24 deletions(-) mode change 100644 => 100755 PythonClient/run_benchmark.py diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py old mode 100644 new mode 100755 index 8f600b9f6..193320d33 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -1,26 +1,26 @@ -import time -import sys +#!/usr/bin/env python3 + +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . import argparse import logging +import sys +import time - - -from carla.benchmarks.corl import CoRL from carla.benchmarks.agent import Agent +from carla.benchmarks.corl import CoRL +from carla.client import make_carla_client, VehicleControl from carla.tcp import TCPConnectionError -from carla.client import make_carla_client -try: - from carla import carla_server_pb2 as carla_protocol -except ImportError: - raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') - class Manual(Agent): - def run_step(self,measurements,sensor_data,target): - control = carla_protocol.Control() + def run_step(self, measurements, sensor_data, target): + control = VehicleControl() control.steer = 0.0 control.throttle = 0.9 control.brake = 0.0 @@ -30,8 +30,7 @@ class Manual(Agent): return control -if(__name__ == '__main__'): - +if __name__ == '__main__': argparser = argparse.ArgumentParser(description=__doc__) argparser.add_argument( @@ -55,9 +54,7 @@ if(__name__ == '__main__'): metavar='C', default='Town01', help='plot the map of the current city' - +'(needs to match active map in server, options: Town01 or Town02)') - - + + '(needs to match active map in server, options: Town01 or Town02)') args = argparser.parse_args() @@ -66,14 +63,12 @@ if(__name__ == '__main__'): logging.info('listening to server %s:%s', args.host, args.port) - - while True: try: with make_carla_client(args.host, args.port) as client: - corl= CoRL(city_name= args.city_name,name_to_save='details') + corl = CoRL(city_name=args.city_name, name_to_save='details') agent = Manual(args.city_name) - results = corl.benchmark_agent(agent,client) + results = corl.benchmark_agent(agent, client) corl.plot_summary_test() corl.plot_summary_train() @@ -85,5 +80,3 @@ if(__name__ == '__main__'): except Exception as exception: logging.exception(exception) sys.exit(1) - - From fa34e359d013c79708376fd9b79d0723ae9c1086 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 19 Dec 2017 15:31:28 +0100 Subject: [PATCH 017/121] Some fixes for Python 3 --- .gitignore | 1 + PythonClient/carla/benchmarks/benchmark.py | 111 +++++++++---------- PythonClient/carla/planner/graph.py | 29 ++--- PythonClient/carla/planner/grid.py | 50 ++++----- PythonClient/carla/planner/planner.py | 120 +++++++++------------ 5 files changed, 140 insertions(+), 171 deletions(-) diff --git a/.gitignore b/.gitignore index fa06fd814..2aef97e3e 100644 --- a/.gitignore +++ b/.gitignore @@ -22,5 +22,6 @@ Util/Build .tags* .vs __pycache__ +_benchmarks_results _images core diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 88d0c1435..92dd021e4 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -1,28 +1,27 @@ +from builtins import input -import os -import math -import time import csv -import json - import datetime +import math +import os +import time + +from carla.client import VehicleControl -try: - from carla import carla_server_pb2 as carla_protocol -except ImportError: - raise RuntimeError( - 'cannot import "carla_server_pb2.py' - +', run the protobuf compiler to generate this file') +def sldist(c1, c2): + return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) - - -class Benchmark(object,): +class Benchmark(object): # Param @name to be used for saving purposes - def __init__(self, city_name, name_to_save, continue_exp=False,save_images=False): + def __init__( + self, + city_name, + name_to_save, + continue_exp=False, + save_images=False): # The name of the city that is going to be used. self._city_name = city_name # Sends a base name, the rest will be saved with respect to what the @@ -54,15 +53,14 @@ class Benchmark(object,): 'pos_y': -1 } - # Returns a experiment class that is build from a benchmark inherited # class self._experiments = self._build_experiments() self._suffix_name = self._get_experiments_names(self._experiments) self._full_name = os.path.join('_benchmarks_results', - self._base_name + '_' - + self._get_details() + '/') + self._base_name + '_' + + self._get_details() + '/') if self._experiment_exist(): # If continue_exp was set we continue directly, else we ask for @@ -70,8 +68,8 @@ class Benchmark(object,): self._line_on_file = self._get_last_position() else: - answer = str(raw_input("The experiment was already found in the files" - + ", Do you want to Continue ? \n")) + answer = input("The experiment was already found in the files" + + ", Do you want to Continue ? \n") if answer == 'Yes' or answer == 'y': self._line_on_file = self._get_last_position() else: @@ -88,36 +86,37 @@ class Benchmark(object,): # the number of times the experiments were run now = datetime.datetime.now() with open(os.path.join(self._full_name, - now.strftime("%Y%m%d%H%M")), 'wb') as f: + now.strftime("%Y%m%d%H%M")), 'w') as f: pass - self._save_images = save_images - self._image_filename_format = os.path.join(self._full_name, - '_images/episode_{:s}/{:s}/image_{:0>5d}.jpg') + self._image_filename_format = os.path.join( + self._full_name, '_images/episode_{:s}/{:s}/image_{:0>5d}.jpg') - - - def run_navigation_episode(self, agent, carla, time_out, target,episode_name): + def run_navigation_episode( + self, + agent, + carla, + time_out, + target, + episode_name): curr_x = -1 curr_y = -1 prev_x = -1 prev_y = -1 - + measurements, sensor_data = carla.read_data() - carla.send_control(carla_protocol.Control()) - + carla.send_control(VehicleControl()) + t0 = measurements.game_timestamp t1 = t0 success = False - distance = 100000 measurement_vec = [] frame = 0 - while((t1-t0) < (time_out*1000) and not success): - capture_time = time.time() + while((t1 - t0) < (time_out * 1000) and not success): measurements, sensor_data = carla.read_data() control = agent.run_step(measurements, sensor_data, target) @@ -131,7 +130,6 @@ class Benchmark(object,): image.save_to_disk(self._image_filename_format.format( episode_name, name, frame)) - prev_x = curr_x prev_y = curr_y curr_x = measurements.player_measurements.transform.location.x @@ -141,47 +139,43 @@ class Benchmark(object,): t1 = measurements.game_timestamp - - distance = sldist([curr_x, curr_y], [target.location.x, target.location.y]) - print('[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % - (float(distance), curr_x, curr_y, target.location.x, target.location.y)) + print( + '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % + (float(distance), curr_x, curr_y, target.location.x, target.location.y)) if(distance < 200.0): success = True - frame +=1 + frame += 1 - if(success): - return (1, measurement_vec, float(t1-t0)/1000.0, distance) - else: - return (0, measurement_vec, time_out, distance) + if success: + return (1, measurement_vec, float(t1 - t0) / 1000.0, distance) + return (0, measurement_vec, time_out, distance) def benchmark_agent(self, agent, carla): if self._line_on_file == 0: # The fixed name considering all the experiments being run with open(os.path.join(self._full_name, - self._suffix_name), 'wb') as ofd: + self._suffix_name), 'w') as ofd: w = csv.DictWriter(ofd, self._dict_stats.keys()) w.writeheader() with open(os.path.join(self._full_name, - 'rewards_' + self._suffix_name), 'wb') as rfd: + 'rewards_' + self._suffix_name), 'w') as rfd: rw = csv.DictWriter(rfd, self._dict_rewards.keys()) rw.writeheader() start_task = 0 - start_pose = 0 + start_pose = 0 else: - (start_task,start_pose) = self._get_pose_and_task(self._line_on_file) - - print (' START ') - + (start_task, start_pose) = self._get_pose_and_task(self._line_on_file) + print(' START ') for experiment in self._experiments[start_task:]: @@ -209,13 +203,13 @@ class Benchmark(object,): self.run_navigation_episode( agent, carla, time_out, positions[end_point], str(experiment.Conditions.WeatherId) + '_' - + str(experiment.id) +'_'+ str(start_point) - + '.' + str(end_point)) + + str(experiment.id) + '_' + str(start_point) + + '.' + str(end_point)) # compute stats for the experiment self._write_summary_results( - experiment, pose, rep, path_distance, + experiment, pose, rep, path_distance, remaining_distance, final_time, time_out, result) self._write_details_results(experiment, rep, reward_vec) @@ -227,11 +221,9 @@ class Benchmark(object,): print('----- Timeout! -----') return self.get_all_statistics() - - def _write_summary_results(self, experiment, pose, rep, - path_distance, remaining_distance, - final_time, time_out, result): + path_distance, remaining_distance, + final_time, time_out, result): self._dict_stats['exp_id'] = experiment.id self._dict_stats['rep'] = rep @@ -278,8 +270,6 @@ class Benchmark(object,): rw.writerow(self._dict_rewards) - - # To be redefined on subclasses on how to calculate timeout for an episode def _calculate_time_out(self, distance): return 0 @@ -311,4 +301,3 @@ class Benchmark(object,): for i, l in enumerate(f): pass return i - diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index de22b1d43..00e1dc47f 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -1,24 +1,27 @@ import math -import numpy as np -from matplotlib import collections as mc import matplotlib.pyplot as plt +import numpy as np + +from matplotlib import collections as mc def string_to_node(string): vec = string.split(',') - return (int(vec[0]), int(vec[1])) def string_to_floats(string): vec = string.split(',') - return (float(vec[0]), float(vec[1]), float(vec[2])) -sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) -sldist3 = lambda c1, c2: math.sqrt( - (c2[0] - c1[0])**2 + (c2[1] - c1[1])**2 + (c2[2] - c1[2])**2) +def sldist(c1, c2): + return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + + +def sldist3(c1, c2): + return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1]) + ** 2 + (c2[2] - c1[2])**2) class Graph(object): @@ -33,7 +36,7 @@ class Graph(object): self._edges = {} self._distances = {} self._node_density = 50 - if graph_file != None: + if graph_file is not None: with open(graph_file, 'r') as file: # Skipe the first four lines that lines_after_4 = file.readlines()[4:] @@ -61,8 +64,8 @@ class Graph(object): def project_pixel(self, pixel): node = [] - node.append((pixel[0])/self._node_density - 2) - node.append((pixel[1])/self._node_density - 2) + node.append((pixel[0]) / self._node_density - 2) + node.append((pixel[1]) / self._node_density - 2) return tuple(node) @@ -85,7 +88,7 @@ class Graph(object): start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) - print start_to_goal + print(start_to_goal) self.angles[v] = start_to_goal / np.linalg.norm(start_to_goal) @@ -115,8 +118,8 @@ class Graph(object): def plot_ori(self, c): line_len = 1 - lines = [[(p[0], p[1]), (p[0] + line_len*self._angles[p][0], p[1] + - line_len*self._angles[p][1])] for p in self.nodes] + lines = [[(p[0], p[1]), (p[0] + line_len * self._angles[p][0], + p[1] + line_len * self._angles[p][1])] for p in self.nodes] lc = mc.LineCollection(lines, linewidth=2, color='green') fig, ax = plt.subplots() ax.add_collection(lc) diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index 12bf8c602..12e0377e5 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -1,14 +1,14 @@ - import copy import numpy as np + def angle_between(v1, v2): return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) class Grid(object): - def __init__(self,graph): + def __init__(self, graph): self._graph = graph self._structure = self._make_structure() @@ -16,9 +16,6 @@ class Grid(object): #np.set_printoptions(linewidth=206, threshold=np.nan) - - - def search_on_grid(self, x, y): visit = [[0, 1], [0, -1], [1, 0], [1, 1], [1, -1], [-1, 0], [-1, 1], [-1, -1]] @@ -26,9 +23,10 @@ class Grid(object): scale = 1 while(self._structure[c_x, c_y] != 0): for offset in visit: - c_x, c_y = x + offset[0]*scale, y + offset[1]*scale + c_x, c_y = x + offset[0] * scale, y + offset[1] * scale - if c_x >= 0 and c_x < self._graph._resolution[0] and c_y >= 0 and c_y < self._graph._resolution[1]: + if c_x >= 0 and c_x < self._graph._resolution[ + 0] and c_y >= 0 and c_y < self._graph._resolution[1]: if self._structure[c_x, c_y] == 0: break else: @@ -37,20 +35,16 @@ class Grid(object): return (c_x, c_y) - - - - def get_wall_source(self, pos, pos_ori, target): free_nodes = self._get_adjacent_free_nodes(pos) - #print self._walls + # print self._walls final_walls = copy.copy(self._walls) - #print final_walls + # print final_walls heading_start = np.array([pos_ori[0], pos_ori[1]]) for adj in free_nodes: - start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) angle = angle_between(heading_start, start_to_goal) if (angle > 1.6 and adj != target): #self.grid[adj[0], adj[1]] = 1.0 @@ -67,7 +61,7 @@ class Grid(object): heading_start = np.array([pos_ori[0], pos_ori[1]]) for adj in free_nodes: - start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) + start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) angle = angle_between(heading_start, start_to_goal) if (angle < 1.0 and adj != source): @@ -78,10 +72,6 @@ class Grid(object): return final_walls - - - - def _draw_line(self, grid, xi, yi, xf, yf): if xf < xi: @@ -94,24 +84,27 @@ class Grid(object): yi = yf yf = aux - for i in range(xi, xf+1): + for i in range(xi, xf + 1): - for j in range(yi, yf+1): + for j in range(yi, yf + 1): grid[i, j] = 0.0 return grid def _make_structure(self): - structure =np.ones((self._graph._resolution[0], self._graph._resolution[1])) + structure = np.ones( + (self._graph._resolution[0], + self._graph._resolution[1])) - for key, connections in self._graph._edges.iteritems(): + for key, connections in self._graph._edges.items(): # draw a line for con in connections: # print key[0],key[1],con[0],con[1] - structure = self._draw_line(structure, key[0], key[1], con[0], con[1]) + structure = self._draw_line( + structure, key[0], key[1], con[0], con[1]) # print grid return structure @@ -125,6 +118,7 @@ class Grid(object): walls.add((i, j)) return walls + def _get_adjacent_free_nodes(self, pos): """ Acht nodes in total """ visit = [[0, 1], [0, -1], [1, 0], [1, 1], @@ -132,12 +126,12 @@ class Grid(object): adjacent = set() for offset in visit: - node = (pos[0] + offset[0], pos[1]+offset[1]) + node = (pos[0] + offset[0], pos[1] + offset[1]) - if (node[0] >= 0 and node[0] < self._graph._resolution[0] - and node[1] >= 0 and node[1] < self._graph._resolution[1]): + if (node[0] >= 0 and node[0] < self._graph._resolution[0] + and node[1] >= 0 and node[1] < self._graph._resolution[1]): if self._structure[node[0], node[1]] == 0.0: adjacent.add(node) - return adjacent \ No newline at end of file + return adjacent diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index e8dd83094..a1bef0cc7 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -1,17 +1,19 @@ -import math -import time import collections -import os +import math import numpy as np - +import os +import time from PIL import Image -from city_track import CityTrack +from . import city_track -compare = lambda x, y: collections.Counter(x) == collections.Counter(y) -""" +def compare(x, y): + return collections.Counter(x) == collections.Counter(y) + + +""" Constants Used for the high level commands """ @@ -19,14 +21,16 @@ REACH_GOAL = 0.0 GO_STRAIGHT = 5.0 TURN_RIGHT = 4.0 TURN_LEFT = 3.0 -LANE_FOLLOW =2.0 +LANE_FOLLOW = 2.0 # Auxiliary algebra function def angle_between(v1, v2): return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) -sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + +def sldist(c1, c2): return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + def signal(v1, v2): return np.cross(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2) @@ -34,12 +38,9 @@ def signal(v1, v2): class Planner(object): - def __init__(self, city_name): - - self._city_track = CityTrack(city_name) - + self._city_track = city_track.CityTrack(city_name) self._commands = [] @@ -52,47 +53,31 @@ class Planner(object): #self.node_density = 50.0 # This function converts the 2d map into a 3D one in a vector. - - - - - - - - - def get_next_command(self, source, source_ori, target, target_ori): - - + def get_next_command(self, source, source_ori, target, target_ori): # Take the world position and project it on the road. # The road is represented in a grid - track_source = self._city_track.project_node(source,source_ori) - track_target = self._city_track.project_node(target,target_ori) - - + track_source = self._city_track.project_node(source, source_ori) + track_target = self._city_track.project_node(target, target_ori) # reach the goal - if self._city_track.is_at_goal(track_source,track_target): + if self._city_track.is_at_goal(track_source, track_target): return REACH_GOAL - if (self._city_track.is_at_new_node(track_source) - and self._city_track.is_away_from_intersection(track_source)): + and self._city_track.is_away_from_intersection(track_source)): - - - route = self._city_track.compute_route(track_source,source_ori, - track_target,target_ori) - if route == None: + route = self._city_track.compute_route(track_source, source_ori, + track_target, target_ori) + if route is None: raise RuntimeError('Impossible to find route') - self._commands = self._route_to_commands(route) - - if self._city_track.is_far_away_from_route_intersection(track_source): + if self._city_track.is_far_away_from_route_intersection( + track_source): return LANE_FOLLOW else: if self._commands: @@ -101,7 +86,8 @@ class Planner(object): return LANE_FOLLOW else: - if self._city_track.is_far_away_from_route_intersection(track_source): + if self._city_track.is_far_away_from_route_intersection( + track_source): return LANE_FOLLOW # If there is computed commands @@ -110,19 +96,23 @@ class Planner(object): else: return LANE_FOLLOW - - def get_shortest_path_distance(self, source, source_ori, target, target_ori): + def get_shortest_path_distance( + self, + source, + source_ori, + target, + target_ori): distance = 0 - track_source = self._city_track.project_node(source,source_ori) - track_target = self._city_track.project_node(target,target_ori) + track_source = self._city_track.project_node(source, source_ori) + track_target = self._city_track.project_node(target, target_ori) current_pos = track_source - route = self._city_track.compute_route(track_source,source_ori, - track_target,target_ori) + route = self._city_track.compute_route(track_source, source_ori, + track_target, target_ori) # No Route, distance is zero - if route == None: + if route is None: return 0.0 for node_iter in route: @@ -131,35 +121,28 @@ class Planner(object): current_pos = node_iter # We multiply by these values to convert distance to world coordinates - return distance *self._city_track._map.pixel_density \ - *self._city_track._map._graph._node_density + return distance * self._city_track._map.pixel_density \ + * self._city_track._map._graph._node_density - + def is_there_posible_route(self, source, source_ori, target, target_ori): - def is_there_posible_route(self,source,source_ori,target,target_ori): + track_source = self._city_track.project_node(source, source_ori) + track_target = self._city_track.project_node(target, target_ori) - track_source = self._city_track.project_node(source,source_ori) - track_target = self._city_track.project_node(target,target_ori) + return not self._city_track.compute_route( + node_source, source_ori, node_target, target_ori) is None + def test_position(self, source, source_ori): - return not self._city_track.compute_route( - node_source,source_ori,node_target,target_ori) == None - - def test_position(self,source,source_ori): - - - node_source = self._city_track.project_node(source,source_ori) - - return self.is_away_from_intersection(node_source) - + node_source = self._city_track.project_node(source, source_ori) + return self.is_away_from_intersection(node_source) # from the shortest path graph, transform it into a list of commands # @param the sub graph containing the shortest path # @param Orientation of the car # returns list of commands ( 3 is left, 4 is right, 5 is straight) - def _route_to_commands(self, route): commands_list = [] @@ -169,13 +152,13 @@ class Planner(object): continue current = route[i] - past = route[i-1] - future = route[i+1] + past = route[i - 1] + future = route[i + 1] past_to_current = np.array( - [current[0]-past[0], current[1]-past[1]]) + [current[0] - past[0], current[1] - past[1]]) current_to_future = np.array( - [future[0]-current[0], future[1]-current[1]]) + [future[0] - current[0], future[1] - current[1]]) angle = signal(current_to_future, past_to_current) command = 0.0 @@ -189,4 +172,3 @@ class Planner(object): commands_list.append(command) return commands_list - From 463757c21464a9dd22492f73dd39f6ca22a5ca65 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 20 Dec 2017 10:52:31 -0200 Subject: [PATCH 018/121] Cleaning classes, adding abstract class. --- PythonClient/carla/benchmarks/agent.py | 65 ++---- PythonClient/carla/benchmarks/benchmark.py | 187 +++++++++++------- .../benchmarks/{corl.py => corl_2017.py} | 70 ++++--- PythonClient/carla/benchmarks/experiment.py | 1 - PythonClient/carla/benchmarks/metrics.py | 5 +- PythonClient/carla/planner/astar.py | 1 - PythonClient/carla/planner/bezier.py | 37 ---- PythonClient/carla/planner/city_track.py | 20 +- PythonClient/carla/planner/graph.py | 2 - PythonClient/carla/planner/grid.py | 9 +- PythonClient/carla/planner/map.py | 54 +---- PythonClient/carla/planner/planner.py | 42 ++-- PythonClient/carla/planner/test_planner.py | 41 ---- PythonClient/carla/planner/topology.py | 78 -------- PythonClient/run_benchmark.py | 18 +- 15 files changed, 223 insertions(+), 407 deletions(-) rename PythonClient/carla/benchmarks/{corl.py => corl_2017.py} (77%) delete mode 100644 PythonClient/carla/planner/bezier.py delete mode 100644 PythonClient/carla/planner/test_planner.py delete mode 100644 PythonClient/carla/planner/topology.py diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index cb32c185e..63f4e7b77 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -1,33 +1,23 @@ #!/usr/bin/env python2 # -*- coding: utf-8 -*- -""" -Created on Sat Jun 10 19:12:37 2017 +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . +# @author: german,felipecode + -@author: german,felipecode -""" from __future__ import print_function -import time -import math -from carla import sensor -from carla.sensor import Camera -from carla.settings import CarlaSettings -from carla.tcp import TCPConnectionError -from carla.util import print_over_same_line +import abc + from carla.planner.planner import Planner -from carla.carla_server_pb2 import Control - - - class Agent(object): def __init__(self,city_name, **kwargs): - import os - dir_path = os.path.dirname(__file__) - + __metaclass__ = abc.ABCMeta self._planner = Planner(city_name) - - def get_distance(self,start_point,end_point): path_distance=self._planner.get_shortest_path_distance( @@ -39,33 +29,12 @@ class Agent(object): return path_distance - - # Function to be redefined by the AI. - def run_step(self, data): - pass + @abc.abstractmethod + def run_step(self, measurements, sensor_data, target): + """ + Function to be redefined by an agent. + :param The measurements like speed, the image data and a target + :returns A carla Control object, with the steering/gas/brake for the agent + """ - -""" - def compute_distance(self, curr, prev, target): - # no history info - if(prev[0] == -1 and prev[1] == -1): - distance = math.sqrt((curr[0] - target[0])*(curr[0] - target[0]) + (curr[1] - target[1])*(curr[1] - target[1])) - else: - # distance point to segment - v1 = [target[0]-curr[0], target[1]-curr[1]] - v2 = [prev[0]-curr[0], prev[1]-curr[1]] - - w1 = v1[0]*v2[0] + v1[1]*v2[1] - w2 = v2[0]*v2[0] + v2[1]*v2[1] - t_hat = w1 / (w2 + 1e-4) - t_start = min(max(t_hat, 0.0), 1.0) - - s = [0, 0] - s[0] = curr[0] + t_start * (prev[0] - curr[0]) - s[1] = curr[1] + t_start * (prev[1] - curr[1]) - distance = math.sqrt((s[0] - target[0])*(s[0] - target[0]) + (s[1] - target[1])*(s[1] - target[1])) - - - return distance -""" diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 92dd021e4..a895aa125 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -1,3 +1,12 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . + + from builtins import input import csv @@ -5,6 +14,8 @@ import datetime import math import os import time +import abc + from carla.client import VehicleControl @@ -15,17 +26,22 @@ def sldist(c1, c2): class Benchmark(object): - # Param @name to be used for saving purposes + """ + The Benchmark class, controls the execution of the benchmark by an + Agent class. + The benchmark class must be inherited + """ def __init__( self, city_name, name_to_save, - continue_exp=False, + continue_experiment=False, save_images=False): - # The name of the city that is going to be used. + + __metaclass__ = abc.ABCMeta + self._city_name = city_name - # Sends a base name, the rest will be saved with respect to what the - # episode was about + self._base_name = name_to_save self._dict_stats = {'exp_id': -1, 'rep': -1, @@ -37,8 +53,6 @@ class Benchmark(object): 'final_distance': -1, 'final_time': -1, 'time_out': -1 - - } self._dict_rewards = {'exp_id': -1, @@ -53,41 +67,12 @@ class Benchmark(object): 'pos_y': -1 } - # Returns a experiment class that is build from a benchmark inherited - # class + # Get the line for the experiment to be continued + self._line_on_file = self._continue_experiment(continue_experiment) self._experiments = self._build_experiments() - self._suffix_name = self._get_experiments_names(self._experiments) - self._full_name = os.path.join('_benchmarks_results', - self._base_name + '_' - + self._get_details() + '/') - - if self._experiment_exist(): - # If continue_exp was set we continue directly, else we ask for - if continue_exp: - self._line_on_file = self._get_last_position() - - else: - answer = input("The experiment was already found in the files" - + ", Do you want to Continue ? \n") - if answer == 'Yes' or answer == 'y': - self._line_on_file = self._get_last_position() - else: - self._line_on_file = 0 - - else: - self._line_on_file = 0 - - folder = os.path.dirname(self._full_name) - if not os.path.isdir(folder): - os.makedirs(folder) - - # Make a date file: to show when this was modified, - # the number of times the experiments were run - now = datetime.datetime.now() - with open(os.path.join(self._full_name, - now.strftime("%Y%m%d%H%M")), 'w') as f: - pass + # Create the log files and get the names + self._suffix_name, self._full_name = self._create_log_record(self._experiments) self._save_images = save_images self._image_filename_format = os.path.join( @@ -101,22 +86,17 @@ class Benchmark(object): target, episode_name): - curr_x = -1 - curr_y = -1 - prev_x = -1 - prev_y = -1 - measurements, sensor_data = carla.read_data() carla.send_control(VehicleControl()) t0 = measurements.game_timestamp t1 = t0 success = False - - distance = 100000 measurement_vec = [] frame = 0 - while((t1 - t0) < (time_out * 1000) and not success): + distance = 10000 + + while(t1 - t0) < (time_out * 1000) and not success: measurements, sensor_data = carla.read_data() control = agent.run_step(measurements, sensor_data, target) @@ -124,14 +104,12 @@ class Benchmark(object): control.throttle, 'Brake ', control.brake) carla.send_control(control) - # meassure distance to target + # measure distance to target if self._save_images: for name, image in sensor_data.items(): image.save_to_disk(self._image_filename_format.format( episode_name, name, frame)) - prev_x = curr_x - prev_y = curr_y curr_x = measurements.player_measurements.transform.location.x curr_y = measurements.player_measurements.transform.location.y @@ -146,14 +124,14 @@ class Benchmark(object): '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % (float(distance), curr_x, curr_y, target.location.x, target.location.y)) - if(distance < 200.0): + if distance < 200.0: success = True frame += 1 if success: - return (1, measurement_vec, float(t1 - t0) / 1000.0, distance) - return (0, measurement_vec, time_out, distance) + return 1, measurement_vec, float(t1 - t0) / 1000.0, distance + return 0, measurement_vec, time_out, distance def benchmark_agent(self, agent, carla): @@ -166,7 +144,7 @@ class Benchmark(object): w.writeheader() with open(os.path.join(self._full_name, - 'rewards_' + self._suffix_name), 'w') as rfd: + 'details_' + self._suffix_name), 'w') as rfd: rw = csv.DictWriter(rfd, self._dict_rewards.keys()) rw.writeheader() @@ -270,23 +248,52 @@ class Benchmark(object): rw.writerow(self._dict_rewards) - # To be redefined on subclasses on how to calculate timeout for an episode - def _calculate_time_out(self, distance): - return 0 + def _create_log_record(self, base_name, experiments): + """ + This function creates the log files for the benchmark. - # To be redefined on subclasses - def _build_experiments(self): - pass + """ + suffix_name = self._get_experiments_names(experiments) + full_name = os.path.join('_benchmarks_results', + base_name + '_' + + self._get_details() + '/') - def _get_experiments_names(self, experiments): + folder = os.path.dirname(full_name) + if not os.path.isdir(folder): + os.makedirs(folder) - name_cat = 'w' + # Make a date file: to show when this was modified, + # the number of times the experiments were run + now = datetime.datetime.now() + with open(os.path.join(full_name, + now.strftime("%Y%m%d%H%M")), 'w') as f: + pass - for experiment in experiments: + return suffix_name,full_name + + def _continue_experiment(self, continue_experiment): + + if self._experiment_exist(): + + if continue_experiment: + line_on_file = self._get_last_position() + + else: + # Ask question, to avoid mistaken override situations + answer = input("The experiment was already found in the files" + + ",Do you want to continue (y/n) ? \n" + + " If not the experiment will be overwritten") + if answer == 'Yes' or answer == 'y': + line_on_file = self._get_last_position() + else: + line_on_file = 0 + + else: + line_on_file = 0 + + return line_on_file - name_cat += str(experiment.Conditions.WeatherId) + '.' - return name_cat def _experiment_exist(self): @@ -301,3 +308,51 @@ class Benchmark(object): for i, l in enumerate(f): pass return i + + # To be redefined on subclasses on how to calculate timeout for an episode + @abc.abstractmethod + def _calculate_time_out(self, distance): + pass + + + @abc.abstractmethod + def _build_experiments(self): + """ + Returns a set of experiments to be evaluated + Must be redefined in an inherited class. + + """ + pass + + @abc.abstractmethod + def _get_pose_and_task(self): + """ + Parse the experiment depending on number of poses and tasks + """ + pass + + @abc.abstractmethod + def plot_summary_train(self): + """ + returns the summary for the train weather/task episodes + + """ + + @abc.abstractmethod + def plot_summary_test(self): + """ + returns the summary for the test weather/task episodes + + """ + @staticmethod + def get_experiments_names(experiments): + + name_cat = 'w' + + for experiment in experiments: + + name_cat += str(experiment.Conditions.WeatherId) + '.' + + return name_cat + + diff --git a/PythonClient/carla/benchmarks/corl.py b/PythonClient/carla/benchmarks/corl_2017.py similarity index 77% rename from PythonClient/carla/benchmarks/corl.py rename to PythonClient/carla/benchmarks/corl_2017.py index 102959a96..274ea21e9 100644 --- a/PythonClient/carla/benchmarks/corl.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -21,18 +21,17 @@ from .metrics import compute_summary -class CoRL(Benchmark): +class CoRL2017(Benchmark): def get_all_statistics(self): summary = compute_summary(os.path.join( - self._full_name, self._suffix_name),[3]) + self._full_name, self._suffix_name),[3]) return summary - def plot_summary_train(self): @@ -88,29 +87,29 @@ class CoRL(Benchmark): def _poses_town01(self): """ - Each matrix is a new task + Each matrix is a new task. We have all the four tasks """ def _poses_straight(): - return [[36,40],[39,35],[110,114],[7,3],[0,4],\ - [68,50],[61,59],[47,64],[147,90],[33,87],\ - [26,19],[80,76],[45,49],[55,44],[29,107],\ - [95,104],[84,34],[53,67],[22,17],[91,148],\ + return [[36,40],[39,35],[110,114],[7,3],[0,4], + [68,50],[61,59],[47,64],[147,90],[33,87], + [26,19],[80,76],[45,49],[55,44],[29,107], + [95,104],[84,34],[53,67],[22,17],[91,148], [20,107],[78,70],[95,102],[68,44],[45,69]] def _poses_one_curve(): - return [[138,17],[47,16],[26,9],[42,49],[140,124],\ - [85,98],[65,133],[137,51],[76,66],[46,39],\ - [40,60],[0,29],[4,129],[121,140],[2,129],\ - [78,44],[68,85],[41,102],[95,70],[68,129],\ + return [[138,17],[47,16],[26,9],[42,49],[140,124], + [85,98],[65,133],[137,51],[76,66],[46,39], + [40,60],[0,29],[4,129],[121,140],[2,129], + [78,44],[68,85],[41,102],[95,70],[68,129], [84,69],[47,79],[110,15],[130,17],[0,17]] def _poses_navigation(): - return [[105,29],[27,130],[102,87],[132,27],[24,44],\ - [96,26],[34,67],[28,1],[140,134],[105,9],\ - [148,129],[65,18],[21,16],[147,97],[42,51],\ - [30,41],[18,107],[69,45],[102,95],[18,145],\ + return [[105,29],[27,130],[102,87],[132,27],[24,44], + [96,26],[34,67],[28,1],[140,134],[105,9], + [148,129],[65,18],[21,16],[147,97],[42,51], + [30,41],[18,107],[69,45],[102,95],[18,145], [111,64],[79,45],[84,69],[73,31],[37,81]] @@ -125,25 +124,25 @@ class CoRL(Benchmark): def _poses_straight(): - return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47],\ - [64, 66], [78, 76],[59,57],[61,18],[35,39],\ - [12,8],[0,18],[75,68],[54,60],[45,49],\ - [46,42],[53,46],[80,29],[65,63],[0,81],\ + return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47], + [64, 66], [78, 76],[59,57],[61,18],[35,39], + [12,8],[0,18],[75,68],[54,60],[45,49], + [46,42],[53,46],[80,29],[65,63],[0,81], [54,63],[51,42],[16,19],[17,26],[77,68]] def _poses_one_curve(): - return [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1],\ - [58,71],[74,32],[44,0],[71,16],[14,24],\ - [34,11],[43,14],[75,16],[80,21],[3,23],\ - [75,59],[50,47],[11,19],[77,34],[79,25],\ + return [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1], + [58,71],[74,32],[44,0],[71,16],[14,24], + [34,11],[43,14],[75,16],[80,21],[3,23], + [75,59],[50,47],[11,19],[77,34],[79,25], [40,63],[58,76],[79,55],[16,61],[27,11]] def _poses_navigation(): - return [[19,66],[79,14],[19,57],[23,1],\ - [53,76],[42,13],[31,71],[33,5],\ - [54,30],[10,61],[66,3],[27,12],\ - [79,19],[2,29],[16,14],[5,57],\ - [70,73],[46,67],[57,50],[61,49],[21,12],\ + return [[19,66],[79,14],[19,57],[23,1], + [53,76],[42,13],[31,71],[33,5], + [54,30],[10,61],[66,3],[27,12], + [79,19],[2,29],[16,14],[5,57], + [70,73],[46,67],[57,50],[61,49],[21,12], [51,81],[77,68],[56,65],[43,54]] return [ _poses_straight(), @@ -213,20 +212,19 @@ class CoRL(Benchmark): experiment = Experiment() experiment.set( - Conditions=conditions, - Poses= poses, - Id = iteration, - Repetitions = 1 - ) + Conditions=conditions, + Poses=poses, + Id=iteration, + Repetitions=1 + ) experiments_vector.append(experiment) return experiments_vector def _get_details(self): - now = datetime.datetime.now() # Function to get automatic information from the experiment for writing purposes - return 'corl_' + self._city_name + return 'corl2017_' + self._city_name def _get_pose_and_task(self,line_on_file): diff --git a/PythonClient/carla/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py index 7ec9496c1..4340d5599 100644 --- a/PythonClient/carla/benchmarks/experiment.py +++ b/PythonClient/carla/benchmarks/experiment.py @@ -11,7 +11,6 @@ class Experiment(object): self.Poses = [[]] self.Repetitions = 1 - def set(self, **kwargs): for key, value in kwargs.items(): if not hasattr(self, key): diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index 46e22e316..d55064b23 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -8,10 +8,8 @@ import numpy as np import math import os -import matplotlib.pyplot as plt -import argparse sldist = lambda c1, c2: math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) flatten = lambda l: [item for sublist in l for item in sublist] @@ -182,8 +180,7 @@ def compute_summary(file, dynamic_episodes): lane_road = get_out_of_road_lane( task_reward_matrix, header_rewards) colisions = get_colisions(task_reward_matrix, header_rewards) - infractions = [lane_road[0]/km_run, lane_road[1]/km_run, - colisions[0]/km_run, colisions[1]/km_run, colisions[2]/km_run] + metrics_dictionary['intersection_offroad'][ diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index e9b3d4b70..7ebc90c10 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -1,6 +1,5 @@ import heapq -from carla.planner.map import CarlaMap class Cell(object): diff --git a/PythonClient/carla/planner/bezier.py b/PythonClient/carla/planner/bezier.py deleted file mode 100644 index 04e46d150..000000000 --- a/PythonClient/carla/planner/bezier.py +++ /dev/null @@ -1,37 +0,0 @@ -import numpy as np -from scipy.misc import comb - -def bernstein_poly(i, n, t): - """ - The Bernstein polynomial of n, i as a function of t - """ - - return comb(n, i) * ( t**(n-i) ) * (1 - t)**i - - -def bezier_curve(points, nTimes=1000): - """ - Given a set of control points, return the - bezier curve defined by the control points. - - points should be a list of lists, or list of tuples - such as [ [1,1], - [2,3], - [4,5], ..[Xn, Yn] ] - nTimes is the number of time steps, defaults to 1000 - - See http://processingjs.nihongoresources.com/bezierinfo/ - """ - - nPoints = len(points) - xPoints = np.array([p[0] for p in points]) - yPoints = np.array([p[1] for p in points]) - - t = np.linspace(0.0, 1.0, nTimes) - - polynomial_array = np.array([ bernstein_poly(i, nPoints-1, t) for i in range(0, nPoints) ]) - - xvals = np.dot(xPoints, polynomial_array) - yvals = np.dot(yPoints, polynomial_array) - - return xvals, yvals diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index f1adbde20..949a5b19e 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -22,15 +22,12 @@ class CityTrack(object): # Refers to the start position of the previous route computation self._previous_node = [] - # The current computed rout - + # The current computed route self._route =None - - def project_node(self,position,node_orientation): """ Projecting the graph node into the city road @@ -92,13 +89,7 @@ class CityTrack(object): self._previous_node = node_source - #print node_source - #print node_target - #print self._map.get_walls_directed(node_source,source_ori, - # node_target,target_ori) - #print self._map.get_graph_resolution() - #print self._map.get_walls() - #print 's ',node_source,'e ',node_target + a_star =AStar() a_star.init_grid(self._map.get_graph_resolution()[0], self._map.get_graph_resolution()[1], @@ -111,8 +102,8 @@ class CityTrack(object): - #print route # JuSt a Corner Case - # REALLY, I want to remove this + # JuSt a Corner Case + # TODO: Clean this to avoid having to use this function if route == None: a_star =AStar() a_star.init_grid(self._map.get_graph_resolution()[0], @@ -127,8 +118,6 @@ class CityTrack(object): return route - - def _closest_intersection_position(self, current_node): distance_vector = [] @@ -153,7 +142,6 @@ class CityTrack(object): def get_distance_closest_node_route(self, pos, route): import collections distance = [] - # if self.graph.intersection_nodes() == set(): for node_iter in route: diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 00e1dc47f..216fc4fa4 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -83,8 +83,6 @@ class Graph(object): self._angles[node] = heading for k, v in distance_dic.iteritems(): - # print k - # print v start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index 12e0377e5..01d9eb9f1 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -14,7 +14,6 @@ class Grid(object): self._structure = self._make_structure() self._walls = self._make_walls() - #np.set_printoptions(linewidth=206, threshold=np.nan) def search_on_grid(self, x, y): visit = [[0, 1], [0, -1], [1, 0], [1, 1], @@ -47,10 +46,9 @@ class Grid(object): start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) angle = angle_between(heading_start, start_to_goal) if (angle > 1.6 and adj != target): - #self.grid[adj[0], adj[1]] = 1.0 final_walls.add((adj[0], adj[1])) - #self.walls.add((adj[0], adj[1])) + return final_walls @@ -65,10 +63,9 @@ class Grid(object): angle = angle_between(heading_start, start_to_goal) if (angle < 1.0 and adj != source): - #self.grid[adj[0], adj[1]] = 1.0 final_walls.add((adj[0], adj[1])) - #self.walls.add((adj[0], adj[1])) + return final_walls @@ -120,7 +117,7 @@ class Grid(object): return walls def _get_adjacent_free_nodes(self, pos): - """ Acht nodes in total """ + """ Eight nodes in total """ visit = [[0, 1], [0, -1], [1, 0], [1, 1], [1, -1], [-1, 0], [-1, 1], [-1, -1]] diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index e71af686e..d43479057 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -22,7 +22,7 @@ except ImportError: from carla.planner.graph import Graph from carla.planner.grid import Grid -from carla.planner.graph import string_to_node,string_to_floats +from carla.planner.graph import string_to_node,string_to_floats def color_to_angle(color): @@ -30,41 +30,6 @@ def color_to_angle(color): - -""" - - with open(city_file + '.txt', 'r') as file: - - linewordloffset = file.readline() - # The offset of the world from the zero coordinates ( The - # coordinate we consider zero) - self.worldoffset = string_to_floats(linewordloffset) - - # WARNING: for now just considering the y angle - lineworldangles = file.readline() - self.angles = string_to_floats(lineworldangles) - #self.worldrotation = np.array([[math.cos(math.radians(self.angles[0])),0,math.sin(math.radians(self.angles[0])) ],[0,1,0],[-math.sin(math.radians(self.angles[0])),0,math.cos(math.radians(self.angles[0]))]]) - - self.worldrotation = np.array([[math.cos(math.radians(self.angles[2])), -math.sin(math.radians(self.angles[2])), 0.0], [ - math.sin(math.radians(self.angles[2])), math.cos(math.radians(self.angles[2])), 0.0], [0.0, 0.0, 1.0]]) - - # Ignore for now - lineworscale = file.readline() - - linemapoffset = file.readline() - - # The offset of the map zero coordinate - self.mapoffset = string_to_floats(linemapoffset) - - # the graph resolution. - linegraphres = file.readline() - self.resolution = string_to_node(linegraphres) - -""" - -# The map contains a graph - - class CarlaMap(object): def __init__(self, city): dir_path = os.path.dirname(__file__) @@ -230,9 +195,9 @@ class CarlaMap(object): def make_map_node(self, node): - pixel = [] - pixel.append((node[0] + 2) * self._graph._node_density) - pixel.append((node[1] + 2) * self._graph._node_density) + + pixel = [((node[0] + 2) * self._graph._node_density) + , ((node[1] + 2) * self._graph._node_density)] return pixel @@ -265,26 +230,21 @@ class CarlaMap(object): """ - #np.set_printoptions( linewidth =206,threshold=np.nan) - - #print self._grid._structure - final_walls = self._grid.get_wall_source(node_source,source_ori,node_target) - #print 'Returned final ',final_walls + final_walls = final_walls.union(self._grid.get_wall_target( - node_target,target_ori,node_source)) + node_target, target_ori, node_source)) return final_walls def get_walls(self): - return self._grid._walls def get_distance_closest_node(self, pos): - import collections + distance = [] for node_iter in self.graph.intersection_nodes(): diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index a1bef0cc7..b07f95f50 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -1,10 +1,9 @@ import collections import math -import numpy as np -import os -import time -from PIL import Image + +import numpy as np + from . import city_track @@ -44,19 +43,17 @@ class Planner(object): self._commands = [] - #self.route = [] - - # The number of game units per pixel - #self.pixel_density = 16.43 - # A pixel positions with respect to graph node position is: Pixel = - # Node*50 +2 - #self.node_density = 50.0 - # This function converts the 2d map into a 3D one in a vector. def get_next_command(self, source, source_ori, target, target_ori): + """ + Computes the full plan and returns the next command, + :param source: source position + :param source_ori: source orientation + :param target: target position + :param target_ori: target orientation + :return: a command ( Straight,Lane Follow, Left or Right) + """ - # Take the world position and project it on the road. - # The road is represented in a grid track_source = self._city_track.project_node(source, source_ori) track_target = self._city_track.project_node(target, target_ori) @@ -130,7 +127,7 @@ class Planner(object): track_target = self._city_track.project_node(target, target_ori) return not self._city_track.compute_route( - node_source, source_ori, node_target, target_ori) is None + track_source, source_ori, track_target, target_ori) is None def test_position(self, source, source_ori): @@ -138,13 +135,18 @@ class Planner(object): return self.is_away_from_intersection(node_source) - # from the shortest path graph, transform it into a list of commands - # @param the sub graph containing the shortest path - # @param Orientation of the car - # returns list of commands ( 3 is left, 4 is right, 5 is straight) + def _route_to_commands(self, route): + """ + from the shortest path graph, transform it into a list of commands + + :param route: the sub graph containing the shortest path + :return: list of commands encoded from 0-5 + """ + + commands_list = [] for i in range(0, len(route)): @@ -161,7 +163,7 @@ class Planner(object): [future[0] - current[0], future[1] - current[1]]) angle = signal(current_to_future, past_to_current) - command = 0.0 + if angle < -0.1: command = TURN_RIGHT elif angle > 0.1: diff --git a/PythonClient/carla/planner/test_planner.py b/PythonClient/carla/planner/test_planner.py deleted file mode 100644 index 667d350e0..000000000 --- a/PythonClient/carla/planner/test_planner.py +++ /dev/null @@ -1,41 +0,0 @@ -from carla import sensor -from carla.sensor import Camera -from carla.settings import CarlaSettings -from carla.tcp import TCPConnectionError -from carla.util import print_over_same_line -from carla.planner.planner import Planner - -from carla.carla_server_pb2 import Control - - - - -planner= Planner('Town01') - - - - -resolution = planner._city_track._map.get_graph_resolution() - -for i in range(resolution[0]): - for j in range(resolution[1]): - - world_source = planner._city_track._map.make_world_node((i,j)) - source_ori = planner._city_track._map.get_lane_orientation(world_source) - print ' Making Route from (',i, ',',j,') o (',source_ori[0],',',source_ori[1],')' - - for k in range(resolution[0]): - for l in range(resolution[1]): - world_target = planner._city_track._map.make_world_node((k,l)) - - target_ori = planner._city_track._map.get_lane_orientation(world_target) - print ' To (',k, ',',l,') o (',target_ori[0],',',target_ori[1],')' - - path_distance=planner.get_shortest_path_distance( - world_source,source_ori,world_target,target_ori) - - print 'Distance is ',path_distance - command=planner.get_next_command( - world_source,source_ori,world_target,target_ori) - print 'Command is ',command - print 'Latest Route ',planner._city_track._route \ No newline at end of file diff --git a/PythonClient/carla/planner/topology.py b/PythonClient/carla/planner/topology.py deleted file mode 100644 index 6d21a5650..000000000 --- a/PythonClient/carla/planner/topology.py +++ /dev/null @@ -1,78 +0,0 @@ - - - # Projecting the nodes - node_source = self.make_node(source) - node_target = self.make_node(target) - - source_ori = np.array([source_ori[0], source_ori[1], source_ori[2]]) - source_ori = source_ori.dot(self.worldrotation) - - # Trunkate ! - node_source = tuple([int(x) for x in node_source]) - node_target = tuple([int(x) for x in node_target]) - #target_ori = self.get_target_ori(target) - # Set to zero if it is less than zero. - - target_ori = np.array([target_ori[0], target_ori[1], 0]) - target_ori = target_ori.dot(self.worldrotation) - - node_source = (max(0, node_source[0]), max(0, node_source[1])) - node_source = (min(self.resolution[ - 0]-1, node_source[0]), min(self.resolution[1]-1, node_source[1])) - - - # is it x or y ? Check to avoid special corner cases - - if math.fabs(source_ori[0]) > math.fabs(source_ori[1]): - source_ori = (source_ori[0], 0.0, 0.0) - else: - source_ori = (0.0, source_ori[1], 0.0) - - node_source = self.search(node_source[0], node_source[1]) - node_target = self.search(node_target[0], node_target[1]) - - def _route_compute(self,node_source,source_ori,node_target,target_ori): - - - # GOes to Grid - #added_walls = self.set_grid_direction(node_source,source_ori,node_target) - #print added_walls - # Goes to Walls - #added_walls=added_walls.union(self.set_grid_direction_target(node_target,target_ori,node_source)) - #print added_walls - - - self.previous_source = node_source - - #print self.grid - - #self.a_star =AStar() - self.init(node_source, node_target) - self.route = self.solve() - #print route # JuSt a Corner Case - if self.route == None: - for i in added_walls: - self.walls.remove(i) - - self.grid[i[0],i[1]] = 0.0 - added_walls = self.set_grid_direction(node_source,source_ori,node_target) - self.a_star =AStar() - self.init(node_source, node_target) - self.route = self.solve() - - - for i in added_walls: - self.walls.remove(i) - - self.grid[i[0],i[1]] = 0.0 - - - - return self.route - - # This is to avoid computing a new route when inside the route - # distance_node = self.get_distance_closest_node(node_source) - # Planner shouldnt have knowledge about node - - #if (distance_node > 1 \ - # and self.previous_source != node_source) or self.complete_distance == 0: diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 193320d33..81d65ae53 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -12,13 +12,17 @@ import sys import time from carla.benchmarks.agent import Agent -from carla.benchmarks.corl import CoRL +from carla.benchmarks.corl_2017 import CoRL2017 from carla.client import make_carla_client, VehicleControl from carla.tcp import TCPConnectionError class Manual(Agent): + """ + Sample redefinition of the Agent, + An agent that goes straight + """ def run_step(self, measurements, sensor_data, target): control = VehicleControl() control.steer = 0.0 @@ -53,8 +57,14 @@ if __name__ == '__main__': '-c', '--city-name', metavar='C', default='Town01', - help='plot the map of the current city' - + '(needs to match active map in server, options: Town01 or Town02)') + help='The town that is going to be used on benchmark' + + '(needs to match active town in server, options: Town01 or Town02)') + argparser.add_argument( + '-n', '--log_name', + metavar='T', + default='test', + help='The name of the log file to be created by the scripts' + ) args = argparser.parse_args() @@ -66,7 +76,7 @@ if __name__ == '__main__': while True: try: with make_carla_client(args.host, args.port) as client: - corl = CoRL(city_name=args.city_name, name_to_save='details') + corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name) agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) corl.plot_summary_test() From 209f169ff2ae8c82979b31b6ba983056ffd41ba8 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 20 Dec 2017 11:33:57 -0200 Subject: [PATCH 019/121] Testing a different import --- PythonClient/carla/client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index 80fde992b..8a535d8ae 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -16,7 +16,7 @@ from . import tcp from . import util try: - from . import carla_server_pb2 as carla_protocol + from carla.carla_server_pb2 import carla_server_pb2 as carla_protocol except ImportError: raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') From b7cd3438373f67c37d30e10a644885d64255df40 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 20 Dec 2017 11:36:29 -0200 Subject: [PATCH 020/121] Testing a different import --- PythonClient/carla/client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index 8a535d8ae..80fde992b 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -16,7 +16,7 @@ from . import tcp from . import util try: - from carla.carla_server_pb2 import carla_server_pb2 as carla_protocol + from . import carla_server_pb2 as carla_protocol except ImportError: raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') From 02fbb41bdab04e9c545ab4f2e42819ccf09bbe5a Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 20 Dec 2017 18:43:22 +0100 Subject: [PATCH 021/121] Remove trailing whitespace --- PythonClient/carla/benchmarks/corl_2017.py | 18 +++++++++--------- PythonClient/carla/benchmarks/metrics.py | 6 +++--- PythonClient/carla/client.py | 2 +- PythonClient/carla/planner/city_track.py | 8 ++++---- PythonClient/carla/planner/map.py | 2 +- PythonClient/manual_control.py | 2 +- 6 files changed, 19 insertions(+), 19 deletions(-) diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index 274ea21e9..24a483bc4 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -29,7 +29,7 @@ class CoRL2017(Benchmark): summary = compute_summary(os.path.join( self._full_name, self._suffix_name),[3]) - return summary + return summary def plot_summary_train(self): @@ -44,13 +44,13 @@ class CoRL2017(Benchmark): def _plot_summary(self,weathers): - """ - We plot the summary of the testing for the set selected weathers. + """ + We plot the summary of the testing for the set selected weathers. The test weathers are [4,14] """ - + metrics_summary = compute_summary(os.path.join( self._full_name, self._suffix_name),[3]) @@ -61,7 +61,7 @@ class CoRL2017(Benchmark): for weather,tasks in values.items(): if weather in set(weathers): print(' Weather: ',weather) - count =0 + count =0 for t in tasks: print(' Task ',count,' -> ',t) @@ -153,7 +153,7 @@ class CoRL2017(Benchmark): def _build_experiments(self): - """ + """ Creates the whole set of experiment objects, The experiments created depend on the selected Town. """ @@ -208,7 +208,7 @@ class CoRL2017(Benchmark): ) # Add all the cameras that were set for this experiments - conditions.add_sensor(camera) + conditions.add_sensor(camera) experiment = Experiment() experiment.set( @@ -221,7 +221,7 @@ class CoRL2017(Benchmark): return experiments_vector - def _get_details(self): + def _get_details(self): # Function to get automatic information from the experiment for writing purposes return 'corl2017_' + self._city_name @@ -232,6 +232,6 @@ class CoRL2017(Benchmark): Returns the pose and task this experiment is, based on the line it was on the log file. """ - # We assume that the number of poses is constant + # We assume that the number of poses is constant return line_on_file/len(self._experiments),line_on_file%25 diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index d55064b23..3f6ced110 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -61,7 +61,7 @@ def get_distance_traveled(selected_matrix, header): # Here we defined a maximun distance in a tick, this case 8 meters or 288km/h if sldist((x, y), (prev_x, prev_y)) < 800: acummulated_distance += sldist((x, y), (prev_x, prev_y)) - + prev_x = x prev_y = y @@ -152,7 +152,7 @@ def compute_summary(file, dynamic_episodes): task_data_matrix = data_matrix[np.logical_and(data_matrix[:, header.index( 'exp_id')] == t, data_matrix[:, header.index('weather')] == w)] - + task_reward_matrix = reward_matrix[np.logical_and(reward_matrix[:, header_rewards.index( 'exp_id')] == float(t), reward_matrix[:, header_rewards.index('weather')] == float(w))] @@ -182,7 +182,7 @@ def compute_summary(file, dynamic_episodes): colisions = get_colisions(task_reward_matrix, header_rewards) - + metrics_dictionary['intersection_offroad'][ w][t] = lane_road[0]/km_run metrics_dictionary['intersection_otherlane'][ diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index 80fde992b..748200928 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -126,7 +126,7 @@ class CarlaClient(object): def send_control(self, *args, **kwargs): """ Send the VehicleControl to be applied this frame. - + If synchronous mode was requested, the server will pause the simulation until this message is received. """ diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index 949a5b19e..c28913626 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -24,8 +24,8 @@ class CityTrack(object): # The current computed route self._route =None - - + + def project_node(self,position,node_orientation): @@ -94,7 +94,7 @@ class CityTrack(object): a_star.init_grid(self._map.get_graph_resolution()[0], self._map.get_graph_resolution()[1], self._map.get_walls_directed(node_source,source_ori, - node_target,target_ori),node_source, + node_target,target_ori),node_source, node_target) @@ -112,7 +112,7 @@ class CityTrack(object): route = a_star.solve() - + self._route = route return route diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index d43479057..f099a391b 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -223,7 +223,7 @@ class CarlaMap(object): def get_walls_directed(self,node_source,source_ori,node_target,target_ori): - """ + """ This is the most hacky function. Instead of planning on two ways, we basically use a one way road and interrupt the other road by adding an artificial wall. diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py index 6933747ce..f869cfd46 100755 --- a/PythonClient/manual_control.py +++ b/PythonClient/manual_control.py @@ -301,7 +301,7 @@ class CarlaGame(object): agent.vehicle.transform.location.y, agent.vehicle.transform.location.z]) w_pos = int(agent_position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0]))) - h_pos =int(agent_position[1] *(new_window_width/float(self._map_shape[1]))) + h_pos =int(agent_position[1] *(new_window_width/float(self._map_shape[1]))) pygame.draw.circle(surface, [255, 0, 255, 255], (w_pos,h_pos), 4, 0) self._display.blit(surface, (WINDOW_WIDTH, 0)) From 92f14af8e9f1b8dc238b03bd12660ba52c45523c Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 21 Dec 2017 18:58:24 -0200 Subject: [PATCH 022/121] Cleaning more, creating the converter --- PythonClient/carla/benchmarks/benchmark.py | 4 +- PythonClient/carla/planner/city_track.py | 14 +- PythonClient/carla/planner/converter.py | 165 +++++++++++++++++++++ PythonClient/carla/planner/graph.py | 12 +- PythonClient/carla/planner/map.py | 150 ++++--------------- PythonClient/carla/planner/planner.py | 5 +- 6 files changed, 213 insertions(+), 137 deletions(-) create mode 100644 PythonClient/carla/planner/converter.py diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index a895aa125..27998271a 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -13,10 +13,12 @@ import csv import datetime import math import os -import time + import abc + + from carla.client import VehicleControl diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index 949a5b19e..25fc8e598 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -8,14 +8,15 @@ from carla.planner.graph import sldist from carla.planner.astar import AStar from carla.planner.map import CarlaMap - class CityTrack(object): def __init__(self,city_name): + self._node_density = 50.0 + self._pixel_density = 16.43 - self._map = CarlaMap(city_name) + self._map = CarlaMap(city_name, self._pixel_density, self._node_density) self._astar = AStar() @@ -24,7 +25,8 @@ class CityTrack(object): # The current computed route self._route =None - + + @@ -33,7 +35,7 @@ class CityTrack(object): Projecting the graph node into the city road """ - node =self._map.get_position_on_graph(position) + node =self._map.convert_to_node(position) # To change the orientation with respect to the map standards node_orientation = np.array([node_orientation[0], @@ -52,9 +54,9 @@ class CityTrack(object): if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): - node_orientation = (node_orientation[0],0.0,0.0) + node_orientation = (node_orientation[0], 0.0, 0.0) else: - node_orientation = (0.0,node_orientation[1],0.0) + node_orientation = (0.0, node_orientation[1], 0.0) node = self._map._grid.search_on_grid(node[0],node[1]) diff --git a/PythonClient/carla/planner/converter.py b/PythonClient/carla/planner/converter.py new file mode 100644 index 000000000..dce2ba71f --- /dev/null +++ b/PythonClient/carla/planner/converter.py @@ -0,0 +1,165 @@ +import math +import numpy as np + +from carla.planner.graph import string_to_node,string_to_floats + + +# Constant definition enumeration + +PIXEL = 0 +WORLD = 1 +NODE = 2 + + +class Converter(object): + + def __init__(self, city_file, node_density, pixel_density): + + self._node_density = node_density + self._pixel_density = pixel_density + with open(city_file, 'r') as f: + + # The offset of the world from the zero coordinates ( The + # coordinate we consider zero) + self._worldoffset = string_to_floats(f.readline()) + + angles = string_to_floats(f.readline()) + + # If there is an rotation between the world and map coordinates. + self._worldrotation = np.array([ + [math.cos(math.radians(angles[2])), -math.sin(math.radians(angles[2])), 0.0], + [math.sin(math.radians(angles[2])), math.cos(math.radians(angles[2])), 0.0], + [0.0, 0.0, 1.0]]) + + # Ignore for now, these are offsets for map coordinates and scale + # (not used). + _ = f.readline() + + # The offset of the map zero coordinate. + self._mapoffset = string_to_floats(f.readline()) + + def convert_to_node(self,input_data): + """ + Receives a data type (Can Be Pixel or World ) + :param input_data: position in some coordinate + :return: A vector representing a node + """ + + + input_type = self._check_input_type(input_data) + if input_type == PIXEL: + return self._pixel_to_node(input_data) + elif input_type == WORLD: + return self._world_to_node(input_data) + else: + raise ValueError('Invalid node to be converted') + + + + def convert_to_pixel(self,input_data): + + """ + Receives a data type (Can Be Node or World ) + :param input_data: position in some coordinate + :return: A vector with pixel coordinates + """ + + input_type = self._check_input_type(input_data) + if input_type == NODE: + return self._node_to_pixel(input_data) + elif input_type == WORLD: + return self._world_to_pixel(input_data) + else: + raise ValueError('Invalid node to be converted') + + + def convert_to_world(self,input_data): + + """ + Receives a data type (Can Be Pixel or Node ) + :param input_data: position in some coordinate + :return: vector with world coordinates + """ + + input_type = self._check_input_type(input_data) + if input_type == NODE: + return self._node_to_world(input_data) + elif input_type == PIXEL: + return self._pixel_to_world(input_data) + else: + raise ValueError('Invalid node to be converted') + + def _node_to_pixel(self, node): + """ + Conversion from node format (graph) to pixel (image) + :param node: + :return: pixel + """ + pixel = [((node[0] + 2) * self._node_density) + , ((node[1] + 2) * self._node_density)] + return pixel + + def _pixel_to_node(self, pixel): + """ + Conversion from pixel format (image) to node (graph) + :param node: + :return: pixel + """ + node = [int(((pixel[0]) / self._node_density) - 2) + , int(((pixel[1]) / self._node_density) - 2)] + + return tuple(node) + def _pixel_to_world(self,pixel): + """ + Conversion from pixel format (image) to world (3D) + :param pixel: + :return: world + """ + + + relative_location = [ pixel[0] * self._pixel_density, + pixel[1] * self._pixel_density] + + world = [ + relative_location[0] + self._mapoffset[0] - self._worldoffset[0], + relative_location[1] + self._mapoffset[1] - self._worldoffset[1], + 22 + ] + + return world + + def _world_to_pixel(self, world): + """ + Conversion from world format (3D) to pixel + :param world: + :return: pixel + """ + + rotation = np.array([world[0], world[1], world[2]]) + rotation = rotation.dot(self._worldrotation) + + relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0], + rotation[1] + self._worldoffset[1] - self._mapoffset[1], + rotation[2] + self._worldoffset[2] - self._mapoffset[2]] + + pixel = [math.floor(relative_location[0] / float(self._pixel_density)), + math.floor(relative_location[1] / float(self._pixel_density))] + + return pixel + + def _world_to_node(self, world): + return self._pixel_to_node(self._world_to_pixel(world)) + + def _node_to_world(self, node): + + return self._pixel_to_world(self._node_to_pixel(node)) + + def _check_input_type(self, input_data): + if len(input_data) > 2: + return WORLD + elif type(input_data[0]) is int: + return NODE + else: + return PIXEL + + diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 216fc4fa4..1d740561f 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -29,13 +29,14 @@ class Graph(object): A simple directed, weighted graph """ - def __init__(self, graph_file=None): + def __init__(self, graph_file=None,node_density=50): self._nodes = set() self._angles = {} self._edges = {} self._distances = {} - self._node_density = 50 + self._node_density = node_density + if graph_file is not None: with open(graph_file, 'r') as file: # Skipe the first four lines that @@ -62,13 +63,6 @@ class Graph(object): def add_node(self, value): self._nodes.add(value) - def project_pixel(self, pixel): - node = [] - node.append((pixel[0]) / self._node_density - 2) - node.append((pixel[1]) / self._node_density - 2) - - return tuple(node) - def make_orientations(self, node, heading): import collections diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index d43479057..d35f698b2 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -22,16 +22,15 @@ except ImportError: from carla.planner.graph import Graph from carla.planner.grid import Grid -from carla.planner.graph import string_to_node,string_to_floats +from carla.planner.converter import Converter def color_to_angle(color): return ((float(color)/255.0)) * 2*math.pi - - class CarlaMap(object): - def __init__(self, city): + + def __init__(self, city, pixel_density, node_density): dir_path = os.path.dirname(__file__) city_file = os.path.join(dir_path, city + '.txt') @@ -39,41 +38,18 @@ class CarlaMap(object): city_map_file_lanes = os.path.join(dir_path, city + 'Lanes.png') city_map_file_center = os.path.join(dir_path, city + 'Central.png') - # The built graph. This is the exact same graph that unreal builds. This # is a generic structure used for many cases - self._graph = Graph(city_file) - self._grid = Grid(self._graph) - - with open(city_file, 'r') as file: - - linewordloffset = file.readline() - # The offset of the world from the zero coordinates ( The - # coordinate we consider zero) - self.worldoffset = string_to_floats(linewordloffset) - - lineworldangles = file.readline() - self.angles = string_to_floats(lineworldangles) - - # If tere is an rotation between the world and map coordinates. - self.worldrotation = np.array([ - [math.cos(math.radians(self.angles[2])), -math.sin(math.radians(self.angles[2])), 0.0], - [math.sin(math.radians(self.angles[2])), math.cos(math.radians(self.angles[2])), 0.0], - [0.0, 0.0, 1.0]]) - - # Ignore for now, these are offsets for map coordinates and scale - # (not used). - map_scale = file.readline() - linemapoffset = file.readline() - - # The offset of the map zero coordinate. - self.mapoffset = string_to_floats(linemapoffset) - - + self._pixel_density = pixel_density + self._grid = Grid(self._graph, node_density) # The number of game units per pixel. For now this is fixed. - self.pixel_density = 16.43 + + self._converter = Converter(city_file, pixel_density, node_density) + + + # Load the lanes image self.map_image_lanes = Image.open(city_map_file_lanes) self.map_image_lanes.load() @@ -112,42 +88,7 @@ class CarlaMap(object): return np.fliplr(np.asarray(img, dtype="int32")) return np.fliplr(self.map_image_lanes) - def get_position_on_map(self, world): - """Get the position on the map for a certain world position.""" - relative_location = [] - pixel = [] - rotation = np.array([world[0], world[1], world[2]]) - rotation = rotation.dot(self.worldrotation) - - relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) - - pixel.append(math.floor(relative_location[0] / float(self.pixel_density))) - pixel.append(math.floor(relative_location[1] / float(self.pixel_density))) - - return pixel - - def get_position_on_graph(self, world): - """Get the position on the map for a certain world position.""" - pixel = self.get_position_on_map(world) - return self._graph.project_pixel(pixel) - - - - def get_position_on_world(self, pixel): - """Get world position of a certain map position.""" - relative_location = [] - world_vertex = [] - relative_location.append(pixel[0] * self.pixel_density) - relative_location.append(pixel[1] * self.pixel_density) - - world_vertex.append(relative_location[0] + self.mapoffset[0] - self.worldoffset[0]) - world_vertex.append(relative_location[1] + self.mapoffset[1] - self.worldoffset[1]) - world_vertex.append(22) # Z does not matter for now. - - return world_vertex def get_lane_orientation(self, world): """Get the lane orientation of a certain world position.""" @@ -167,58 +108,29 @@ class CarlaMap(object): ori = color_to_angle(ori) return (-math.cos(ori), -math.sin(ori)) + def convert_to_node(self,input): + """ + Receives a data type (Can Be Pixel or World ) + :param input: position in some coordinate + :return: A node object + """ + return self._converter.convert_to_node(input) + def convert_to_pixel(self,input): + """ + Receives a data type (Can Be Pixel or World ) + :param input: position in some coordinate + :return: A node object + """ + return self._converter.convert_to_pixel(input) - - def make_map_world(self, world): - - relative_location = [] - pixel = [] - - rotation = np.array([world[0], world[1], world[2]]) - rotation = rotation.dot(self.worldrotation) - - relative_location.append( - rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append( - rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append( - rotation[2] + self.worldoffset[2] - self.mapoffset[2]) - - pixel.append(math.floor(relative_location[ - 0]/float(self.pixel_density))) - pixel.append(math.floor(relative_location[ - 1]/float(self.pixel_density))) - - return pixel - - - - def make_map_node(self, node): - - pixel = [((node[0] + 2) * self._graph._node_density) - , ((node[1] + 2) * self._graph._node_density)] - - return pixel - - def make_world_map(self, pixel): - - relative_location = [] - world_vertex = [] - relative_location.append(pixel[0]*self.pixel_density) - relative_location.append(pixel[1]*self.pixel_density) - - world_vertex.append( - relative_location[0]+self.mapoffset[0] - self.worldoffset[0]) - world_vertex.append( - relative_location[1]+self.mapoffset[1] - self.worldoffset[1]) - world_vertex.append(22) - return world_vertex - - def make_world_node(self, node): - - return self.make_world_map(self.make_map_node(node)) - + def convert_to_world(self,input): + """ + Receives a data type (Can Be Pixel or World ) + :param input: position in some coordinate + :return: A node object + """ + return self._converter.convert_to_world(input) diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index b07f95f50..0fd7125b3 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -118,8 +118,9 @@ class Planner(object): current_pos = node_iter # We multiply by these values to convert distance to world coordinates - return distance * self._city_track._map.pixel_density \ - * self._city_track._map._graph._node_density + return distance * self._city_track._map.get_pixel_density() \ + * self._city_track.get_node_density() + def is_there_posible_route(self, source, source_ori, target, target_ori): From 7b7375e3e2b7aa5b437f1ef2d10348fcb57c3fb4 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 21 Dec 2017 20:21:54 -0200 Subject: [PATCH 023/121] Not anymore --- Docs/carla_benchmark.md | 26 ++++++++++++++++++++++++++ PythonClient/carla/planner/graph.py | 8 ++++---- PythonClient/carla/planner/planner.py | 1 - 3 files changed, 30 insertions(+), 5 deletions(-) create mode 100644 Docs/carla_benchmark.md diff --git a/Docs/carla_benchmark.md b/Docs/carla_benchmark.md new file mode 100644 index 000000000..5bdfdd420 --- /dev/null +++ b/Docs/carla_benchmark.md @@ -0,0 +1,26 @@ +CARLA Benchmark +=============== + +Running the Benchmark +------------------------- +The "carla" api provides a basic benchmarking system, that allows making +several tests on a certain agent. We already provide the same benchmark +used in the CoRL 2017 paper. By running this benchmark you can compare +the results of your agent to the results obtained by the agents +show in the paper. + +The basic functionality requires only the protobuf module to be installed + $ sudo apt-get install python3 python3-pip + $ sudo pip3 install protobuf +However, other operations as handling images require some extra modules, and the +"manual_control.py" example requires pygame + $ sudo pip3 install numpy Pillow pygame +The script "PythonClient/client_example.py" provides basic functionality for +controlling the vehicle and saving images to disk. Run the help command to see +options available + $ ./client_example.py --help +The script "PythonClient/manual_control.py" launches a PyGame window with +several views and allows to control the vehicle using the WASD keys. + $ ./manual_control.py --help + + diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 1d740561f..f35d73aae 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -1,9 +1,6 @@ import math -import matplotlib.pyplot as plt import numpy as np -from matplotlib import collections as mc - def string_to_node(string): vec = string.split(',') @@ -108,6 +105,9 @@ class Graph(object): return self._nodes def plot_ori(self, c): + from matplotlib import collections as mc + + import matplotlib.pyplot as plt line_len = 1 lines = [[(p[0], p[1]), (p[0] + line_len * self._angles[p][0], @@ -125,7 +125,7 @@ class Graph(object): plt.scatter(xs, ys, color=c) def plot(self, c): - + import matplotlib.pyplot as plt xs = [p[0] for p in self._nodes] ys = [p[1] for p in self._nodes] diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 0fd7125b3..164eb17e1 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -54,7 +54,6 @@ class Planner(object): :return: a command ( Straight,Lane Follow, Left or Right) """ - track_source = self._city_track.project_node(source, source_ori) track_target = self._city_track.project_node(target, target_ori) From 3329471b1173f46cb2919129595fe58f45fb9fa6 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 21 Dec 2017 21:11:12 -0200 Subject: [PATCH 024/121] Updated the docs for benchmark --- Docs/carla_benchmark.md | 23 ++++++++++------------- 1 file changed, 10 insertions(+), 13 deletions(-) diff --git a/Docs/carla_benchmark.md b/Docs/carla_benchmark.md index 5bdfdd420..2228401fa 100644 --- a/Docs/carla_benchmark.md +++ b/Docs/carla_benchmark.md @@ -9,18 +9,15 @@ used in the CoRL 2017 paper. By running this benchmark you can compare the results of your agent to the results obtained by the agents show in the paper. -The basic functionality requires only the protobuf module to be installed - $ sudo apt-get install python3 python3-pip - $ sudo pip3 install protobuf -However, other operations as handling images require some extra modules, and the -"manual_control.py" example requires pygame - $ sudo pip3 install numpy Pillow pygame -The script "PythonClient/client_example.py" provides basic functionality for -controlling the vehicle and saving images to disk. Run the help command to see -options available - $ ./client_example.py --help -The script "PythonClient/manual_control.py" launches a PyGame window with -several views and allows to control the vehicle using the WASD keys. - $ ./manual_control.py --help +! Currently not tested on python 3 + +Besides the requirements of the CARLA client, +the benchmark package also needs the future package + $ sudo pip install future + +Run the help command to see options available + $ ./run_benchmark --help + + From a1ba42c70e1f8c1e05bacf58484d79b53cb8a53d Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 21 Dec 2017 21:15:44 -0200 Subject: [PATCH 025/121] added carla benchmark to the index --- Docs/index.md | 1 + 1 file changed, 1 insertion(+) diff --git a/Docs/index.md b/Docs/index.md index 1666c0670..1eb92cb1a 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -4,6 +4,7 @@ CARLA Documentation #### Using CARLA * [How to run CARLA server and client](how_to_run.md) + * [Benchmark](carla_benchmark.md) * [CARLA settings](carla_settings.md) * [Measurements](measurements.md) * [Cameras and sensors](cameras_and_sensors.md) From c997732e0b9d7a84333de28b63af8166def66b41 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 21 Dec 2017 21:19:57 -0200 Subject: [PATCH 026/121] A bit more documentation on the benchmark --- Docs/carla_benchmark.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/Docs/carla_benchmark.md b/Docs/carla_benchmark.md index 2228401fa..198c46123 100644 --- a/Docs/carla_benchmark.md +++ b/Docs/carla_benchmark.md @@ -15,6 +15,15 @@ Besides the requirements of the CARLA client, the benchmark package also needs the future package $ sudo pip install future + +By running the benchmark a default agent that just go straight +will be tested. To run the benchmark you need a server running. +For a default localhost server on port 2000, to run the benchmark +you just need to run: + $ ./run_benchmark +or + $ python run_benchmark + Run the help command to see options available $ ./run_benchmark --help From 3d418f9be4e6d7491e8b5f15edf8421ea14e1ebf Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 22 Dec 2017 11:03:47 -0200 Subject: [PATCH 027/121] Small bug on line position --- PythonClient/carla/benchmarks/benchmark.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 27998271a..c32c688c7 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -69,12 +69,14 @@ class Benchmark(object): 'pos_y': -1 } - # Get the line for the experiment to be continued - self._line_on_file = self._continue_experiment(continue_experiment) self._experiments = self._build_experiments() # Create the log files and get the names self._suffix_name, self._full_name = self._create_log_record(self._experiments) + # Get the line for the experiment to be continued + self._line_on_file = self._continue_experiment(continue_experiment) + + self._save_images = save_images self._image_filename_format = os.path.join( From 67289ac7eee7aa1c98ea3624c1e9db25d118b443 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 22 Dec 2017 11:28:13 -0200 Subject: [PATCH 028/121] Small bug class definition --- PythonClient/carla/benchmarks/benchmark.py | 19 +++++++++++++++---- PythonClient/carla/benchmarks/corl_2017.py | 4 ++-- 2 files changed, 17 insertions(+), 6 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index c32c688c7..dfdc2cf91 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -72,7 +72,7 @@ class Benchmark(object): self._experiments = self._build_experiments() # Create the log files and get the names - self._suffix_name, self._full_name = self._create_log_record(self._experiments) + self._suffix_name, self._full_name = self._create_log_record(name_to_save, self._experiments) # Get the line for the experiment to be continued self._line_on_file = self._continue_experiment(continue_experiment) @@ -318,7 +318,12 @@ class Benchmark(object): def _calculate_time_out(self, distance): pass - + @abc.abstractmethod + def _get_details(self): + """ + Get details + :return: a string with name and town of the subclass + """ @abc.abstractmethod def _build_experiments(self): """ @@ -327,9 +332,15 @@ class Benchmark(object): """ pass + @abc.abstractmethod + def get_all_statistics(self): + """ + Get the statistics of the evaluated experiments + :return: + """ @abc.abstractmethod - def _get_pose_and_task(self): + def _get_pose_and_task(self, line_on_file): """ Parse the experiment depending on number of poses and tasks """ @@ -349,7 +360,7 @@ class Benchmark(object): """ @staticmethod - def get_experiments_names(experiments): + def _get_experiments_names(experiments): name_cat = 'w' diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index 24a483bc4..323261507 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -57,8 +57,8 @@ class CoRL2017(Benchmark): for metric,values in metrics_summary.items(): - print('Metric : ',metric) - for weather,tasks in values.items(): + print('Metric : ', metric) + for weather, tasks in values.items(): if weather in set(weathers): print(' Weather: ',weather) count =0 From 9d61a2e8d508e78e0b20c8d1068fdec57410bb93 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 22 Dec 2017 11:35:30 -0200 Subject: [PATCH 029/121] Small corrections on planner --- PythonClient/carla/benchmarks/benchmark.py | 8 ++++---- PythonClient/carla/planner/city_track.py | 20 ++++++++++++-------- PythonClient/carla/planner/graph.py | 2 +- PythonClient/carla/planner/map.py | 4 ++-- PythonClient/carla/planner/planner.py | 2 +- 5 files changed, 20 insertions(+), 16 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index dfdc2cf91..8151f618f 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -285,8 +285,8 @@ class Benchmark(object): else: # Ask question, to avoid mistaken override situations answer = input("The experiment was already found in the files" - + ",Do you want to continue (y/n) ? \n" - + " If not the experiment will be overwritten") + + ", Do you want to continue (y/n) ? \n" + ) if answer == 'Yes' or answer == 'y': line_on_file = self._get_last_position() else: @@ -331,7 +331,7 @@ class Benchmark(object): Must be redefined in an inherited class. """ - pass + @abc.abstractmethod def get_all_statistics(self): """ @@ -344,7 +344,7 @@ class Benchmark(object): """ Parse the experiment depending on number of poses and tasks """ - pass + @abc.abstractmethod def plot_summary_train(self): diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index d19622c52..ad33e7142 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -37,28 +37,32 @@ class CityTrack(object): node_orientation = np.array([node_orientation[0], node_orientation[1]]) - - node = tuple([ int(x) for x in node ]) + node = tuple([ int(x) for x in node ]) # Set to zero if it is less than zero. - node =(max(0,node[0]),max(0,node[1])) node =(min(self._map.get_graph_resolution()[0]-1,node[0]), min(self._map.get_graph_resolution()[1]-1,node[1])) # is it x or y ? Check to avoid special corner cases - if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): - node_orientation = (node_orientation[0], 0.0, 0.0) - else: - node_orientation = (0.0, node_orientation[1], 0.0) + #if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): + # node_orientation = (node_orientation[0], 0.0, 0.0) + #else: + # node_orientation = (0.0, node_orientation[1], 0.0) - node = self._map._grid.search_on_grid(node[0],node[1]) + node = self._map._grid.search_on_grid(node[0], node[1]) return node + + def get_pixel_density(self): + return self._pixel_density + def get_node_density(self): + return self._node_density + def is_at_goal(self,source,target): return source == target diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index f35d73aae..92c1933c5 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -26,7 +26,7 @@ class Graph(object): A simple directed, weighted graph """ - def __init__(self, graph_file=None,node_density=50): + def __init__(self, graph_file=None, node_density=50): self._nodes = set() self._angles = {} diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index e220f8a11..67258c31c 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -40,10 +40,10 @@ class CarlaMap(object): # The built graph. This is the exact same graph that unreal builds. This # is a generic structure used for many cases - self._graph = Graph(city_file) + self._graph = Graph(city_file, node_density) self._pixel_density = pixel_density - self._grid = Grid(self._graph, node_density) + self._grid = Grid(self._graph) # The number of game units per pixel. For now this is fixed. self._converter = Converter(city_file, pixel_density, node_density) diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 164eb17e1..907696751 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -117,7 +117,7 @@ class Planner(object): current_pos = node_iter # We multiply by these values to convert distance to world coordinates - return distance * self._city_track._map.get_pixel_density() \ + return distance * self._city_track.get_pixel_density() \ * self._city_track.get_node_density() From 081db8238f9eb367f9fffc44167e84fbbe4b1145 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 22 Dec 2017 13:54:21 -0200 Subject: [PATCH 030/121] Some python2/3 fixes --- PythonClient/carla/benchmarks/benchmark.py | 2 +- PythonClient/carla/planner/astar.py | 24 ++++++-------------- PythonClient/carla/planner/city_track.py | 4 ++-- PythonClient/carla/planner/map.py | 26 ++++++++-------------- 4 files changed, 19 insertions(+), 37 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 8151f618f..a008d4d46 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -285,7 +285,7 @@ class Benchmark(object): else: # Ask question, to avoid mistaken override situations answer = input("The experiment was already found in the files" - + ", Do you want to continue (y/n) ? \n" + + ", Do you want to continue (y/n)? \n" ) if answer == 'Yes' or answer == 'y': line_on_file = self._get_last_position() diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index 7ebc90c10..76a6626ee 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -1,8 +1,6 @@ import heapq - class Cell(object): - def __init__(self, x, y, reachable): """Initialize new cell. @@ -23,11 +21,12 @@ class Cell(object): self.f = 0 + def __lt__(self, other): + return self.g < other.g + + class AStar(object): - def __init__(self): - - # open list self.opened = [] heapq.heapify(self.opened) @@ -38,10 +37,8 @@ class AStar(object): self.grid_height = None self.grid_width = None - def init_grid(self, width, height, walls,start, end): - - """ - Prepare grid cells, walls. + def init_grid(self, width, height, walls, start, end): + """Prepare grid cells, walls. @param width grid's width. @param height grid's height. @@ -51,7 +48,6 @@ class AStar(object): """ self.grid_height = height self.grid_width = width - #print walls for x in range(self.grid_width): for y in range(self.grid_height): if (x, y) in walls: @@ -59,7 +55,6 @@ class AStar(object): else: reachable = True self.cells.append(Cell(x, y, reachable)) - self.start = self.get_cell(*start) self.end = self.get_cell(*end) @@ -127,8 +122,6 @@ class AStar(object): @returns path or None if not found. """ - if self.start == self.end: - return None # add starting cell to open heap queue heapq.heappush(self.opened, (self.start.f, self.start)) while len(self.opened): @@ -152,7 +145,4 @@ class AStar(object): else: self.update_cell(adj_cell, cell) # add adj cell to open list - heapq.heappush(self.opened, (adj_cell.f, adj_cell)) - - - + heapq.heappush(self.opened, (adj_cell.f, adj_cell)) \ No newline at end of file diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index ad33e7142..72bec3d26 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -34,8 +34,8 @@ class CityTrack(object): node =self._map.convert_to_node(position) # To change the orientation with respect to the map standards - node_orientation = np.array([node_orientation[0], - node_orientation[1]]) + #node_orientation = np.array([node_orientation[0], + # node_orientation[1]]) node = tuple([ int(x) for x in node ]) diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 67258c31c..932f5b221 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -80,7 +80,8 @@ class CarlaMap(object): return np.asarray(img, dtype="int32") return np.fliplr(self.map_image) - def get_map_lanes(self, height=None): + def get_map_lanes(self, size=None): + if size is not None: img = Image.fromarray(self.map_image_lanes.astype(np.uint8)) img = img.resize((size[1], size[0]), Image.ANTIALIAS) @@ -92,23 +93,14 @@ class CarlaMap(object): def get_lane_orientation(self, world): """Get the lane orientation of a certain world position.""" - relative_location = [] - pixel = [] - rotation = np.array([world[0], world[1], world[2]]) - rotation = rotation.dot(self.worldrotation) - - relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0]) - relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1]) - relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2]) - - pixel.append(math.floor(relative_location[0] / float(self.pixel_density))) - pixel.append(math.floor(relative_location[1] / float(self.pixel_density))) + pixel = self.convert_to_pixel(world) ori = self.map_image_lanes[int(pixel[1]), int(pixel[0]), 2] ori = color_to_angle(ori) return (-math.cos(ori), -math.sin(ori)) - def convert_to_node(self,input): + + def convert_to_node(self, input): """ Receives a data type (Can Be Pixel or World ) :param input: position in some coordinate @@ -116,7 +108,7 @@ class CarlaMap(object): """ return self._converter.convert_to_node(input) - def convert_to_pixel(self,input): + def convert_to_pixel(self, input): """ Receives a data type (Can Be Pixel or World ) :param input: position in some coordinate @@ -124,7 +116,7 @@ class CarlaMap(object): """ return self._converter.convert_to_pixel(input) - def convert_to_world(self,input): + def convert_to_world(self, input): """ Receives a data type (Can Be Pixel or World ) :param input: position in some coordinate @@ -134,7 +126,7 @@ class CarlaMap(object): - def get_walls_directed(self,node_source,source_ori,node_target,target_ori): + def get_walls_directed(self, node_source, source_ori, node_target, target_ori): """ This is the most hacky function. Instead of planning on two ways, we basically use a one way road and interrupt the other road by adding @@ -142,7 +134,7 @@ class CarlaMap(object): """ - final_walls = self._grid.get_wall_source(node_source,source_ori,node_target) + final_walls = self._grid.get_wall_source(node_source, source_ori, node_target) final_walls = final_walls.union(self._grid.get_wall_target( node_target, target_ori, node_source)) From 8c252af9cb7061437b92dbcbbd924ddb01dfa99f Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 22 Dec 2017 14:04:54 -0200 Subject: [PATCH 031/121] Small fix on conversion --- PythonClient/carla/benchmarks/corl_2017.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index 323261507..fdaaec8a1 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -227,11 +227,11 @@ class CoRL2017(Benchmark): return 'corl2017_' + self._city_name - def _get_pose_and_task(self,line_on_file): + def _get_pose_and_task(self, line_on_file): """ Returns the pose and task this experiment is, based on the line it was on the log file. """ # We assume that the number of poses is constant - return line_on_file/len(self._experiments),line_on_file%25 + return int(line_on_file/len(self._experiments)), line_on_file % 25 From 99ef016f2e63c2c0062c9a8a6df850862c5f6f64 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 22 Dec 2017 18:33:30 +0100 Subject: [PATCH 032/121] Fix docs format --- Docs/carla_benchmark.md | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/Docs/carla_benchmark.md b/Docs/carla_benchmark.md index 198c46123..b42279752 100644 --- a/Docs/carla_benchmark.md +++ b/Docs/carla_benchmark.md @@ -2,31 +2,31 @@ CARLA Benchmark =============== Running the Benchmark -------------------------- -The "carla" api provides a basic benchmarking system, that allows making -several tests on a certain agent. We already provide the same benchmark -used in the CoRL 2017 paper. By running this benchmark you can compare -the results of your agent to the results obtained by the agents -show in the paper. +--------------------- -! Currently not tested on python 3 +The "carla" api provides a basic benchmarking system, that allows making several +tests on a certain agent. We already provide the same benchmark used in the CoRL +2017 paper. By running this benchmark you can compare the results of your agent +to the results obtained by the agents show in the paper. + +!!! important + Currently not tested on python 3 + +Besides the requirements of the CARLA client, the benchmark package also needs +the future package -Besides the requirements of the CARLA client, -the benchmark package also needs the future package $ sudo pip install future +By running the benchmark a default agent that just go straight will be tested. +To run the benchmark you need a server running. For a default localhost server +on port 2000, to run the benchmark you just need to run + + $ ./run_benchmark.py -By running the benchmark a default agent that just go straight -will be tested. To run the benchmark you need a server running. -For a default localhost server on port 2000, to run the benchmark -you just need to run: - $ ./run_benchmark or - $ python run_benchmark + + $ python run_benchmark.py Run the help command to see options available - $ ./run_benchmark --help - - - + $ ./run_benchmark.py --help From 5067b9109e32801b6f6e0f95455f4d4174547e5c Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 22 Dec 2017 18:38:10 +0100 Subject: [PATCH 033/121] Add benchmark to documentation --- Docs/{carla_benchmark.md => benchmark.md} | 4 ++++ Docs/index.md | 1 + mkdocs.yml | 1 + 3 files changed, 6 insertions(+) rename Docs/{carla_benchmark.md => benchmark.md} (89%) diff --git a/Docs/carla_benchmark.md b/Docs/benchmark.md similarity index 89% rename from Docs/carla_benchmark.md rename to Docs/benchmark.md index b42279752..64c536607 100644 --- a/Docs/carla_benchmark.md +++ b/Docs/benchmark.md @@ -1,6 +1,10 @@ CARLA Benchmark =============== +!!! important + Benchmark code is currently in beta and can be found only in the + `benchmark_branch`. + Running the Benchmark --------------------- diff --git a/Docs/index.md b/Docs/index.md index 1eb92cb1a..560a4078f 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -8,6 +8,7 @@ CARLA Documentation * [CARLA settings](carla_settings.md) * [Measurements](measurements.md) * [Cameras and sensors](cameras_and_sensors.md) + * [Benchmark](benchmark.md) * [F.A.Q.](faq.md) * [Troubleshooting](troubleshooting.md) diff --git a/mkdocs.yml b/mkdocs.yml index 20ed2da28..204cff558 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -9,6 +9,7 @@ pages: - 'CARLA Settings': 'carla_settings.md' - 'Measurements': 'measurements.md' - 'Cameras and sensors': 'cameras_and_sensors.md' + - 'Benchmark': 'benchmark.md' - 'F.A.Q.': 'faq.md' - 'Troubleshooting': 'troubleshooting.md' - Building from source: From 50418c1e066cee9fe418b9b86303ba7a2e6e9df2 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 22 Dec 2017 18:40:48 +0100 Subject: [PATCH 034/121] Remove duplicate link --- Docs/index.md | 1 - 1 file changed, 1 deletion(-) diff --git a/Docs/index.md b/Docs/index.md index 560a4078f..44565e3aa 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -4,7 +4,6 @@ CARLA Documentation #### Using CARLA * [How to run CARLA server and client](how_to_run.md) - * [Benchmark](carla_benchmark.md) * [CARLA settings](carla_settings.md) * [Measurements](measurements.md) * [Cameras and sensors](cameras_and_sensors.md) From ada138c0395b727eacb48c47693dd83f77df49bf Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 22 Dec 2017 19:14:16 +0100 Subject: [PATCH 035/121] Some improvements to setup.py --- .gitignore | 3 +++ PythonClient/setup.py | 21 ++++++++++++--------- 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/.gitignore b/.gitignore index 2aef97e3e..6ef363893 100644 --- a/.gitignore +++ b/.gitignore @@ -1,9 +1,11 @@ Dist Doxygen +PythonClient/dist Util/Build *.VC.db *.VC.opendb +*.egg-info *.kdev4 *.log *.pb.cc @@ -25,3 +27,4 @@ __pycache__ _benchmarks_results _images core + diff --git a/PythonClient/setup.py b/PythonClient/setup.py index d1317032d..31e26f2de 100644 --- a/PythonClient/setup.py +++ b/PythonClient/setup.py @@ -1,12 +1,15 @@ from setuptools import setup -setup( - name='PythonClient', - version='0.7', - packages=['carla','carla.planner','carla.benchmarks','carla.planner'], - license='', - long_description=open('README.txt').read(), - include_package_data=True, - package_data={'carla.planner' : ['Town01.txt']} -) +# @todo Dependencies are missing. +setup( + name='carla_client', + version='0.7.1', + packages=['carla', 'carla.planner', 'carla.benchmarks', 'carla.planner'], + license='MIT License', + description='Python API for communicating with the CARLA server.', + url='https://github.com/carla-simulator/carla', + author='The CARLA team', + author_email='carla.simulator@gmail.com', + include_package_data=True +) From d353631c56c37769eb4e78352626805738b223f6 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 8 Jan 2018 18:27:58 +0100 Subject: [PATCH 036/121] CI with Ubuntu 16 --- .travis.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.yml b/.travis.yml index c41c171e5..98a169624 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,5 +1,8 @@ language: python +os: linux +dist: xenial + python: - "2.7" - "3.5" From c5cbee9194a4e94b84ad54413108ba38d5849127 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 8 Jan 2018 18:41:02 +0100 Subject: [PATCH 037/121] Require pylint to pass without warnings --- .travis.yml | 2 +- PythonClient/.pylintrc | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 98a169624..664e105a1 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,4 +13,4 @@ install: - pip install pylint script: - - pylint --errors-only --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py + - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py diff --git a/PythonClient/.pylintrc b/PythonClient/.pylintrc index f369d5bde..acb22ba72 100644 --- a/PythonClient/.pylintrc +++ b/PythonClient/.pylintrc @@ -1,3 +1,4 @@ [TYPECHECK] -ignored-modules=ConfigParser,numpy,pygame,shutil +ignore=carla_server_pb2.py +ignored-modules=ConfigParser,numpy,numpy.random,pygame,shutil ignored-classes=_socketobject From 0d05d70b5e54150ce32c1be5bdc1ecbac30dca74 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 13:00:07 +0100 Subject: [PATCH 038/121] Testing ci configurations --- .travis.yml | 32 ++++++++++++++++++++++---------- 1 file changed, 22 insertions(+), 10 deletions(-) diff --git a/.travis.yml b/.travis.yml index 664e105a1..161e7ce28 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,16 +1,28 @@ language: python os: linux -dist: xenial +dist: trusty # xenial is not yet supported. +python: "3.5" -python: - - "2.7" - - "3.5" - - "3.6" +matrix: + include: -install: - - pip install -r PythonClient/requirements.txt - - pip install pylint + - env: TEST="Pylint" + python: + - "2.7" + - "3.5" + - "3.6" + install: + - pip install -r PythonClient/requirements.txt + - pip install pylint + script: + - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py + + - env: TEST="CppCheck" + addons: + apt: + packages: + - cppcheck + script: + - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning -script: - - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py From a7e3fef096356a09b6b23e06cd886b723a865f03 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 13:20:53 +0100 Subject: [PATCH 039/121] Testing ci configurations --- .travis.yml | 24 +++++++++++------------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/.travis.yml b/.travis.yml index 161e7ce28..00bd90b42 100644 --- a/.travis.yml +++ b/.travis.yml @@ -2,22 +2,21 @@ language: python os: linux dist: trusty # xenial is not yet supported. -python: "3.5" + +env: TEST="Pylint" +python: + - "3.5" + - "3.6" + - "2.7" +install: + - pip install -r PythonClient/requirements.txt + - pip install pylint +script: + - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py matrix: include: - - env: TEST="Pylint" - python: - - "2.7" - - "3.5" - - "3.6" - install: - - pip install -r PythonClient/requirements.txt - - pip install pylint - script: - - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py - - env: TEST="CppCheck" addons: apt: @@ -25,4 +24,3 @@ matrix: - cppcheck script: - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning - From 2e76bb32734951f8d91023be4753e8eee8c95eb3 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 13:24:33 +0100 Subject: [PATCH 040/121] Skip ci installation step --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index 00bd90b42..62d7b54af 100644 --- a/.travis.yml +++ b/.travis.yml @@ -18,6 +18,7 @@ matrix: include: - env: TEST="CppCheck" + install: true addons: apt: packages: From bd8c12089d3219e81e79f816b204bffb15f03a0b Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 15:52:09 +0100 Subject: [PATCH 041/121] Fix pylint warnings --- PythonClient/.pylintrc | 2 +- PythonClient/carla/client.py | 5 ++--- PythonClient/carla/sensor.py | 2 +- PythonClient/carla/settings.py | 11 +++++++---- PythonClient/carla/tcp.py | 13 ++++++------- PythonClient/carla/util.py | 6 +++--- PythonClient/client_example.py | 5 ----- PythonClient/manual_control.py | 6 ++---- 8 files changed, 22 insertions(+), 28 deletions(-) diff --git a/PythonClient/.pylintrc b/PythonClient/.pylintrc index acb22ba72..dd0ef806f 100644 --- a/PythonClient/.pylintrc +++ b/PythonClient/.pylintrc @@ -1,4 +1,4 @@ [TYPECHECK] ignore=carla_server_pb2.py ignored-modules=ConfigParser,numpy,numpy.random,pygame,shutil -ignored-classes=_socketobject +ignored-classes=_socketobject,EpisodeReady diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index fedf0e490..1f969d3f0 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -17,7 +17,6 @@ from . import util try: from . import carla_server_pb2 as carla_protocol - from carla_protocol import EpisodeReady except ImportError: raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file') @@ -97,7 +96,7 @@ class CarlaClient(object): data = self._world_client.read() if not data: raise RuntimeError('failed to read data from server') - pb_message = EpisodeReady() + pb_message = carla_protocol.EpisodeReady() pb_message.ParseFromString(data) if not pb_message.ready: raise RuntimeError('cannot start episode: server failed to start episode') @@ -160,7 +159,7 @@ class CarlaClient(object): raise RuntimeError('failed to read data from server') pb_message = carla_protocol.SceneDescription() pb_message.ParseFromString(data) - self._sensor_names = settings._get_sensor_names(carla_settings) + self._sensor_names = settings.get_sensor_names(carla_settings) self._is_episode_requested = True return pb_message diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py index e8cccb9e9..f4e14333a 100644 --- a/PythonClient/carla/sensor.py +++ b/PythonClient/carla/sensor.py @@ -113,7 +113,7 @@ class Image(SensorData): size=(self.width, self.height), data=self.raw_data, decoder_name='raw') - b, g, r, a = image.split() + b, g, r, _ = image.split() image = PImage.merge("RGB", (r, g, b)) folder = os.path.dirname(filename) diff --git a/PythonClient/carla/settings.py b/PythonClient/carla/settings.py index 0fcc98767..f0eb50218 100644 --- a/PythonClient/carla/settings.py +++ b/PythonClient/carla/settings.py @@ -122,18 +122,21 @@ class CarlaSettings(object): return text.getvalue().replace(' = ', '=') -def _get_sensor_names(settings): +def get_sensor_names(settings): """ Return a list with the names of the sensors defined in the settings object. The settings object can be a CarlaSettings or an INI formatted string. """ if isinstance(settings, CarlaSettings): + # pylint: disable=protected-access return [camera.CameraName for camera in settings._cameras] ini = ConfigParser() - if sys.version_info >= (3, 0): - ini.readfp(io.StringIO(settings)) + if sys.version_info >= (3, 2): + ini.read_string(settings) + elif sys.version_info >= (3, 0): + ini.readfp(io.StringIO(settings)) # pylint: disable=deprecated-method else: - ini.readfp(io.BytesIO(settings)) + ini.readfp(io.BytesIO(settings)) # pylint: disable=deprecated-method section_name = 'CARLA/SceneCapture' option_name = 'Cameras' diff --git a/PythonClient/carla/tcp.py b/PythonClient/carla/tcp.py index b9ca34b6a..5dd9ed9ef 100644 --- a/PythonClient/carla/tcp.py +++ b/PythonClient/carla/tcp.py @@ -39,19 +39,18 @@ class TCPClient(object): try: self._socket = socket.create_connection(address=(self._host, self._port), timeout=self._timeout) self._socket.settimeout(self._timeout) - logging.debug(self._logprefix + 'connected') + logging.debug('%sconnected', self._logprefix) return - except Exception as exception: + except OSError as exception: error = exception - logging.debug(self._logprefix + 'connection attempt %d: %s', attempt, error) + logging.debug('%sconnection attempt %d: %s', self._logprefix, attempt, error) time.sleep(1) - continue self._reraise_exception_as_tcp_error('failed to connect', error) def disconnect(self): """Disconnect any active connection.""" if self._socket is not None: - logging.debug(self._logprefix + 'disconnecting') + logging.debug('%sdisconnecting', self._logprefix) self._socket.close() self._socket = None @@ -66,7 +65,7 @@ class TCPClient(object): header = struct.pack(' 0: try: data = self._socket.recv(length) - except Exception as exception: + except OSError as exception: self._reraise_exception_as_tcp_error('failed to read data', exception) if not data: raise TCPConnectionError(self._logprefix + 'connection closed') diff --git a/PythonClient/carla/util.py b/PythonClient/carla/util.py index 02fb4db8e..ce668235c 100644 --- a/PythonClient/carla/util.py +++ b/PythonClient/carla/util.py @@ -53,9 +53,9 @@ else: # Workaround for older Python versions. def print_over_same_line(text): - line_length = max(print_over_same_line._last_line_length, len(text)) + line_length = max(print_over_same_line.last_line_length, len(text)) empty_space = max(0, line_length - len(text)) sys.stdout.write('\r' + text + empty_space * ' ') sys.stdout.flush() - print_over_same_line._last_line_length = line_length - print_over_same_line._last_line_length = 0 + print_over_same_line.last_line_length = line_length + print_over_same_line.last_line_length = 0 diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py index 9be0c4301..2b687313d 100755 --- a/PythonClient/client_example.py +++ b/PythonClient/client_example.py @@ -13,7 +13,6 @@ from __future__ import print_function import argparse import logging import random -import sys import time from carla.client import make_carla_client @@ -213,14 +212,10 @@ def main(): settings_filepath=args.carla_settings) print('Done.') - return except TCPConnectionError as error: logging.error(error) time.sleep(1) - except Exception as exception: - logging.exception(exception) - sys.exit(1) if __name__ == '__main__': diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py index 329d831a0..dfca225db 100755 --- a/PythonClient/manual_control.py +++ b/PythonClient/manual_control.py @@ -30,7 +30,6 @@ from __future__ import print_function import argparse import logging import random -import sys import time try: @@ -131,6 +130,8 @@ class CarlaGame(object): self._map = CarlaMap(city_name) if city_name is not None else None self._map_shape = self._map.map_image.shape if city_name is not None else None self._map_view = self._map.get_map(WINDOW_HEIGHT) if city_name is not None else None + self._position = None + self._agent_positions = None def execute(self): """Launch the PyGame.""" @@ -363,9 +364,6 @@ def main(): except TCPConnectionError as error: logging.error(error) time.sleep(1) - except Exception as exception: - logging.exception(exception) - sys.exit(1) if __name__ == '__main__': From 1252dd80e851f3216c1e3aa3c3de8141b5cbb480 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 15:58:50 +0100 Subject: [PATCH 042/121] Fix more pylint warnings --- PythonClient/carla/planner/map.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 22c651118..8779bb169 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -38,14 +38,14 @@ class CarlaMap(object): city_map_file = os.path.join(dir_path, city + '.png') city_map_file_lanes = os.path.join(dir_path, city + 'Lanes.png') - with open(city_file, 'r') as file: + with open(city_file, 'r') as file_object: - linewordloffset = file.readline() + linewordloffset = file_object.readline() # The offset of the world from the zero coordinates ( The # coordinate we consider zero) self.worldoffset = string_to_floats(linewordloffset) - lineworldangles = file.readline() + lineworldangles = file_object.readline() self.angles = string_to_floats(lineworldangles) self.worldrotation = np.array([ @@ -55,14 +55,14 @@ class CarlaMap(object): # Ignore for now, these are offsets for map coordinates and scale # (not used). - _ = file.readline() - linemapoffset = file.readline() + _ = file_object.readline() + linemapoffset = file_object.readline() # The offset of the map zero coordinate. self.mapoffset = string_to_floats(linemapoffset) # the graph resolution. - linegraphres = file.readline() + linegraphres = file_object.readline() self.resolution = string_to_node(linegraphres) # The number of game units per pixel. From 80a3c26cabb7771ea42756493e4600963dfccc95 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 16:13:20 +0100 Subject: [PATCH 043/121] Verbose Cppcheck command --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 62d7b54af..360dbf880 100644 --- a/.travis.yml +++ b/.travis.yml @@ -24,4 +24,4 @@ matrix: packages: - cppcheck script: - - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning + - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --error-exitcode=1 --enable=warning From e1847f2001b6da1092169e7d6529275edd7f85e7 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 9 Jan 2018 16:23:50 +0100 Subject: [PATCH 044/121] Fix warning and make Cppcheck quiet again --- .travis.yml | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 360dbf880..62d7b54af 100644 --- a/.travis.yml +++ b/.travis.yml @@ -24,4 +24,4 @@ matrix: packages: - cppcheck script: - - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --error-exitcode=1 --enable=warning + - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h index ea646cf55..9cad7d854 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h @@ -102,7 +102,7 @@ private: USceneComponent *SceneRootComponent; UPROPERTY(Category = "Map Generation", VisibleAnywhere) - float MapScale; + float MapScale = 1.0f; UPROPERTY(Category = "Meshes", EditAnywhere) TMap StaticMeshes; From 84b20488d13657733f54da60fc8d9349a240d0ed Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 10 Jan 2018 13:29:52 +0100 Subject: [PATCH 045/121] Update coding standard --- Docs/CONTRIBUTING.md | 44 ++++++++++++++++++++++++++--------- Util/ImageConverter/Makefile | 2 +- Util/ImageConverter/README.md | 4 ++-- 3 files changed, 36 insertions(+), 14 deletions(-) diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index 85055e9f6..3438010e1 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -15,7 +15,7 @@ Reporting bugs -------------- Use our [issue section](issueslink) on GitHub. Please check before that the -issue was not already added. +issue is not already reported. [issueslink]: https://github.com/carla-simulator/carla/issues @@ -31,10 +31,14 @@ your request as a new issue. Code contributions ------------------ +So you are considering making a code contribution, great! we love to have +contributions from the community. + Before starting hands-on on coding, please check out the -[projects page][projectslink] to see if we are already working on that. In case -of doubt or to discuss how to proceed, please contact one of us (or send an -email to carla.simulator@gmail.com). +[projects page][projectslink] to see if we are already working on that, it would +be a pity putting an effort into something just to discover that someone else +was already working on that. In case of doubt or to discuss how to proceed, +please contact one of us (or send an email to carla.simulator@gmail.com). [projectslink]: https://github.com/carla-simulator/carla/projects/1 @@ -42,22 +46,40 @@ email to carla.simulator@gmail.com). Check out the ["CARLA Design"](carla_design.md) document to get an idea on the different modules that compose CARLA, and chose the most appropriate one to hold -the new feature. +the new feature. We are aware the developers documentation is still scarce, +please ask us in case of doubt, and of course don't hesitate to improve the +current documentation if you feel confident enough. -#### Coding style +#### Coding standard Please follow the current coding style when submitting new code. +###### General + * Use spaces, not tabs. - * Comments should not exceed 80 columns, code may exceed this limit a bit in rare -occasions if it results in clearer code. + * Avoid adding trailing whitespace as it creates noise in the diffs. + * Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code. + +###### Python + + * All code must be compatible with Python 2.7, 3.5, and 3.6. + * [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`). * Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible). - * Unreal C++ code, CarlaUE4 and Carla plugin, follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs. + +###### C++ + + * Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`). + * Unreal C++ code (CarlaUE4 and Carla plugin) follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs. * CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html). -#### Pull request +#### Pull-requests Once you think your contribution is ready to be added to CARLA, please submit a -pull request and one of our team members will take a look at it. +pull-request to the `dev` branch. Try to be as descriptive as possible when filling the pull-request description. + +Please note that there are some checks that the new code is required to pass +before we can do the merge. The checks are automatically run by the continuous +integration system, you will see a green tick mark if all the checks succeeded. +If you see a red mark, please correct your code accordingly. diff --git a/Util/ImageConverter/Makefile b/Util/ImageConverter/Makefile index 011da4c42..c4c0013e0 100644 --- a/Util/ImageConverter/Makefile +++ b/Util/ImageConverter/Makefile @@ -1,4 +1,4 @@ -CXX=g++ +CXX=clang++ FLAGS=-Wall -Wextra -std=c++14 -fopenmp LIBS=-lboost_system -lboost_filesystem -lboost_program_options -lpng -ljpeg -ltiff HEADERS=*.h diff --git a/Util/ImageConverter/README.md b/Util/ImageConverter/README.md index fa73b7f93..979d87503 100644 --- a/Util/ImageConverter/README.md +++ b/Util/ImageConverter/README.md @@ -4,9 +4,9 @@ Image Converter Converts output images of depth and semantic segmentation to a prettier format. Requires boost_system, boost_filesystem, boost_program_options, libpng, libtiff, -libjpeg and openmp. +libjpeg and libomp. -Compile with `g++ -std=c++14 -fopenmp`, for the default compilation just run +Compile with `clang++ -std=c++14 -fopenmp`, for the default compilation just run make make From bbb3b283af5c185f5d1e5dcf6833192b2441e6d9 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 10 Jan 2018 17:55:39 +0100 Subject: [PATCH 046/121] Fix #2 create a random engine for each vehicle derived from the spawner's random engine --- .../Carla/Source/Carla/AI/VehicleSpawnerBase.cpp | 2 +- .../Source/Carla/AI/WheeledVehicleAIController.cpp | 2 ++ .../Source/Carla/AI/WheeledVehicleAIController.h | 12 ++++-------- .../Carla/Source/Carla/Game/CarlaGameModeBase.cpp | 3 ++- .../Plugins/Carla/Source/Carla/Util/RandomEngine.cpp | 7 +++++++ .../Plugins/Carla/Source/Carla/Util/RandomEngine.h | 8 +++++++- 6 files changed, 23 insertions(+), 11 deletions(-) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp index e8030de9a..1bd86bf47 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp @@ -104,7 +104,7 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint( Vehicle->SpawnDefaultController(); auto Controller = GetController(Vehicle); if (Controller != nullptr) { // Sometimes fails... - Controller->SetRandomEngine(GetRandomEngine()); + Controller->GetRandomEngine()->Seed(GetRandomEngine()->GenerateSeed()); Controller->SetRoadMap(GetRoadMap()); Controller->SetAutopilot(true); Vehicles.Add(Vehicle); diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp index ec9c7e5f7..af67fd6fd 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp @@ -73,6 +73,8 @@ static void ClearQueue(std::queue &Queue) AWheeledVehicleAIController::AWheeledVehicleAIController(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer) { + RandomEngine = CreateDefaultSubobject(TEXT("RandomEngine")); + PrimaryActorTick.bCanEverTick = true; PrimaryActorTick.TickGroup = TG_PrePhysics; } diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h index c4e51c74f..d0ea753ce 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h @@ -98,14 +98,10 @@ public: /// @{ public: - void SetRandomEngine(URandomEngine *InRandomEngine) - { - RandomEngine = InRandomEngine; - } - UFUNCTION(Category = "Random Engine", BlueprintCallable) URandomEngine *GetRandomEngine() { + check(RandomEngine != nullptr); return RandomEngine; } @@ -221,13 +217,13 @@ private: private: UPROPERTY() - ACarlaWheeledVehicle *Vehicle; + ACarlaWheeledVehicle *Vehicle = nullptr; UPROPERTY() - URoadMap *RoadMap; + URoadMap *RoadMap = nullptr; UPROPERTY() - URandomEngine *RandomEngine; + URandomEngine *RandomEngine = nullptr; UPROPERTY(VisibleAnywhere) bool bAutopilotEnabled = false; diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp index 3352bafe8..16b42a3ec 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp @@ -176,7 +176,8 @@ void ACarlaGameModeBase::BeginPlay() VehicleSpawner->SetSeed(CarlaSettings.SeedVehicles); VehicleSpawner->SetRoadMap(RoadMap); if (PlayerController != nullptr) { - PlayerController->SetRandomEngine(VehicleSpawner->GetRandomEngine()); + PlayerController->GetRandomEngine()->Seed( + VehicleSpawner->GetRandomEngine()->GenerateSeed()); } } else { UE_LOG(LogCarla, Error, TEXT("Missing vehicle spawner actor!")); diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp index 91f299282..a15237b88 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp @@ -17,3 +17,10 @@ int32 URandomEngine::GenerateRandomSeed() std::numeric_limits::max()); return Distribution(RandomDevice); } + +int32 URandomEngine::GenerateSeed() +{ + return GetUniformIntInRange( + std::numeric_limits::lowest(), + std::numeric_limits::max()); +} diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h index a124baf20..8e49954a7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h @@ -18,13 +18,19 @@ class URandomEngine : public UObject public: // =========================================================================== - /// @name Set and get seed + /// @name Seed // =========================================================================== /// @{ + /// Generate a non-deterministic random seed. UFUNCTION(BlueprintCallable) static int32 GenerateRandomSeed(); + /// Generate a seed derived from previous seed. + UFUNCTION(BlueprintCallable) + int32 GenerateSeed(); + + /// Seed the random engine. UFUNCTION(BlueprintCallable) void Seed(int32 InSeed) { From b1589f5fdd718b3c4e04d214d5ef61d75473f801 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Thu, 11 Jan 2018 14:56:43 +0100 Subject: [PATCH 047/121] Add repeatability test --- .gitignore | 2 +- PythonClient/test/test_repeatability.py | 168 ++++++++++++++++++++++++ 2 files changed, 169 insertions(+), 1 deletion(-) create mode 100755 PythonClient/test/test_repeatability.py diff --git a/.gitignore b/.gitignore index fa06fd814..7efe9136a 100644 --- a/.gitignore +++ b/.gitignore @@ -22,5 +22,5 @@ Util/Build .tags* .vs __pycache__ -_images +_images* core diff --git a/PythonClient/test/test_repeatability.py b/PythonClient/test/test_repeatability.py new file mode 100755 index 000000000..a37d83a3c --- /dev/null +++ b/PythonClient/test/test_repeatability.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de +# Barcelona (UAB), and the INTEL Visual Computing Lab. +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . + +"""Client that runs two servers simultaneously to test repeatability.""" + +import argparse +import logging +import os +import random +import sys +import time + +sys.path.append(os.path.join(os.path.dirname(__file__), '..')) + +from carla.client import make_carla_client +from carla.sensor import Camera, Image +from carla.settings import CarlaSettings +from carla.tcp import TCPConnectionError + + +def run_carla_clients(args): + filename = '_images_repeatability/server{:d}/{:0>6d}.png' + with make_carla_client(args.host1, args.port1) as client1: + logging.info('1st client connected') + with make_carla_client(args.host2, args.port2) as client2: + logging.info('2nd client connected') + + settings = CarlaSettings() + settings.set( + SynchronousMode=True, + SendNonPlayerAgentsInfo=True, + NumberOfVehicles=50, + NumberOfPedestrians=50, + WeatherId=random.choice([1, 3, 7, 8, 14])) + settings.randomize_seeds() + + if args.images_to_disk: + camera = Camera('DefaultCamera') + camera.set_image_size(800, 600) + settings.add_sensor(camera) + + scene1 = client1.load_settings(settings) + scene2 = client2.load_settings(settings) + + number_of_player_starts = len(scene1.player_start_spots) + assert number_of_player_starts == len(scene2.player_start_spots) + player_start = random.randint(0, max(0, number_of_player_starts - 1)) + logging.info( + 'start episode at %d/%d player start (run forever, press ctrl+c to cancel)', + player_start, + number_of_player_starts) + + client1.start_episode(player_start) + client2.start_episode(player_start) + + frame = 0 + while True: + frame += 1 + + meas1, sensor_data1 = client1.read_data() + meas2, sensor_data2 = client2.read_data() + + player1 = meas1.player_measurements + player2 = meas2.player_measurements + + images1 = [x for x in sensor_data1.values() if isinstance(x, Image)] + images2 = [x for x in sensor_data2.values() if isinstance(x, Image)] + + control1 = player1.autopilot_control + control2 = player2.autopilot_control + + try: + assert len(images1) == len(images2) + assert len(meas1.non_player_agents) == len(meas2.non_player_agents) + assert player1.transform.location.x == player2.transform.location.x + assert player1.transform.location.y == player2.transform.location.y + assert player1.transform.location.z == player2.transform.location.z + assert control1.steer == control2.steer + assert control1.throttle == control2.throttle + assert control1.brake == control2.brake + assert control1.hand_brake == control2.hand_brake + assert control1.reverse == control2.reverse + except AssertionError: + logging.exception('assertion failed') + + if args.images_to_disk: + assert len(images1) == 1 + images1[0].save_to_disk(filename.format(1, frame)) + images2[0].save_to_disk(filename.format(2, frame)) + + client1.send_control(control1) + client2.send_control(control2) + + +def main(): + argparser = argparse.ArgumentParser(description=__doc__) + argparser.add_argument( + '-v', '--verbose', + action='store_true', + dest='debug', + help='print debug information') + argparser.add_argument( + '--log', + metavar='LOG_FILE', + default=None, + help='print output to file') + argparser.add_argument( + '--host1', + metavar='H', + default='127.0.0.1', + help='IP of the first host server (default: 127.0.0.1)') + argparser.add_argument( + '-p1', '--port1', + metavar='P', + default=2000, + type=int, + help='TCP port to listen to the first server (default: 2000)') + argparser.add_argument( + '--host2', + metavar='H', + default='127.0.0.1', + help='IP of the second host server (default: 127.0.0.1)') + argparser.add_argument( + '-p2', '--port2', + metavar='P', + default=3000, + type=int, + help='TCP port to listen to the second server (default: 3000)') + argparser.add_argument( + '-i', '--images-to-disk', + action='store_true', + help='save images to disk') + + args = argparser.parse_args() + + logging_config = { + 'format': '%(levelname)s: %(message)s', + 'level': logging.DEBUG if args.debug else logging.INFO + } + if args.log: + logging_config['filename'] = args.log + logging_config['filemode'] = 'w+' + logging.basicConfig(**logging_config) + + logging.info('listening to 1st server at %s:%s', args.host1, args.port1) + logging.info('listening to 2nd server at %s:%s', args.host2, args.port2) + + while True: + try: + + run_carla_clients(args) + + except TCPConnectionError as error: + logging.error(error) + time.sleep(1) + + +if __name__ == '__main__': + + try: + main() + except KeyboardInterrupt: + print('\nCancelled by user. Bye!') From 45f8ec54fe7e2300d3f0834e5be82403660022ef Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 12 Jan 2018 15:59:00 +0100 Subject: [PATCH 048/121] Fixing some coding issues for travis integration --- PythonClient/carla/benchmarks/agent.py | 22 ++- PythonClient/carla/benchmarks/corl_2017.py | 151 ++++++++------------- PythonClient/carla/benchmarks/metrics.py | 2 +- PythonClient/carla/planner/astar.py | 18 +-- PythonClient/carla/planner/city_track.py | 129 +++++++----------- PythonClient/carla/planner/converter.py | 30 ++-- PythonClient/carla/planner/graph.py | 19 +-- PythonClient/carla/planner/grid.py | 27 ++-- PythonClient/carla/planner/map.py | 48 +++---- PythonClient/carla/planner/planner.py | 33 ++--- 10 files changed, 198 insertions(+), 281 deletions(-) diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index 63f4e7b77..8a6c65363 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -11,25 +11,24 @@ from __future__ import print_function import abc -from carla.planner.planner import Planner +from carla.planner.planner import Planner + class Agent(object): - def __init__(self,city_name, **kwargs): - __metaclass__ = abc.ABCMeta + def __init__(self, city_name): + __metaclass__ = abc.ABCMeta # Try to remove self._planner = Planner(city_name) - def get_distance(self,start_point,end_point): - - path_distance=self._planner.get_shortest_path_distance( - [start_point.location.x,start_point.location.y,22] - ,[start_point.orientation.x,start_point.orientation.y,22] - ,[end_point.location.x,end_point.location.y,22] - ,[end_point.orientation.x,end_point.orientation.y,22]) + def get_distance(self, start_point, end_point): + path_distance = self._planner.get_shortest_path_distance( + [start_point.location.x, start_point.location.y, 22] + , [start_point.orientation.x, start_point.orientation.y, 22] + , [end_point.location.x, end_point.location.y, 22] + , [end_point.orientation.x, end_point.orientation.y, 22]) # We calculate the timout based on the distance return path_distance - @abc.abstractmethod def run_step(self, measurements, sensor_data, target): """ @@ -37,4 +36,3 @@ class Agent(object): :param The measurements like speed, the image data and a target :returns A carla Control object, with the steering/gas/brake for the agent """ - diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index fdaaec8a1..8f61b17cd 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -16,141 +16,118 @@ from .experiment import Experiment from carla.sensor import Camera from carla.settings import CarlaSettings - from .metrics import compute_summary - class CoRL2017(Benchmark): - def get_all_statistics(self): summary = compute_summary(os.path.join( - self._full_name, self._suffix_name),[3]) + self._full_name, self._suffix_name), [3]) return summary - def plot_summary_train(self): - - self._plot_summary([1.0,3.0,6.0,8.0]) + self._plot_summary([1.0, 3.0, 6.0, 8.0]) def plot_summary_test(self): + self._plot_summary([4.0, 14.0]) - self._plot_summary([4.0,14.0]) - - - def _plot_summary(self,weathers): + def _plot_summary(self, weathers): """ We plot the summary of the testing for the set selected weathers. The test weathers are [4,14] """ - metrics_summary = compute_summary(os.path.join( - self._full_name, self._suffix_name),[3]) + self._full_name, self._suffix_name), [3]) - - for metric,values in metrics_summary.items(): + for metric, values in metrics_summary.items(): print('Metric : ', metric) for weather, tasks in values.items(): if weather in set(weathers): - print(' Weather: ',weather) - count =0 + print(' Weather: ', weather) + count = 0 for t in tasks: - - print(' Task ',count,' -> ',t) + print(' Task ', count, ' -> ', t) count += 1 + print(' AvG -> ', float(sum(tasks)) / float(len(tasks))) - print(' AvG -> ',float(sum(tasks))/float(len(tasks))) - - - - - - def _calculate_time_out(self,path_distance): + def _calculate_time_out(self, path_distance): """ Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. This is the same timeout as used on the CoRL paper. """ - return ((path_distance/100000.0)/10.0)*3600.0 + 10.0 - - - + return ((path_distance / 100000.0) / 10.0) * 3600.0 + 10.0 def _poses_town01(self): """ Each matrix is a new task. We have all the four tasks """ - def _poses_straight(): - return [[36,40],[39,35],[110,114],[7,3],[0,4], - [68,50],[61,59],[47,64],[147,90],[33,87], - [26,19],[80,76],[45,49],[55,44],[29,107], - [95,104],[84,34],[53,67],[22,17],[91,148], - [20,107],[78,70],[95,102],[68,44],[45,69]] + def _poses_straight(): + return [[36, 40], [39, 35], [110, 114], [7, 3], [0, 4], + [68, 50], [61, 59], [47, 64], [147, 90], [33, 87], + [26, 19], [80, 76], [45, 49], [55, 44], [29, 107], + [95, 104], [84, 34], [53, 67], [22, 17], [91, 148], + [20, 107], [78, 70], [95, 102], [68, 44], [45, 69]] def _poses_one_curve(): - return [[138,17],[47,16],[26,9],[42,49],[140,124], - [85,98],[65,133],[137,51],[76,66],[46,39], - [40,60],[0,29],[4,129],[121,140],[2,129], - [78,44],[68,85],[41,102],[95,70],[68,129], - [84,69],[47,79],[110,15],[130,17],[0,17]] + return [[138, 17], [47, 16], [26, 9], [42, 49], [140, 124], + [85, 98], [65, 133], [137, 51], [76, 66], [46, 39], + [40, 60], [0, 29], [4, 129], [121, 140], [2, 129], + [78, 44], [68, 85], [41, 102], [95, 70], [68, 129], + [84, 69], [47, 79], [110, 15], [130, 17], [0, 17]] def _poses_navigation(): - return [[105,29],[27,130],[102,87],[132,27],[24,44], - [96,26],[34,67],[28,1],[140,134],[105,9], - [148,129],[65,18],[21,16],[147,97],[42,51], - [30,41],[18,107],[69,45],[102,95],[18,145], - [111,64],[79,45],[84,69],[73,31],[37,81]] - - - return [ _poses_straight(), - _poses_one_curve(), - _poses_navigation(), - _poses_navigation()] - + return [[105, 29], [27, 130], [102, 87], [132, 27], [24, 44], + [96, 26], [34, 67], [28, 1], [140, 134], [105, 9], + [148, 129], [65, 18], [21, 16], [147, 97], [42, 51], + [30, 41], [18, 107], [69, 45], [102, 95], [18, 145], + [111, 64], [79, 45], [84, 69], [73, 31], [37, 81]] + return [_poses_straight(), + _poses_one_curve(), + _poses_navigation(), + _poses_navigation()] def _poses_town02(self): - def _poses_straight(): return [[38, 34], [4, 2], [12, 10], [62, 55], [43, 47], - [64, 66], [78, 76],[59,57],[61,18],[35,39], - [12,8],[0,18],[75,68],[54,60],[45,49], - [46,42],[53,46],[80,29],[65,63],[0,81], - [54,63],[51,42],[16,19],[17,26],[77,68]] + [64, 66], [78, 76], [59, 57], [61, 18], [35, 39], + [12, 8], [0, 18], [75, 68], [54, 60], [45, 49], + [46, 42], [53, 46], [80, 29], [65, 63], [0, 81], + [54, 63], [51, 42], [16, 19], [17, 26], [77, 68]] def _poses_one_curve(): return [[37, 76], [8, 24], [60, 69], [38, 10], [21, 1], - [58,71],[74,32],[44,0],[71,16],[14,24], - [34,11],[43,14],[75,16],[80,21],[3,23], - [75,59],[50,47],[11,19],[77,34],[79,25], - [40,63],[58,76],[79,55],[16,61],[27,11]] + [58, 71], [74, 32], [44, 0], [71, 16], [14, 24], + [34, 11], [43, 14], [75, 16], [80, 21], [3, 23], + [75, 59], [50, 47], [11, 19], [77, 34], [79, 25], + [40, 63], [58, 76], [79, 55], [16, 61], [27, 11]] def _poses_navigation(): - return [[19,66],[79,14],[19,57],[23,1], - [53,76],[42,13],[31,71],[33,5], - [54,30],[10,61],[66,3],[27,12], - [79,19],[2,29],[16,14],[5,57], - [70,73],[46,67],[57,50],[61,49],[21,12], - [51,81],[77,68],[56,65],[43,54]] - - return [ _poses_straight(), - _poses_one_curve(), - _poses_navigation(), - _poses_navigation() - ] + return [[19, 66], [79, 14], [19, 57], [23, 1], + [53, 76], [42, 13], [31, 71], [33, 5], + [54, 30], [10, 61], [66, 3], [27, 12], + [79, 19], [2, 29], [16, 14], [5, 57], + [70, 73], [46, 67], [57, 50], [61, 49], [21, 12], + [51, 81], [77, 68], [56, 65], [43, 54]] + return [_poses_straight(), + _poses_one_curve(), + _poses_navigation(), + _poses_navigation() + ] def _build_experiments(self): """ @@ -164,38 +141,30 @@ class CoRL2017(Benchmark): camera = Camera('CameraRGB') camera.set(CameraFOV=100) - camera.set_image_size(800, 600) camera.set_position(200, 0, 140) - camera.set_rotation(-15.0,0,0) + camera.set_rotation(-15.0, 0, 0) - weathers = [1,3,6,8,4,14] + weathers = [1, 3, 6, 8, 4, 14] if self._city_name == 'Town01': poses_tasks = self._poses_town01() - vehicles_tasks =[0,0,0,20] - pedestrians_tasks = [0,0,0,50] + vehicles_tasks = [0, 0, 0, 20] + pedestrians_tasks = [0, 0, 0, 50] else: poses_tasks = self._poses_town02() - vehicles_tasks =[0,0,0,15] - pedestrians_tasks = [0,0,0,50] - - + vehicles_tasks = [0, 0, 0, 15] + pedestrians_tasks = [0, 0, 0, 50] experiments_vector = [] - for weather in weathers: - for iteration in range(len(poses_tasks)): - poses = poses_tasks[iteration] vehicles = vehicles_tasks[iteration] pedestrians = pedestrians_tasks[iteration] - - conditions = CarlaSettings() conditions.set( SynchronousMode=True, @@ -216,7 +185,7 @@ class CoRL2017(Benchmark): Poses=poses, Id=iteration, Repetitions=1 - ) + ) experiments_vector.append(experiment) return experiments_vector @@ -226,12 +195,10 @@ class CoRL2017(Benchmark): # Function to get automatic information from the experiment for writing purposes return 'corl2017_' + self._city_name - def _get_pose_and_task(self, line_on_file): """ Returns the pose and task this experiment is, based on the line it was on the log file. """ # We assume that the number of poses is constant - return int(line_on_file/len(self._experiments)), line_on_file % 25 - + return int(line_on_file / len(self._experiments)), line_on_file % 25 diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index 3f6ced110..b08b1730c 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -68,7 +68,7 @@ def get_distance_traveled(selected_matrix, header): i += 1 - return (float(acummulated_distance)/float(100*1000)) + return float(acummulated_distance)/float(100*1000) diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index 76a6626ee..d22bbc2d5 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -1,5 +1,6 @@ import heapq + class Cell(object): def __init__(self, x, y, reachable): """Initialize new cell. @@ -20,7 +21,6 @@ class Cell(object): self.h = 0 self.f = 0 - def __lt__(self, other): return self.g < other.g @@ -36,6 +36,8 @@ class AStar(object): self.cells = [] self.grid_height = None self.grid_width = None + self.start = None + self.end = None def init_grid(self, width, height, walls, start, end): """Prepare grid cells, walls. @@ -85,14 +87,14 @@ class AStar(object): @returns adjacent cells list. """ cells = [] - if cell.x < self.grid_width-1: - cells.append(self.get_cell(cell.x+1, cell.y)) + if cell.x < self.grid_width - 1: + cells.append(self.get_cell(cell.x + 1, cell.y)) if cell.y > 0: - cells.append(self.get_cell(cell.x, cell.y-1)) + cells.append(self.get_cell(cell.x, cell.y - 1)) if cell.x > 0: - cells.append(self.get_cell(cell.x-1, cell.y)) - if cell.y < self.grid_height-1: - cells.append(self.get_cell(cell.x, cell.y+1)) + cells.append(self.get_cell(cell.x - 1, cell.y)) + if cell.y < self.grid_height - 1: + cells.append(self.get_cell(cell.x, cell.y + 1)) return cells def get_path(self): @@ -145,4 +147,4 @@ class AStar(object): else: self.update_cell(adj_cell, cell) # add adj cell to open list - heapq.heappush(self.opened, (adj_cell.f, adj_cell)) \ No newline at end of file + heapq.heappush(self.opened, (adj_cell.f, adj_cell)) diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index 72bec3d26..db543b44d 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -1,17 +1,12 @@ -import math - - -import numpy as np - from carla.planner.graph import sldist from carla.planner.astar import AStar from carla.planner.map import CarlaMap + class CityTrack(object): - - def __init__(self,city_name): + def __init__(self, city_name): self._node_density = 50.0 self._pixel_density = 16.43 @@ -24,134 +19,112 @@ class CityTrack(object): self._previous_node = [] # The current computed route - self._route =None + self._route = None - def project_node(self, position, node_orientation): + def project_node(self, position): """ Projecting the graph node into the city road """ - node =self._map.convert_to_node(position) + node = self._map.convert_to_node(position) # To change the orientation with respect to the map standards - #node_orientation = np.array([node_orientation[0], - # node_orientation[1]]) - node = tuple([ int(x) for x in node ]) + node = tuple([int(x) for x in node]) # Set to zero if it is less than zero. - node =(max(0,node[0]),max(0,node[1])) - node =(min(self._map.get_graph_resolution()[0]-1,node[0]), - min(self._map.get_graph_resolution()[1]-1,node[1])) - # is it x or y ? Check to avoid special corner cases - - - #if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]): - # node_orientation = (node_orientation[0], 0.0, 0.0) - #else: - # node_orientation = (0.0, node_orientation[1], 0.0) - - node = self._map._grid.search_on_grid(node[0], node[1]) + node = (max(0, node[0]), max(0, node[1])) + node = (min(self._map.get_graph_resolution()[0] - 1, node[0]), + min(self._map.get_graph_resolution()[1] - 1, node[1])) + node = self._map.search_on_grid(node) return node + def get_intersection_nodes(self): + return self._map.get_intersection_nodes() def get_pixel_density(self): return self._pixel_density + def get_node_density(self): return self._node_density - def is_at_goal(self,source,target): + def is_at_goal(self, source, target): return source == target - def is_at_new_node(self,current_node): + def is_at_new_node(self, current_node): return current_node != self._previous_node - - def is_away_from_intersection(self,current_node): + def is_away_from_intersection(self, current_node): return self._closest_intersection_position(current_node) > 1 - def is_far_away_from_route_intersection(self,current_node): + def is_far_away_from_route_intersection(self, current_node): # CHECK FOR THE EMPTY CASE - if self._route == None: + if self._route is None: raise RuntimeError('Impossible to find route' - + ' Current planner is limited' - + ' Try to select start points away from interesections') - + + ' Current planner is limited' + + ' Try to select start points away from intersections') return self._closest_intersection_route_position(current_node, - self._route) > 4 - - - - def compute_route(self,node_source,source_ori,node_target,target_ori): + self._route) > 4 + def compute_route(self, node_source, source_ori, node_target, target_ori): self._previous_node = node_source - - a_star =AStar() + a_star = AStar() a_star.init_grid(self._map.get_graph_resolution()[0], - self._map.get_graph_resolution()[1], - self._map.get_walls_directed(node_source,source_ori, - node_target,target_ori),node_source, - node_target) - + self._map.get_graph_resolution()[1], + self._map.get_walls_directed(node_source, source_ori, + node_target, target_ori), node_source, + node_target) route = a_star.solve() - - # JuSt a Corner Case # TODO: Clean this to avoid having to use this function - if route == None: - a_star =AStar() + if route is None: + a_star = AStar() a_star.init_grid(self._map.get_graph_resolution()[0], - self._map.get_graph_resolution()[1],self._map.get_walls(), - node_source, node_target) + self._map.get_graph_resolution()[1], self._map.get_walls(), + node_source, node_target) route = a_star.solve() - self._route = route return route - - def _closest_intersection_position(self, current_node): - - distance_vector = [] - for node_iterator in self._map._graph.intersection_nodes(): - - distance_vector.append(sldist(node_iterator, current_node)) - - return sorted(distance_vector)[0] - - def _closest_intersection_route_position(self, current_node,route): - - distance_vector = [] - for node_iter in route: - for node_iterator in self._map._graph.intersection_nodes(): - - distance_vector.append(sldist(node_iterator, current_node)) - - return sorted(distance_vector)[0] - - - def get_distance_closest_node_route(self, pos, route): distance = [] for node_iter in route: - if node_iter in self.graph.intersection_nodes(): - + if node_iter in self._map.get_intersection_nodes(): distance.append(sldist(node_iter, pos)) if not distance: - return sldist(route[-1], pos) return sorted(distance)[0] + + def _closest_intersection_position(self, current_node): + + distance_vector = [] + for node_iterator in self._map.get_intersection_nodes(): + distance_vector.append(sldist(node_iterator, current_node)) + + return sorted(distance_vector)[0] + +""" + def _closest_intersection_route_position(self, current_node, route): + + distance_vector = [] + for _ in route: + for node_iterator in self._map.get_intersection_nodes(): + distance_vector.append(sldist(node_iterator, current_node)) + + return sorted(distance_vector)[0] +""" diff --git a/PythonClient/carla/planner/converter.py b/PythonClient/carla/planner/converter.py index dce2ba71f..f417f7610 100644 --- a/PythonClient/carla/planner/converter.py +++ b/PythonClient/carla/planner/converter.py @@ -1,8 +1,7 @@ import math import numpy as np -from carla.planner.graph import string_to_node,string_to_floats - +from carla.planner.graph import string_to_floats # Constant definition enumeration @@ -18,7 +17,6 @@ class Converter(object): self._node_density = node_density self._pixel_density = pixel_density with open(city_file, 'r') as f: - # The offset of the world from the zero coordinates ( The # coordinate we consider zero) self._worldoffset = string_to_floats(f.readline()) @@ -38,14 +36,13 @@ class Converter(object): # The offset of the map zero coordinate. self._mapoffset = string_to_floats(f.readline()) - def convert_to_node(self,input_data): + def convert_to_node(self, input_data): """ Receives a data type (Can Be Pixel or World ) :param input_data: position in some coordinate :return: A vector representing a node """ - input_type = self._check_input_type(input_data) if input_type == PIXEL: return self._pixel_to_node(input_data) @@ -54,9 +51,7 @@ class Converter(object): else: raise ValueError('Invalid node to be converted') - - - def convert_to_pixel(self,input_data): + def convert_to_pixel(self, input_data): """ Receives a data type (Can Be Node or World ) @@ -72,8 +67,7 @@ class Converter(object): else: raise ValueError('Invalid node to be converted') - - def convert_to_world(self,input_data): + def convert_to_world(self, input_data): """ Receives a data type (Can Be Pixel or Node ) @@ -109,22 +103,22 @@ class Converter(object): , int(((pixel[1]) / self._node_density) - 2)] return tuple(node) - def _pixel_to_world(self,pixel): + + def _pixel_to_world(self, pixel): """ Conversion from pixel format (image) to world (3D) :param pixel: :return: world """ - - relative_location = [ pixel[0] * self._pixel_density, + relative_location = [pixel[0] * self._pixel_density, pixel[1] * self._pixel_density] world = [ relative_location[0] + self._mapoffset[0] - self._worldoffset[0], relative_location[1] + self._mapoffset[1] - self._worldoffset[1], 22 - ] + ] return world @@ -139,11 +133,11 @@ class Converter(object): rotation = rotation.dot(self._worldrotation) relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0], - rotation[1] + self._worldoffset[1] - self._mapoffset[1], - rotation[2] + self._worldoffset[2] - self._mapoffset[2]] + rotation[1] + self._worldoffset[1] - self._mapoffset[1], + rotation[2] + self._worldoffset[2] - self._mapoffset[2]] pixel = [math.floor(relative_location[0] / float(self._pixel_density)), - math.floor(relative_location[1] / float(self._pixel_density))] + math.floor(relative_location[1] / float(self._pixel_density))] return pixel @@ -161,5 +155,3 @@ class Converter(object): return NODE else: return PIXEL - - diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 92c1933c5..54769e859 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -13,12 +13,12 @@ def string_to_floats(string): def sldist(c1, c2): - return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) + return math.sqrt((c2[0] - c1[0]) ** 2 + (c2[1] - c1[1]) ** 2) def sldist3(c1, c2): - return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1]) - ** 2 + (c2[2] - c1[2])**2) + return math.sqrt((c2[0] - c1[0]) ** 2 + (c2[1] - c1[1]) + ** 2 + (c2[2] - c1[2]) ** 2) class Graph(object): @@ -72,14 +72,12 @@ class Graph(object): sorted(distance_dic.items())) self._angles[node] = heading - for k, v in distance_dic.iteritems(): - - + for k, v in distance_dic.items(): start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) print(start_to_goal) - self.angles[v] = start_to_goal / np.linalg.norm(start_to_goal) + self._angles[v] = start_to_goal / np.linalg.norm(start_to_goal) def add_edge(self, from_node, to_node, distance): self._add_edge(from_node, to_node, distance) @@ -89,6 +87,11 @@ class Graph(object): self._edges[from_node].append(to_node) self._distances[(from_node, to_node)] = distance + def get_resolution(self): + return self._resolution + def get_edges(self): + return self._edges + def intersection_nodes(self): intersect_nodes = [] @@ -111,7 +114,7 @@ class Graph(object): line_len = 1 lines = [[(p[0], p[1]), (p[0] + line_len * self._angles[p][0], - p[1] + line_len * self._angles[p][1])] for p in self.nodes] + p[1] + line_len * self._angles[p][1])] for p in self._nodes] lc = mc.LineCollection(lines, linewidth=2, color='green') fig, ax = plt.subplots() ax.add_collection(lc) diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index 01d9eb9f1..3e7d8bcf4 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -14,25 +14,26 @@ class Grid(object): self._structure = self._make_structure() self._walls = self._make_walls() - def search_on_grid(self, x, y): visit = [[0, 1], [0, -1], [1, 0], [1, 1], [1, -1], [-1, 0], [-1, 1], [-1, -1]] c_x, c_y = x, y scale = 1 - while(self._structure[c_x, c_y] != 0): + while self._structure[c_x, c_y] != 0: for offset in visit: c_x, c_y = x + offset[0] * scale, y + offset[1] * scale - if c_x >= 0 and c_x < self._graph._resolution[ - 0] and c_y >= 0 and c_y < self._graph._resolution[1]: + if c_x >= 0 and c_x < self._graph.get_resolution()[ + 0] and c_y >= 0 and c_y < self._graph.get_resolution()[1]: if self._structure[c_x, c_y] == 0: break else: c_x, c_y = x, y scale += 1 - return (c_x, c_y) + return c_x, c_y + def get_walls(self): + return self._walls def get_wall_source(self, pos, pos_ori, target): @@ -46,10 +47,8 @@ class Grid(object): start_to_goal = np.array([adj[0] - pos[0], adj[1] - pos[1]]) angle = angle_between(heading_start, start_to_goal) if (angle > 1.6 and adj != target): - final_walls.add((adj[0], adj[1])) - return final_walls def get_wall_target(self, pos, pos_ori, source): @@ -63,10 +62,8 @@ class Grid(object): angle = angle_between(heading_start, start_to_goal) if (angle < 1.0 and adj != source): - final_walls.add((adj[0], adj[1])) - return final_walls def _draw_line(self, grid, xi, yi, xf, yf): @@ -84,21 +81,19 @@ class Grid(object): for i in range(xi, xf + 1): for j in range(yi, yf + 1): - grid[i, j] = 0.0 return grid def _make_structure(self): structure = np.ones( - (self._graph._resolution[0], - self._graph._resolution[1])) + (self._graph.get_resolution()[0], + self._graph.get_resolution()[1])) - for key, connections in self._graph._edges.items(): + for key, connections in self._graph.get_edges().items(): # draw a line for con in connections: - # print key[0],key[1],con[0],con[1] structure = self._draw_line( structure, key[0], key[1], con[0], con[1]) @@ -125,8 +120,8 @@ class Grid(object): for offset in visit: node = (pos[0] + offset[0], pos[1] + offset[1]) - if (node[0] >= 0 and node[0] < self._graph._resolution[0] - and node[1] >= 0 and node[1] < self._graph._resolution[1]): + if (node[0] >= 0 and node[0] < self._graph.get_resolution()[0] + and node[1] >= 0 and node[1] < self._graph.get_resolution()[1]): if self._structure[node[0], node[1]] == 0.0: adjacent.add(node) diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index 25806f71b..9c8decb70 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -9,7 +9,6 @@ import math import os - try: import numpy as np except ImportError: @@ -21,12 +20,14 @@ except ImportError: raise RuntimeError('cannot import PIL, make sure pillow package is installed') from carla.planner.graph import Graph +from carla.planner.graph import sldist from carla.planner.grid import Grid from carla.planner.converter import Converter def color_to_angle(color): - return ((float(color)/255.0)) * 2*math.pi + return ((float(color) / 255.0)) * 2 * math.pi + class CarlaMap(object): @@ -48,8 +49,6 @@ class CarlaMap(object): self._converter = Converter(city_file, pixel_density, node_density) - - # Load the lanes image self.map_image_lanes = Image.open(city_map_file_lanes) self.map_image_lanes.load() @@ -64,18 +63,17 @@ class CarlaMap(object): self.map_image_center.load() self.map_image_center = np.asarray(self.map_image_center, dtype="int32") - def get_graph_resolution(self): - return self._graph._resolution + return self._graph.get_resolution() def get_map(self, height=None): if height is not None: img = Image.fromarray(self.map_image.astype(np.uint8)) - aspect_ratio = height/float(self.map_image.shape[0]) + aspect_ratio = height / float(self.map_image.shape[0]) - img = img.resize((int(aspect_ratio*self.map_image.shape[1]),height), Image.ANTIALIAS) + img = img.resize((int(aspect_ratio * self.map_image.shape[1]), height), Image.ANTIALIAS) img.load() return np.asarray(img, dtype="int32") return np.fliplr(self.map_image) @@ -97,31 +95,29 @@ class CarlaMap(object): return (-math.cos(ori), -math.sin(ori)) - def convert_to_node(self, input): + def convert_to_node(self, input_data): """ Receives a data type (Can Be Pixel or World ) - :param input: position in some coordinate + :param input_data: position in some coordinate :return: A node object """ - return self._converter.convert_to_node(input) + return self._converter.convert_to_node(input_data) - def convert_to_pixel(self, input): + def convert_to_pixel(self, input_data): """ Receives a data type (Can Be Pixel or World ) - :param input: position in some coordinate + :param input_data: position in some coordinate :return: A node object """ - return self._converter.convert_to_pixel(input) + return self._converter.convert_to_pixel(input_data) - def convert_to_world(self, input): + def convert_to_world(self, input_data): """ Receives a data type (Can Be Pixel or World ) - :param input: position in some coordinate + :param input_data: position in some coordinate :return: A node object """ - return self._converter.convert_to_world(input) - - + return self._converter.convert_to_world(input_data) def get_walls_directed(self, node_source, source_ori, node_target, target_ori): """ @@ -134,23 +130,23 @@ class CarlaMap(object): final_walls = self._grid.get_wall_source(node_source, source_ori, node_target) final_walls = final_walls.union(self._grid.get_wall_target( - node_target, target_ori, node_source)) + node_target, target_ori, node_source)) return final_walls - def get_walls(self): - return self._grid._walls - - + return self._grid.get_walls() def get_distance_closest_node(self, pos): distance = [] - for node_iter in self.graph.intersection_nodes(): - + for node_iter in self._graph.intersection_nodes(): distance.append(sldist(node_iter, pos)) return sorted(distance)[0] + def get_intersection_nodes(self): + return self._graph.intersection_nodes() + def search_on_grid(self,node): + return self._grid.search_on_grid(node[0], node[1]) \ No newline at end of file diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 907696751..45949503b 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -1,10 +1,8 @@ import collections import math - import numpy as np - from . import city_track @@ -28,7 +26,7 @@ def angle_between(v1, v2): return np.arccos(np.dot(v1, v2) / np.linalg.norm(v1) / np.linalg.norm(v2)) -def sldist(c1, c2): return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) +def sldist(c1, c2): return math.sqrt((c2[0] - c1[0]) ** 2 + (c2[1] - c1[1]) ** 2) def signal(v1, v2): @@ -43,7 +41,6 @@ class Planner(object): self._commands = [] - def get_next_command(self, source, source_ori, target, target_ori): """ Computes the full plan and returns the next command, @@ -54,8 +51,8 @@ class Planner(object): :return: a command ( Straight,Lane Follow, Left or Right) """ - track_source = self._city_track.project_node(source, source_ori) - track_target = self._city_track.project_node(target, target_ori) + track_source = self._city_track.project_node(source) + track_target = self._city_track.project_node(target) # reach the goal @@ -100,8 +97,8 @@ class Planner(object): target_ori): distance = 0 - track_source = self._city_track.project_node(source, source_ori) - track_target = self._city_track.project_node(target, target_ori) + track_source = self._city_track.project_node(source) + track_target = self._city_track.project_node(target) current_pos = track_source @@ -112,30 +109,26 @@ class Planner(object): return 0.0 for node_iter in route: - distance += sldist(node_iter, current_pos) current_pos = node_iter # We multiply by these values to convert distance to world coordinates return distance * self._city_track.get_pixel_density() \ - * self._city_track.get_node_density() - + * self._city_track.get_node_density() def is_there_posible_route(self, source, source_ori, target, target_ori): - track_source = self._city_track.project_node(source, source_ori) - track_target = self._city_track.project_node(target, target_ori) + track_source = self._city_track.project_node(source) + track_target = self._city_track.project_node(target) return not self._city_track.compute_route( track_source, source_ori, track_target, target_ori) is None - def test_position(self, source, source_ori): - - node_source = self._city_track.project_node(source, source_ori) - - return self.is_away_from_intersection(node_source) + def test_position(self, source): + node_source = self._city_track.project_node(source) + return self._city_track.is_away_from_intersection(node_source) def _route_to_commands(self, route): @@ -146,11 +139,10 @@ class Planner(object): :return: list of commands encoded from 0-5 """ - commands_list = [] for i in range(0, len(route)): - if route[i] not in self._city_track._map._graph.intersection_nodes(): + if route[i] not in self._city_track.get_intersection_nodes(): continue current = route[i] @@ -163,7 +155,6 @@ class Planner(object): [future[0] - current[0], future[1] - current[1]]) angle = signal(current_to_future, past_to_current) - if angle < -0.1: command = TURN_RIGHT elif angle > 0.1: From 4083adcba2f09e2802045b7e482f6515f6d97990 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 12 Jan 2018 15:57:53 -0200 Subject: [PATCH 049/121] Adding dependencies and fixing a few bugs --- PythonClient/carla/planner/city_track.py | 4 ++-- PythonClient/manual_control.py | 2 +- PythonClient/requirements.txt | 2 ++ 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index db543b44d..f7adff1b1 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -118,7 +118,7 @@ class CityTrack(object): return sorted(distance_vector)[0] -""" + def _closest_intersection_route_position(self, current_node, route): distance_vector = [] @@ -127,4 +127,4 @@ class CityTrack(object): distance_vector.append(sldist(node_iterator, current_node)) return sorted(distance_vector)[0] -""" + diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py index dfca225db..9e3d9d69b 100755 --- a/PythonClient/manual_control.py +++ b/PythonClient/manual_control.py @@ -127,7 +127,7 @@ class CarlaGame(object): self._map_view = None self._is_on_reverse = False self._city_name = city_name - self._map = CarlaMap(city_name) if city_name is not None else None + self._map = CarlaMap(city_name, 16.43, 50.0) if city_name is not None else None self._map_shape = self._map.map_image.shape if city_name is not None else None self._map_view = self._map.get_map(WINDOW_HEIGHT) if city_name is not None else None self._position = None diff --git a/PythonClient/requirements.txt b/PythonClient/requirements.txt index 1a697a692..c6c7a2cfe 100644 --- a/PythonClient/requirements.txt +++ b/PythonClient/requirements.txt @@ -2,3 +2,5 @@ Pillow numpy protobuf pygame +matplotlib +builtins From 676656d20b09f62c4eedfb50536a0349ef7621f3 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 12 Jan 2018 16:06:01 -0200 Subject: [PATCH 050/121] Changing requirements --- PythonClient/requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonClient/requirements.txt b/PythonClient/requirements.txt index c6c7a2cfe..f170835dd 100644 --- a/PythonClient/requirements.txt +++ b/PythonClient/requirements.txt @@ -3,4 +3,4 @@ numpy protobuf pygame matplotlib -builtins +future From 6195653942f725d62d8b05a6b9edb354c6ae7fe8 Mon Sep 17 00:00:00 2001 From: felipecode Date: Fri, 12 Jan 2018 16:31:39 -0200 Subject: [PATCH 051/121] Removing travis warnings --- PythonClient/carla/benchmarks/agent.py | 2 +- PythonClient/carla/benchmarks/benchmark.py | 2 +- PythonClient/carla/planner/astar.py | 2 +- PythonClient/carla/planner/city_track.py | 2 +- PythonClient/carla/planner/graph.py | 8 ++--- PythonClient/carla/planner/test_planner.py | 41 ++++++++++++++++++++++ 6 files changed, 49 insertions(+), 8 deletions(-) create mode 100644 PythonClient/carla/planner/test_planner.py diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index 8a6c65363..c71f4c1db 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -16,7 +16,7 @@ from carla.planner.planner import Planner class Agent(object): def __init__(self, city_name): - __metaclass__ = abc.ABCMeta # Try to remove + self.__metaclass__ = abc.ABCMeta self._planner = Planner(city_name) def get_distance(self, start_point, end_point): diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index a008d4d46..c138a7c8b 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -40,7 +40,7 @@ class Benchmark(object): continue_experiment=False, save_images=False): - __metaclass__ = abc.ABCMeta + self.__metaclass__ = abc.ABCMeta self._city_name = city_name diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index d22bbc2d5..e322395ec 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -128,7 +128,7 @@ class AStar(object): heapq.heappush(self.opened, (self.start.f, self.start)) while len(self.opened): # pop cell from heap queue - f, cell = heapq.heappop(self.opened) + _, cell = heapq.heappop(self.opened) # add cell to closed list so we don't process it twice self.closed.add(cell) # if ending cell, return found path diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index f7adff1b1..4223426c8 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -84,7 +84,7 @@ class CityTrack(object): route = a_star.solve() # JuSt a Corner Case - # TODO: Clean this to avoid having to use this function + # Clean this to avoid having to use this function if route is None: a_star = AStar() a_star.init_grid(self._map.get_graph_resolution()[0], diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 54769e859..54913b00f 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -35,9 +35,9 @@ class Graph(object): self._node_density = node_density if graph_file is not None: - with open(graph_file, 'r') as file: + with open(graph_file, 'r') as f: # Skipe the first four lines that - lines_after_4 = file.readlines()[4:] + lines_after_4 = f.readlines()[4:] # the graph resolution. linegraphres = lines_after_4[0] @@ -72,7 +72,7 @@ class Graph(object): sorted(distance_dic.items())) self._angles[node] = heading - for k, v in distance_dic.items(): + for _, v in distance_dic.items(): start_to_goal = np.array([node[0] - v[0], node[1] - v[1]]) print(start_to_goal) @@ -116,7 +116,7 @@ class Graph(object): lines = [[(p[0], p[1]), (p[0] + line_len * self._angles[p][0], p[1] + line_len * self._angles[p][1])] for p in self._nodes] lc = mc.LineCollection(lines, linewidth=2, color='green') - fig, ax = plt.subplots() + _, ax = plt.subplots() ax.add_collection(lc) ax.autoscale() diff --git a/PythonClient/carla/planner/test_planner.py b/PythonClient/carla/planner/test_planner.py new file mode 100644 index 000000000..9d977cf44 --- /dev/null +++ b/PythonClient/carla/planner/test_planner.py @@ -0,0 +1,41 @@ +from carla import sensor +from carla.sensor import Camera +from carla.settings import CarlaSettings +from carla.tcp import TCPConnectionError +from carla.util import print_over_same_line +from carla.planner.planner import Planner + +from carla.carla_server_pb2 import Control + + + + +planner= Planner('Town01') + + + + +resolution = planner._city_track._map.get_graph_resolution() + +for i in range(resolution[0]): + for j in range(resolution[1]): + + world_source = planner._city_track._map.convert_to_world((i,j)) + source_ori = planner._city_track._map.get_lane_orientation(world_source) + print (' Making Route from (',i, ',',j,') o (',source_ori[0],',',source_ori[1],')') + + for k in range(resolution[0]): + for l in range(resolution[1]): + world_target = planner._city_track._map.convert_to_world((k,l)) + + target_ori = planner._city_track._map.get_lane_orientation(world_target) + print (' To (',k, ',',l,') o (',target_ori[0],',',target_ori[1],')') + + path_distance=planner.get_shortest_path_distance( + world_source,source_ori,world_target,target_ori) + + #print ('Distance is ',path_distance) + command=planner.get_next_command( + world_source,source_ori,world_target,target_ori) + #print ('Command is ',command) + #print ('Latest Route ',planner._city_track._route) From 7037a7a36601f3638710c66aa001f4c739838379 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 15 Jan 2018 14:55:26 +0100 Subject: [PATCH 052/121] Minor improvements to documentation --- Docs/faq.md | 2 +- README.md | 7 +++++++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/Docs/faq.md b/Docs/faq.md index dea812cb8..448d7decd 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -30,6 +30,6 @@ Once you open the project in the Unreal Editor, you can hit Play to test CARLA. #### How can I create a binary version of CARLA? To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with -Unreal Editor, go to the menu “File -> Package Project”, and select your +Unreal Editor, go to the menu "File -> Package Project", and select your platform. This takes a while, but in the end it should generate a packaged version of CARLA to execute without Unreal Editor. diff --git a/README.md b/README.md index 74f6d5390..572284531 100644 --- a/README.md +++ b/README.md @@ -55,6 +55,13 @@ Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16 } ``` +Contributing +------------ + +Please take a look at our [Contribution guidelines][contriblink]. + +[contriblink]: http://carla.readthedocs.io/en/latest/CONTRIBUTING + License ------- From d9683c810f34bf81be05cc6d51af34ad62fec54c Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 15 Jan 2018 17:03:33 +0100 Subject: [PATCH 053/121] Add option to skip content download, useful for #84 --- Docs/faq.md | 13 ++++++++++++ Docs/troubleshooting.md | 13 ++++++++++++ Setup.sh | 24 ++++++++++++++++------ Update.sh | 45 +++++++++++++++++++++++++++++++++++++++++ 4 files changed, 89 insertions(+), 6 deletions(-) diff --git a/Docs/faq.md b/Docs/faq.md index dea812cb8..340e09683 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -27,6 +27,19 @@ building CARLA from source. Once you open the project in the Unreal Editor, you can hit Play to test CARLA. +#### Can I skip the download step in Setup.sh? + +It is possible to skip the download step by passing the `-s` argument to the +setup script + + $ ./Setup.sh -s + +Bear in mind that if you do so, you are supposed to manually download and +extract the content package yourself, check out the last output of the Setup.sh +for instructions or run + + $ ./Update.sh -s + #### How can I create a binary version of CARLA? To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with diff --git a/Docs/troubleshooting.md b/Docs/troubleshooting.md index 7645a6308..106f2e687 100644 --- a/Docs/troubleshooting.md +++ b/Docs/troubleshooting.md @@ -26,3 +26,16 @@ rebuild of all the project files with $ cd Unreal/CarlaUE4/ $ make CarlaUE4Editor ARGS=-clean $ make CarlaUE4Editor + +#### Setup.sh fails to download content + +It is possible to skip the download step by passing the `-s` argument to the +setup script + + $ ./Setup.sh -s + +Bear in mind that if you do so, you are supposed to manually download and +extract the content package yourself, check out the last output of the Setup.sh +for instructions or run + + $ ./Update.sh -s diff --git a/Setup.sh b/Setup.sh index 45b98ac7e..ea30b09e1 100755 --- a/Setup.sh +++ b/Setup.sh @@ -1,10 +1,14 @@ #! /bin/bash ################################################################################ -# CARLA Util Setup +# CARLA Setup.sh # -# This downloads and compiles libc++. So we can build and compile our -# dependencies with libc++ for linking against Unreal. +# This script sets up the environment and dependencies for compiling CARLA on +# Linux. +# +# 1) Download CARLA Content if necessary. +# 2) Download and compile libc++. +# 3) Download other third-party libraries and compile them with libc++. # # Thanks to the people at https://github.com/Microsoft/AirSim for providing the # important parts of this script. @@ -12,6 +16,10 @@ set -e +# ============================================================================== +# -- Set up environment -------------------------------------------------------- +# ============================================================================== + SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" pushd "$SCRIPT_DIR" >/dev/null @@ -22,9 +30,6 @@ command -v clang++-3.9 >/dev/null 2>&1 || { exit 1; } -# Update content. -./Update.sh - mkdir -p Util/Build pushd Util/Build >/dev/null @@ -161,6 +166,13 @@ fi ./Util/Protoc.sh +# ============================================================================== +# -- Update CARLA Content ------------------------------------------------------ +# ============================================================================== + +echo +./Update.sh $@ + # ============================================================================== # -- ...and we are done -------------------------------------------------------- # ============================================================================== diff --git a/Update.sh b/Update.sh index 1b85b5ef8..61f0807ad 100755 --- a/Update.sh +++ b/Update.sh @@ -6,6 +6,38 @@ set -e +# ============================================================================== +# -- Parse arguments ----------------------------------------------------------- +# ============================================================================== + +USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download]" + +SKIP_DOWNLOAD=false + +OPTS=`getopt -o hs --long help,skip-download -n 'parse-options' -- "$@"` + +if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi + +eval set -- "$OPTS" + +while true; do + case "$1" in + -s | --skip-download ) + SKIP_DOWNLOAD=true; + shift ;; + -h | --help ) + echo "$USAGE_STRING" + exit 1 + ;; + * ) + break ;; + esac +done + +# ============================================================================== +# -- Set up environment -------------------------------------------------------- +# ============================================================================== + SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" pushd "$SCRIPT_DIR" >/dev/null @@ -30,6 +62,19 @@ function download_content { echo "Content updated successfully." } +# ============================================================================== +# -- Download Content if necessary --------------------------------------------- +# ============================================================================== + +if $SKIP_DOWNLOAD ; then + echo "Skipping 'Content' update. Please manually download the package from" + echo + echo " https://drive.google.com/open?id=$CONTENT_GDRIVE_ID" + echo + echo "and extract it under Unreal/CarlaUE4/Content." + exit 0 +fi + if [[ -d "$CONTENT_FOLDER/.git" ]]; then echo "Using git version of 'Content', skipping update." elif [[ -f "$CONTENT_FOLDER/.version" ]]; then From e2995c955820e17a6690da35e9278bd866e3a251 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 16 Jan 2018 16:09:30 +0100 Subject: [PATCH 054/121] Add code of conduct --- Docs/CODE_OF_CONDUCT.md | 73 +++++++++++++++++++++++++++++++++++++++++ Docs/index.md | 1 + mkdocs.yml | 1 + 3 files changed, 75 insertions(+) create mode 100644 Docs/CODE_OF_CONDUCT.md diff --git a/Docs/CODE_OF_CONDUCT.md b/Docs/CODE_OF_CONDUCT.md new file mode 100644 index 000000000..45904febb --- /dev/null +++ b/Docs/CODE_OF_CONDUCT.md @@ -0,0 +1,73 @@ +# Contributor Covenant Code of Conduct + +## Our Pledge + +In the interest of fostering an open and welcoming environment, we as +contributors and maintainers pledge to making participation in our project and +our community a harassment-free experience for everyone, regardless of age, body +size, disability, ethnicity, gender identity and expression, level of experience, +education, socio-economic status, nationality, personal appearance, race, +religion, or sexual identity and orientation. + +## Our Standards + +Examples of behavior that contributes to creating a positive environment +include: + +* Using welcoming and inclusive language +* Being respectful of differing viewpoints and experiences +* Gracefully accepting constructive criticism +* Focusing on what is best for the community +* Showing empathy towards other community members + +Examples of unacceptable behavior by participants include: + +* The use of sexualized language or imagery and unwelcome sexual attention or + advances +* Trolling, insulting/derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or electronic + address, without explicit permission +* Other conduct which could reasonably be considered inappropriate in a + professional setting + +## Our Responsibilities + +Project maintainers are responsible for clarifying the standards of acceptable +behavior and are expected to take appropriate and fair corrective action in +response to any instances of unacceptable behavior. + +Project maintainers have the right and responsibility to remove, edit, or +reject comments, commits, code, wiki edits, issues, and other contributions +that are not aligned to this Code of Conduct, or to ban temporarily or +permanently any contributor for other behaviors that they deem inappropriate, +threatening, offensive, or harmful. + +## Scope + +This Code of Conduct applies both within project spaces and in public spaces +when an individual is representing the project or its community. Examples of +representing a project or community include using an official project e-mail +address, posting via an official social media account, or acting as an appointed +representative at an online or offline event. Representation of a project may be +further defined and clarified by project maintainers. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be +reported by contacting the project team at [INSERT EMAIL ADDRESS]. All +complaints will be reviewed and investigated and will result in a response that +is deemed necessary and appropriate to the circumstances. The project team is +obligated to maintain confidentiality with regard to the reporter of an incident. +Further details of specific enforcement policies may be posted separately. + +Project maintainers who do not follow or enforce the Code of Conduct in good +faith may face temporary or permanent repercussions as determined by other +members of the project's leadership. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, +available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html + +[homepage]: https://www.contributor-covenant.org diff --git a/Docs/index.md b/Docs/index.md index 1666c0670..7189698ee 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -19,6 +19,7 @@ CARLA Documentation #### Contributing * [Contribution guidelines](CONTRIBUTING.md) + * [Code of conduct](CODE_OF_CONDUCT.md) #### Development diff --git a/mkdocs.yml b/mkdocs.yml index 20ed2da28..d3c1acfbb 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -17,6 +17,7 @@ pages: - 'How to add Automotive Materials': 'how_to_add_automotive_materials.md' - Contributing: - 'Contribution guidelines': 'CONTRIBUTING.md' + - 'Code of conduct': 'CODE_OF_CONDUCT.md' - Development: - 'Map customization': 'map_customization.md' - 'How to add assets': 'how_to_add_assets.md' From fb2bd3884d2c2b934ab75ec7f83f8bb50dd6e692 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 16 Jan 2018 17:43:07 +0100 Subject: [PATCH 055/121] Add pull-request template --- .travis.yml | 2 +- Docs/PULL_REQUEST_TEMPLATE.md | 33 +++++++++++++++++++++++++++++++++ 2 files changed, 34 insertions(+), 1 deletion(-) create mode 100644 Docs/PULL_REQUEST_TEMPLATE.md diff --git a/.travis.yml b/.travis.yml index 62d7b54af..5f123a019 100644 --- a/.travis.yml +++ b/.travis.yml @@ -24,4 +24,4 @@ matrix: packages: - cppcheck script: - - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning + - cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --quiet diff --git a/Docs/PULL_REQUEST_TEMPLATE.md b/Docs/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 000000000..cfaddb774 --- /dev/null +++ b/Docs/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,33 @@ + + +#### Description + + + +Fixes # + +#### Where has this been tested? + + * **Platform(s):** ... + * **Python version(s):** ... + * **Unreal Engine version(s):** ... + +#### Possible Drawbacks + + From 388a8060d7a357cd3451d3863c65c5cbf1ef8cd8 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 13:00:33 +0100 Subject: [PATCH 056/121] organizing benchmark code --- PythonClient/carla/benchmarks/benchmark.py | 7 ++-- PythonClient/carla/benchmarks/corl_2017.py | 4 +-- PythonClient/carla/benchmarks/metrics.py | 10 +++--- PythonClient/carla/planner/test_planner.py | 41 ---------------------- PythonClient/run_benchmark.py | 3 -- 5 files changed, 9 insertions(+), 56 deletions(-) delete mode 100644 PythonClient/carla/planner/test_planner.py diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index c138a7c8b..b62dd2114 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -273,7 +273,7 @@ class Benchmark(object): now.strftime("%Y%m%d%H%M")), 'w') as f: pass - return suffix_name,full_name + return suffix_name, full_name def _continue_experiment(self, continue_experiment): @@ -307,11 +307,8 @@ class Benchmark(object): def _get_last_position(self): with open(os.path.join(self._full_name, self._suffix_name)) as f: + return sum(1 for _ in f) - # Function to count the lines. - for i, l in enumerate(f): - pass - return i # To be redefined on subclasses on how to calculate timeout for an episode @abc.abstractmethod diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index 8f61b17cd..85bc15718 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -59,13 +59,13 @@ class CoRL2017(Benchmark): print(' AvG -> ', float(sum(tasks)) / float(len(tasks))) - def _calculate_time_out(self, path_distance): + def _calculate_time_out(self, distance): """ Function to return the timeout ( in miliseconds) that is calculated based on distance to goal. This is the same timeout as used on the CoRL paper. """ - return ((path_distance / 100000.0) / 10.0) * 3600.0 + 10.0 + return ((distance / 100000.0) / 10.0) * 3600.0 + 10.0 def _poses_town01(self): """ diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index b08b1730c..e9ca1d80f 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -101,13 +101,13 @@ def get_out_of_road_lane(selected_matrix, header): -def compute_summary(file, dynamic_episodes): +def compute_summary(filename, dynamic_episodes): # Separate the PATH and the basename - path = os.path.dirname(file) - base_name = os.path.basename(file) + path = os.path.dirname(filename) + base_name = os.path.basename(filename) - f = open(file, "rb") + f = open(filename, "rb") header = f.readline() header = header.split(',') header[-1] = header[-1][:-2] @@ -119,7 +119,7 @@ def compute_summary(file, dynamic_episodes): header_rewards[-1] = header_rewards[-1][:-2] f.close() - data_matrix = np.loadtxt(open(file, "rb"), delimiter=",", skiprows=1) + data_matrix = np.loadtxt(open(filename, "rb"), delimiter=",", skiprows=1) tasks = np.unique(data_matrix[:, header.index('exp_id')]) diff --git a/PythonClient/carla/planner/test_planner.py b/PythonClient/carla/planner/test_planner.py deleted file mode 100644 index 9d977cf44..000000000 --- a/PythonClient/carla/planner/test_planner.py +++ /dev/null @@ -1,41 +0,0 @@ -from carla import sensor -from carla.sensor import Camera -from carla.settings import CarlaSettings -from carla.tcp import TCPConnectionError -from carla.util import print_over_same_line -from carla.planner.planner import Planner - -from carla.carla_server_pb2 import Control - - - - -planner= Planner('Town01') - - - - -resolution = planner._city_track._map.get_graph_resolution() - -for i in range(resolution[0]): - for j in range(resolution[1]): - - world_source = planner._city_track._map.convert_to_world((i,j)) - source_ori = planner._city_track._map.get_lane_orientation(world_source) - print (' Making Route from (',i, ',',j,') o (',source_ori[0],',',source_ori[1],')') - - for k in range(resolution[0]): - for l in range(resolution[1]): - world_target = planner._city_track._map.convert_to_world((k,l)) - - target_ori = planner._city_track._map.get_lane_orientation(world_target) - print (' To (',k, ',',l,') o (',target_ori[0],',',target_ori[1],')') - - path_distance=planner.get_shortest_path_distance( - world_source,source_ori,world_target,target_ori) - - #print ('Distance is ',path_distance) - command=planner.get_next_command( - world_source,source_ori,world_target,target_ori) - #print ('Command is ',command) - #print ('Latest Route ',planner._city_track._route) diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 81d65ae53..ef3317ac0 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -87,6 +87,3 @@ if __name__ == '__main__': except TCPConnectionError as error: logging.error(error) time.sleep(1) - except Exception as exception: - logging.exception(exception) - sys.exit(1) From bad04d82da4346106c0b43099aef0519e979159b Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 14:06:29 +0100 Subject: [PATCH 057/121] Fixing some format issues --- PythonClient/carla/benchmarks/benchmark.py | 9 ++++----- PythonClient/carla/benchmarks/experiment.py | 3 +-- PythonClient/carla/planner/planner.py | 6 +++--- 3 files changed, 8 insertions(+), 10 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index b62dd2114..6696bcc62 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -7,7 +7,7 @@ # For a copy, see . -from builtins import input +from builtins import input_data import csv import datetime @@ -269,12 +269,11 @@ class Benchmark(object): # Make a date file: to show when this was modified, # the number of times the experiments were run now = datetime.datetime.now() - with open(os.path.join(full_name, - now.strftime("%Y%m%d%H%M")), 'w') as f: - pass + open(os.path.join(full_name, now.strftime("%Y%m%d%H%M"))).close() return suffix_name, full_name + def _continue_experiment(self, continue_experiment): if self._experiment_exist(): @@ -284,7 +283,7 @@ class Benchmark(object): else: # Ask question, to avoid mistaken override situations - answer = input("The experiment was already found in the files" + answer = input_data("The experiment was already found in the files" + ", Do you want to continue (y/n)? \n" ) if answer == 'Yes' or answer == 'y': diff --git a/PythonClient/carla/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py index 4340d5599..8626dd797 100644 --- a/PythonClient/carla/benchmarks/experiment.py +++ b/PythonClient/carla/benchmarks/experiment.py @@ -1,11 +1,10 @@ from carla.settings import CarlaSettings -from carla.sensor import Camera class Experiment(object): - def __init__(self, **kwargs): + def __init__(self): self.Id = '' self.Conditions = CarlaSettings() self.Poses = [[]] diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 45949503b..20f84f981 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -10,9 +10,9 @@ def compare(x, y): return collections.Counter(x) == collections.Counter(y) -""" -Constants Used for the high level commands -""" + +# Constants Used for the high level commands + REACH_GOAL = 0.0 GO_STRAIGHT = 5.0 From d481a5f3ba5dc8cafa1f778cb4ade932e412c7b5 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 14:12:56 +0100 Subject: [PATCH 058/121] Correcting travis issues --- PythonClient/carla/benchmarks/benchmark.py | 4 ++-- PythonClient/carla/benchmarks/corl_2017.py | 1 - PythonClient/run_benchmark.py | 1 - 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 6696bcc62..a1b113d66 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -7,7 +7,7 @@ # For a copy, see . -from builtins import input_data +from builtins import input as input_data import csv import datetime @@ -269,7 +269,7 @@ class Benchmark(object): # Make a date file: to show when this was modified, # the number of times the experiments were run now = datetime.datetime.now() - open(os.path.join(full_name, now.strftime("%Y%m%d%H%M"))).close() + open(os.path.join(full_name, now.strftime("%Y%m%d%H%M")),'w').close() return suffix_name, full_name diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index 85bc15718..cf2cf11c2 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -9,7 +9,6 @@ from __future__ import print_function import os -import datetime from .benchmark import Benchmark from .experiment import Experiment diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index ef3317ac0..2aa70e1da 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -8,7 +8,6 @@ import argparse import logging -import sys import time from carla.benchmarks.agent import Agent From 59762f52debd43494a57d4eeb6ac266e02312b3c Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:21:52 +0100 Subject: [PATCH 059/121] Adding documentation for the benchmarking --- Docs/benchmark.md | 41 ++++++++++++++++++++++++++++++----- PythonClient/run_benchmark.py | 4 ---- 2 files changed, 36 insertions(+), 9 deletions(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index 64c536607..4eb02d8fa 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -1,9 +1,6 @@ CARLA Benchmark =============== -!!! important - Benchmark code is currently in beta and can be found only in the - `benchmark_branch`. Running the Benchmark --------------------- @@ -13,8 +10,6 @@ tests on a certain agent. We already provide the same benchmark used in the CoRL 2017 paper. By running this benchmark you can compare the results of your agent to the results obtained by the agents show in the paper. -!!! important - Currently not tested on python 3 Besides the requirements of the CARLA client, the benchmark package also needs the future package @@ -34,3 +29,39 @@ or Run the help command to see options available $ ./run_benchmark.py --help + +Benchmarking your Agent +--------------------- +The benchmark works by calling three lines of code + + corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name) + agent = Manual(args.city_name) + results = corl.benchmark_agent(agent, client) + +This is excerpted is executed in the run_benchmark.py example. + +First a benchmark object is defined. This is the object that is used to benchmark a certain Agent. + +On the second line of our sample code. There is an object of a Manual class instanced. This class inherited an Agent base class +that is used on the benchmarked. +To be benchmarked an Agent subclass must redefine the *run_step* function as it is done in the following excerpt: + + def run_step(self, measurements, sensor_data, target): + """ + Function to run a control step in the CARLA vehicle. + :param measurements: object of the Measurements type + :param sensor_data: images list object + :param target: target position of Transform type + :return: an object of the control type. + """ + control = VehicleControl() + control.throttle = 0.9 + return control + +The [measurements](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [target](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [sensor_data](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.m) and [control](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md) types are described at the documentation. + +The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. + +Creating your Benchmark +--------------------- +Tutorial to be added diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 2aa70e1da..008347b22 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -24,11 +24,7 @@ class Manual(Agent): """ def run_step(self, measurements, sensor_data, target): control = VehicleControl() - control.steer = 0.0 control.throttle = 0.9 - control.brake = 0.0 - control.hand_brake = False - control.reverse = False return control From 59d857a158c136ea7ff251539ccbb4ef2e9401f6 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:25:26 +0100 Subject: [PATCH 060/121] Rename pull-request template --- Docs/{PULL_REQUEST_TEMPLATE.md => pull_request_template.md} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename Docs/{PULL_REQUEST_TEMPLATE.md => pull_request_template.md} (100%) diff --git a/Docs/PULL_REQUEST_TEMPLATE.md b/Docs/pull_request_template.md similarity index 100% rename from Docs/PULL_REQUEST_TEMPLATE.md rename to Docs/pull_request_template.md From bd42d675394a40980758c745d3a1db99250846ac Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:25:49 +0100 Subject: [PATCH 061/121] Add issue template --- Docs/issue_template.md | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 Docs/issue_template.md diff --git a/Docs/issue_template.md b/Docs/issue_template.md new file mode 100644 index 000000000..8328b7bda --- /dev/null +++ b/Docs/issue_template.md @@ -0,0 +1,9 @@ + From 4dc711a20b0db674cc7801622e9d43a940e5ec56 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:27:15 +0100 Subject: [PATCH 062/121] Benchmarking added to main README --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 74f6d5390..ce1c58288 100644 --- a/README.md +++ b/README.md @@ -15,6 +15,7 @@ environmental conditions. For instructions on how to use and compile CARLA, check out [CARLA Documentation](http://carla.readthedocs.io). +If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out [Benchmarking](https://github.com/carla-simulator/carla/blob/benchmark_branch/Docs/benchmark.md). News ---- From f901b05a66f835501b8803ccd7386b6a8f1a2de2 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:28:47 +0100 Subject: [PATCH 063/121] Benchmarking added to main README --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index ce1c58288..82b6d64ab 100644 --- a/README.md +++ b/README.md @@ -15,6 +15,7 @@ environmental conditions. For instructions on how to use and compile CARLA, check out [CARLA Documentation](http://carla.readthedocs.io). + If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out [Benchmarking](https://github.com/carla-simulator/carla/blob/benchmark_branch/Docs/benchmark.md). News From f139431c628dc8dbb24783c2ce06955025db8eb9 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:33:47 +0100 Subject: [PATCH 064/121] More fix on benchmark documentation --- Docs/benchmark.md | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index 4eb02d8fa..b21096032 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -1,6 +1,9 @@ CARLA Benchmark =============== +!!! important + Benchmark code is currently in beta and can be found only in the + `benchmark_branch`. Running the Benchmark --------------------- @@ -38,13 +41,12 @@ The benchmark works by calling three lines of code agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) -This is excerpted is executed in the run_benchmark.py example. +This is excerpt is executed in the run_benchmark.py example. -First a benchmark object is defined. This is the object that is used to benchmark a certain Agent. - -On the second line of our sample code. There is an object of a Manual class instanced. This class inherited an Agent base class -that is used on the benchmarked. -To be benchmarked an Agent subclass must redefine the *run_step* function as it is done in the following excerpt: +First a *benchmark* object is defined. This is the object that is used to benchmark a certain Agent.
+On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class +that is used by the *benchmark* object. +To be benchmarked, an Agent subclass must redefine the *run_step* function as it is done in the following excerpt: def run_step(self, measurements, sensor_data, target): """ @@ -57,10 +59,11 @@ To be benchmarked an Agent subclass must redefine the *run_step* function as it control = VehicleControl() control.throttle = 0.9 return control +The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. The [measurements](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [target](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [sensor_data](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.m) and [control](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md) types are described at the documentation. -The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. + Creating your Benchmark --------------------- From eabec718453ccc552b328baa8704971fbf6f9e09 Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:35:36 +0100 Subject: [PATCH 065/121] Update benchmark.md --- Docs/benchmark.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index b21096032..4f61ec581 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -41,7 +41,7 @@ The benchmark works by calling three lines of code agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) -This is excerpt is executed in the run_benchmark.py example. +This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/benchmark_branch/PythonClient/run_benchmark.py) example. First a *benchmark* object is defined. This is the object that is used to benchmark a certain Agent.
On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class From 3feccb8b22fd2612e5ca496621edc45c9cf51aec Mon Sep 17 00:00:00 2001 From: felipecode Date: Wed, 17 Jan 2018 15:37:38 +0100 Subject: [PATCH 066/121] Update benchmark.md --- Docs/benchmark.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index 4f61ec581..2dc8ff2b9 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -43,7 +43,7 @@ The benchmark works by calling three lines of code This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/benchmark_branch/PythonClient/run_benchmark.py) example. -First a *benchmark* object is defined. This is the object that is used to benchmark a certain Agent.
+First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This is object is used to benchmark a certain Agent.
On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class that is used by the *benchmark* object. To be benchmarked, an Agent subclass must redefine the *run_step* function as it is done in the following excerpt: @@ -59,7 +59,7 @@ To be benchmarked, an Agent subclass must redefine the *run_step* function as it control = VehicleControl() control.throttle = 0.9 return control -The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. +The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. The [measurements](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [target](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [sensor_data](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.m) and [control](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md) types are described at the documentation. From de1c0739eaf0213edbb1cef976c9f0664e47069b Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:39:45 +0100 Subject: [PATCH 067/121] Test mkdocs formatting --- Docs/faq.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Docs/faq.md b/Docs/faq.md index 448d7decd..d3a88a06c 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -1,6 +1,13 @@ CARLA F.A.Q. ============ +
+ FAQ title here + Your content here...
+ more content...
+ bla bla bla
+
+ #### What is the expected disk space needed for building CARLA? Building CARLA from source requires about 15GB of disk space, not counting From 01c088067ce3b888dc61213449c07155086b9825 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:42:25 +0100 Subject: [PATCH 068/121] Test mkdocs formatting --- Docs/faq.md | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/Docs/faq.md b/Docs/faq.md index d3a88a06c..d18eab80b 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -2,10 +2,15 @@ CARLA F.A.Q. ============
- FAQ title here - Your content here...
- more content...
- bla bla bla
+

What is the expected disk space needed for building CARLA?

 + +Building CARLA from source requires about 15GB of disk space, not counting +Unreal Engine installation. + +However, you will also need to build and install Unreal Engine, which on Linux +requires much more disk space as it keeps all the intermediate files, +[see this thread](https://answers.unrealengine.com/questions/430541/linux-engine-size.html). +
#### What is the expected disk space needed for building CARLA? From 36d4e478949e84a241d92670f9078fbbcf718ee0 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:52:44 +0100 Subject: [PATCH 069/121] Test mkdocs formatting --- Docs/faq.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/faq.md b/Docs/faq.md index d18eab80b..54252ab08 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -2,7 +2,7 @@ CARLA F.A.Q. ============
-

What is the expected disk space needed for building CARLA?

 +
What is the expected disk space needed for building CARLA?
 Building CARLA from source requires about 15GB of disk space, not counting Unreal Engine installation. From d8042a1ded721f583da42197643b0f17fb26acb7 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:56:12 +0100 Subject: [PATCH 070/121] Test mkdocs formatting --- Docs/faq.md | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/Docs/faq.md b/Docs/faq.md index 54252ab08..cf85c002c 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -2,7 +2,9 @@ CARLA F.A.Q. ============
-
What is the expected disk space needed for building CARLA?
 +
+ What is the expected disk space needed for building CARLA? +
Building CARLA from source requires about 15GB of disk space, not counting Unreal Engine installation. @@ -13,16 +15,10 @@ requires much more disk space as it keeps all the intermediate files,
-#### What is the expected disk space needed for building CARLA? - -Building CARLA from source requires about 15GB of disk space, not counting -Unreal Engine installation. - -However, you will also need to build and install Unreal Engine, which on Linux -requires much more disk space as it keeps all the intermediate files, -[see this thread](https://answers.unrealengine.com/questions/430541/linux-engine-size.html). - -#### Is it possible to dump images from the CARLA server view? +
+
+ Is it possible to dump images from the CARLA server view? +
Yes, this is an Unreal Engine feature. You can dump the images of the server camera by running CARLA with @@ -31,6 +27,8 @@ camera by running CARLA with Images are saved to "CarlaUE4/Saved/Screenshots/LinuxNoEditor". +
+ #### I downloaded CARLA source from GitHub, where is the "CarlaUE4.sh" script? There is no "CarlaUE4.sh" script in the source version of CARLA, you need to From 8b8f9d9a942f5295000da888d30ef92f74111a6d Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 15:58:29 +0100 Subject: [PATCH 071/121] Test mkdocs formatting --- Docs/faq.md | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/Docs/faq.md b/Docs/faq.md index cf85c002c..35a806bb5 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -2,7 +2,7 @@ CARLA F.A.Q. ============
-
+
What is the expected disk space needed for building CARLA?
@@ -16,7 +16,7 @@ requires much more disk space as it keeps all the intermediate files,
-
+
Is it possible to dump images from the CARLA server view?
@@ -29,7 +29,10 @@ Images are saved to "CarlaUE4/Saved/Screenshots/LinuxNoEditor".
-#### I downloaded CARLA source from GitHub, where is the "CarlaUE4.sh" script? +
+
+ I downloaded CARLA source from GitHub, where is the "CarlaUE4.sh" script? +
There is no "CarlaUE4.sh" script in the source version of CARLA, you need to follow the instructions in the [documentation](http://carla.readthedocs.io) on @@ -37,9 +40,16 @@ building CARLA from source. Once you open the project in the Unreal Editor, you can hit Play to test CARLA. -#### How can I create a binary version of CARLA? +
+ +
+
+ How can I create a binary version of CARLA? +
To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with Unreal Editor, go to the menu "File -> Package Project", and select your platform. This takes a while, but in the end it should generate a packaged version of CARLA to execute without Unreal Editor. + +
From aa6cd7c8d8e6a937d4d1a7b4a9d273d377a06e71 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 16:16:44 +0100 Subject: [PATCH 072/121] Organise FAQ --- Docs/faq.md | 87 +++++++++++++++++++++++++++++++---------- Docs/index.md | 1 - Docs/troubleshooting.md | 28 ------------- mkdocs.yml | 1 - 4 files changed, 67 insertions(+), 50 deletions(-) delete mode 100644 Docs/troubleshooting.md diff --git a/Docs/faq.md b/Docs/faq.md index 35a806bb5..9aed5a548 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -1,6 +1,4 @@ -CARLA F.A.Q. -============ - +
What is the expected disk space needed for building CARLA? @@ -15,6 +13,63 @@ requires much more disk space as it keeps all the intermediate files,
+ +
+
+ I downloaded CARLA source from GitHub, where is the "CarlaUE4.sh" script? +
+ +There is no "CarlaUE4.sh" script in the source version of CARLA, you need to +follow the instructions in the [documentation](http://carla.readthedocs.io) on +building CARLA from source. + +Once you open the project in the Unreal Editor, you can hit Play to test CARLA. + +
+ + +
+
+ Why Unreal Editor hangs after hitting Play? +
+ +This is most probably happening because CARLA is starting in server mode. Check +your CarlaSettings.ini file ("./Unreal/CarlaUE4/Config/CarlaSettings.ini") and +set + +```ini +[CARLA/Server] +UseNetworking=false +``` + +
+ + +
+
+ How can I create a binary version of CARLA? +
+ +To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with +Unreal Editor, go to the menu "File -> Package Project", and select your +platform. This takes a while, but in the end it should generate a packaged +version of CARLA to execute without Unreal Editor. + +
+ + +
+
+ Why do I have very low FPS when running the server in Unreal Editor? +
+ +UE4 Editor goes to a low performance mode when out of focus. It can be disabled +in the editor preferences. Go to "Edit->Editor Preferences->Performance" and +disable the "Use Less CPU When in Background" option. + +
+ +
Is it possible to dump images from the CARLA server view? @@ -29,27 +84,19 @@ Images are saved to "CarlaUE4/Saved/Screenshots/LinuxNoEditor".
+
- I downloaded CARLA source from GitHub, where is the "CarlaUE4.sh" script? + Fatal error: 'version.h' has been modified since the precompiled header.
-There is no "CarlaUE4.sh" script in the source version of CARLA, you need to -follow the instructions in the [documentation](http://carla.readthedocs.io) on -building CARLA from source. +This happens from time to time due to Linux updates. It is possible to force a +rebuild of all the project files with -Once you open the project in the Unreal Editor, you can hit Play to test CARLA. - -
- -
-
- How can I create a binary version of CARLA? -
- -To compile a binary (packaged) version of CARLA, open the CarlaUE4 project with -Unreal Editor, go to the menu "File -> Package Project", and select your -platform. This takes a while, but in the end it should generate a packaged -version of CARLA to execute without Unreal Editor. + $ cd Unreal/CarlaUE4/ + $ make CarlaUE4Editor ARGS=-clean + $ make CarlaUE4Editor + +It takes a long time but fixes the issue. Sometimes a reboot is also needed.
diff --git a/Docs/index.md b/Docs/index.md index 7189698ee..18df71409 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -8,7 +8,6 @@ CARLA Documentation * [Measurements](measurements.md) * [Cameras and sensors](cameras_and_sensors.md) * [F.A.Q.](faq.md) - * [Troubleshooting](troubleshooting.md) #### Building from source diff --git a/Docs/troubleshooting.md b/Docs/troubleshooting.md deleted file mode 100644 index 7645a6308..000000000 --- a/Docs/troubleshooting.md +++ /dev/null @@ -1,28 +0,0 @@ -Troubleshooting -=============== - -#### Editor hangs after hitting Play - -This is most probably happening because CARLA is started in server mode. Check -in your CarlaSettings.ini file ("./Unreal/CarlaUE4/Config/CarlaSettings.ini") -and set - -```ini -[CARLA/Server] -UseNetworking=false -``` - -#### Very low FPS in editor when not in focus - -UE4 Editor goes to a low performance mode when out of focus. It can be disabled -in the editor preferences. Go to "Edit->Editor Preferences->Performance" and -disable the "Use Less CPU When in Background" option. - -#### Fatal error: file '/usr/include/linux/version.h' has been modified since the precompiled header - -This happens from time to time due to Linux updates. It is possible to force a -rebuild of all the project files with - - $ cd Unreal/CarlaUE4/ - $ make CarlaUE4Editor ARGS=-clean - $ make CarlaUE4Editor diff --git a/mkdocs.yml b/mkdocs.yml index d3c1acfbb..77bc106d3 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -10,7 +10,6 @@ pages: - 'Measurements': 'measurements.md' - 'Cameras and sensors': 'cameras_and_sensors.md' - 'F.A.Q.': 'faq.md' - - 'Troubleshooting': 'troubleshooting.md' - Building from source: - 'How to build on Linux': 'how_to_build_on_linux.md' - 'How to build on Windows': 'how_to_build_on_windows.md' From 1b10c4568d12a1dda93a6757930a8f9bb3f82e8e Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 17:20:13 +0100 Subject: [PATCH 073/121] Improving FAQ --- Docs/faq.md | 39 ++++++++++++++++++++++++++++++++++++--- 1 file changed, 36 insertions(+), 3 deletions(-) diff --git a/Docs/faq.md b/Docs/faq.md index 9aed5a548..943883d49 100644 --- a/Docs/faq.md +++ b/Docs/faq.md @@ -1,3 +1,15 @@ + +
+
+ What is the recommended hardware to run CARLA? +
+ +CARLA is a very performance demanding software, at the very minimum you would +need a computer with a dedicated GPU capable of running Unreal Engine. See +[Unreal Engine's recommended hardware](https://wiki.unrealengine.com/Recommended_Hardware). + +
+
@@ -20,13 +32,35 @@ requires much more disk space as it keeps all the intermediate files,
There is no "CarlaUE4.sh" script in the source version of CARLA, you need to -follow the instructions in the [documentation](http://carla.readthedocs.io) on +follow the instructions in the [documentation](http://carla.readthedocs.io) for building CARLA from source. Once you open the project in the Unreal Editor, you can hit Play to test CARLA.
+ +
+
+ Can I run the server from within Unreal Editor? +
+ +Yes, you can connect the Python client to a server running within Unreal Editor +as if it was the standalone server. + +Go to **"Unreal/CarlaUE4/Config/CarlaSettings.ini"** (this file should have been +created by the Setup.sh) and enable networking. If for whatever reason you don't +have this file, just create it and add the following + +```ini +[CARLA/Server] +UseNetworking=true +``` + +Now when you hit Play the editor will hang until a client connects. + +
+
@@ -34,8 +68,7 @@ Once you open the project in the Unreal Editor, you can hit Play to test CARLA.
This is most probably happening because CARLA is starting in server mode. Check -your CarlaSettings.ini file ("./Unreal/CarlaUE4/Config/CarlaSettings.ini") and -set +your **"Unreal/CarlaUE4/Config/CarlaSettings.ini"** and set ```ini [CARLA/Server] From 1ca9cedc47c3b4cdf31cbb0f24580abfd2a58e28 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 17:33:17 +0100 Subject: [PATCH 074/121] Some minor documentation improvements --- Docs/how_to_run.md | 10 ++-------- README.md | 6 ++++++ 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Docs/how_to_run.md b/Docs/how_to_run.md index 47412a339..613d44b5a 100644 --- a/Docs/how_to_run.md +++ b/Docs/how_to_run.md @@ -38,15 +38,9 @@ The "carla" Python module provides a basic API for communicating with the CARLA server. In the "PythonClient" folder we provide a couple of examples on how to use this API. We recommend Python 3, but they are also compatible with Python 2. -The basic functionality requires only the protobuf module to be installed +Install the dependencies with - $ sudo apt-get install python3 python3-pip - $ sudo pip3 install protobuf - -However, other operations as handling images require some extra modules, and the -"manual_control.py" example requires pygame - - $ sudo pip3 install numpy Pillow pygame + $ pip install -r PythonClient/requirements.txt The script "PythonClient/client_example.py" provides basic functionality for controlling the vehicle and saving images to disk. Run the help command to see diff --git a/README.md b/README.md index 572284531..7eab6be40 100644 --- a/README.md +++ b/README.md @@ -62,6 +62,12 @@ Please take a look at our [Contribution guidelines][contriblink]. [contriblink]: http://carla.readthedocs.io/en/latest/CONTRIBUTING +F.A.Q. +------ + +If you run into problems, check our +[FAQ](http://carla.readthedocs.io/en/latest/faq/). + License ------- From d9202bb099d59210aa9d4a41c0982662187cadbb Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 17 Jan 2018 18:11:57 +0100 Subject: [PATCH 075/121] Improve contribution guidelines --- Docs/CONTRIBUTING.md | 70 +++++++++++++++++++++++------------ Docs/coding_standard.md | 25 +++++++++++++ Docs/index.md | 1 + Docs/issue_template.md | 2 +- Docs/pull_request_template.md | 16 ++++---- mkdocs.yml | 1 + 6 files changed, 83 insertions(+), 32 deletions(-) create mode 100644 Docs/coding_standard.md diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index 3438010e1..b83c80279 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -1,23 +1,25 @@ Contributing to CARLA ===================== -> _This document is a work in progress and might be incomplete._ - We are more than happy to accept contributions! How can I contribute? * Reporting bugs * Feature requests + * Improving documentation * Code contributions Reporting bugs -------------- -Use our [issue section](issueslink) on GitHub. Please check before that the -issue is not already reported. +Use our [issue section][issueslink] on GitHub. Please check before that the +issue is not already reported, and make sure you have read our +[Documentation][docslink] and [FAQ][faqlink]. [issueslink]: https://github.com/carla-simulator/carla/issues +[docslink]: http://carla.readthedocs.io +[faqlink]: http://carla.readthedocs.io/en/latest/faq/ Feature requests ---------------- @@ -28,6 +30,28 @@ your request as a new issue. [frlink]: https://github.com/carla-simulator/carla/issues?q=is%3Aissue+is%3Aopen+label%3A%22feature+request%22 +Improving documentation +----------------------- + +If you feel something is missing in the documentation, please don't hesitate in +opening an issue to let us know. + +Even better, if you think you can improve it yourself it would be a great +contribution to the community! + +We build our documentation with [MkDocs](http://www.mkdocs.org/) based on the +Markdown files inside the "Docs" folder. You can either directly modify them on +GitHub or locally in your machine. + +Once you are done with your changes, please submit a pull-request against the +`documentation` branch. + +**TIP:** You can build and serve it locally by running `mkdocs` in the project's +main folder + + $ sudo pip install mkdocs + $ mkdocs serve + Code contributions ------------------ @@ -52,25 +76,8 @@ current documentation if you feel confident enough. #### Coding standard -Please follow the current coding style when submitting new code. - -###### General - - * Use spaces, not tabs. - * Avoid adding trailing whitespace as it creates noise in the diffs. - * Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code. - -###### Python - - * All code must be compatible with Python 2.7, 3.5, and 3.6. - * [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`). - * Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible). - -###### C++ - - * Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`). - * Unreal C++ code (CarlaUE4 and Carla plugin) follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs. - * CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html). +Please follow the current [coding standard](coding_standard.md) when submitting +new code. #### Pull-requests @@ -78,8 +85,25 @@ Once you think your contribution is ready to be added to CARLA, please submit a pull-request to the `dev` branch. Try to be as descriptive as possible when filling the pull-request description. +Adding images and gifs may help people to understand your changes or new +features. Please note that there are some checks that the new code is required to pass before we can do the merge. The checks are automatically run by the continuous integration system, you will see a green tick mark if all the checks succeeded. If you see a red mark, please correct your code accordingly. + +###### Checklist + + + + - [ ] Make sure you are making a pull request against the `dev` branch (not `master` please) + - [ ] Your branch is up-to-date with `dev` branch and tested with latest changes + - [ ] Extended the README / documentation, if necessary + - [ ] Code compiles correctly + - [ ] All tests passing + - [ ] `make check` + - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py` + - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning` diff --git a/Docs/coding_standard.md b/Docs/coding_standard.md new file mode 100644 index 000000000..f03eae186 --- /dev/null +++ b/Docs/coding_standard.md @@ -0,0 +1,25 @@ +Coding standard +=============== + +> _This document is a work in progress and might be incomplete._ + +General +------- + + * Use spaces, not tabs. + * Avoid adding trailing whitespace as it creates noise in the diffs. + * Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code. + +Python +------ + + * All code must be compatible with Python 2.7, 3.5, and 3.6. + * [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`). + * Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible). + +C++ +--- + + * Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`). + * Unreal C++ code (CarlaUE4 and Carla plugin) follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs. + * CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html). diff --git a/Docs/index.md b/Docs/index.md index 18df71409..2a264647c 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -18,6 +18,7 @@ CARLA Documentation #### Contributing * [Contribution guidelines](CONTRIBUTING.md) + * [Coding standard](coding_standard.md) * [Code of conduct](CODE_OF_CONDUCT.md) #### Development diff --git a/Docs/issue_template.md b/Docs/issue_template.md index 8328b7bda..024be87e5 100644 --- a/Docs/issue_template.md +++ b/Docs/issue_template.md @@ -3,7 +3,7 @@ Thanks for contributing to CARLA! If you are asking a question please make sure your question was not asked before -by searching among the existing issues. Also make sure you have read the our +by searching among the existing issues. Also make sure you have read our documentation and FAQ at carla.readthedocs.io. --> diff --git a/Docs/pull_request_template.md b/Docs/pull_request_template.md index cfaddb774..81ea6bda7 100644 --- a/Docs/pull_request_template.md +++ b/Docs/pull_request_template.md @@ -5,14 +5,14 @@ view the contribution guidelines, then fill out the blanks below. Checklist: -- [ ] Make sure you are making a pull request against the `dev` branch (not `master` please) -- [ ] Your branch is up-to-date with `dev` branch and tested with latest changes -- [ ] Extended the README / documentation, if necessary -- [ ] Code compiles correctly -- [ ] All tests passing - * [ ] `make check` - * [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py` - * [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning` + - [ ] Make sure you are making a pull request against the `dev` branch (not `master` please) + - [ ] Your branch is up-to-date with `dev` branch and tested with latest changes + - [ ] Extended the README / documentation, if necessary + - [ ] Code compiles correctly + - [ ] All tests passing + - [ ] `make check` + - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py` + - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning` --> diff --git a/mkdocs.yml b/mkdocs.yml index 77bc106d3..79b54f1fb 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -16,6 +16,7 @@ pages: - 'How to add Automotive Materials': 'how_to_add_automotive_materials.md' - Contributing: - 'Contribution guidelines': 'CONTRIBUTING.md' + - 'Coding standard': 'coding_standard.md' - 'Code of conduct': 'CODE_OF_CONDUCT.md' - Development: - 'Map customization': 'map_customization.md' From 83cceb0e2f9d235c76b142f032ebcc4bcbd1b76f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Thu, 18 Jan 2018 12:05:23 +0100 Subject: [PATCH 076/121] Minor documentation fix --- Docs/CONTRIBUTING.md | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index b83c80279..067579a52 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -33,11 +33,9 @@ your request as a new issue. Improving documentation ----------------------- -If you feel something is missing in the documentation, please don't hesitate in -opening an issue to let us know. - -Even better, if you think you can improve it yourself it would be a great -contribution to the community! +If you feel something is missing in the documentation, please don't hesitate to +open an issue to let us know. Even better, if you think you can improve it +yourself, it would be a great contribution to the community! We build our documentation with [MkDocs](http://www.mkdocs.org/) based on the Markdown files inside the "Docs" folder. You can either directly modify them on From 1e2c3a3ea07dfa35690e83a80fd55a9eb6193ca6 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 18 Jan 2018 12:52:02 +0100 Subject: [PATCH 077/121] metrics, wrong f name, corner case --- PythonClient/carla/benchmarks/metrics.py | 27 +++++++++++++++--------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index e9ca1d80f..dd47a5f52 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -107,26 +107,33 @@ def compute_summary(filename, dynamic_episodes): path = os.path.dirname(filename) base_name = os.path.basename(filename) + + f = open(filename, "rb") header = f.readline() header = header.split(',') header[-1] = header[-1][:-2] f.close() - f = open(os.path.join(path, 'rewards_' + base_name), "rb") - header_rewards = f.readline() - header_rewards = header_rewards.split(',') - header_rewards[-1] = header_rewards[-1][:-2] + f = open(os.path.join(path, 'details_' + base_name), "rb") + header_details = f.readline() + header_details = header_details.split(',') + header_details[-1] = header_details[-1][:-2] f.close() data_matrix = np.loadtxt(open(filename, "rb"), delimiter=",", skiprows=1) + # Corner Case: The presented test just had one episode + if data_matrix.ndim == 1: + data_matrix = np.expand_dims(data_matrix, axis=0) + + tasks = np.unique(data_matrix[:, header.index('exp_id')]) all_weathers = np.unique(data_matrix[:, header.index('weather')]) reward_matrix = np.loadtxt(open(os.path.join( - path, 'rewards_' + base_name), "rb"), delimiter=",", skiprows=1) + path, 'details_' + base_name), "rb"), delimiter=",", skiprows=1) metrics_dictionary = {'average_completion': {w: [0.0]*len(tasks) for w in all_weathers}, 'intersection_offroad': {w: [0.0]*len(tasks) for w in all_weathers}, @@ -153,11 +160,11 @@ def compute_summary(filename, dynamic_episodes): 'exp_id')] == t, data_matrix[:, header.index('weather')] == w)] - task_reward_matrix = reward_matrix[np.logical_and(reward_matrix[:, header_rewards.index( - 'exp_id')] == float(t), reward_matrix[:, header_rewards.index('weather')] == float(w))] + task_reward_matrix = reward_matrix[np.logical_and(reward_matrix[:, header_details.index( + 'exp_id')] == float(t), reward_matrix[:, header_details.index('weather')] == float(w))] km_run = get_distance_traveled( - task_reward_matrix, header_rewards) + task_reward_matrix, header_details) metrics_dictionary['average_fully_completed'][w][t] = sum( task_data_matrix[:, header.index('result')])/task_data_matrix.shape[0] @@ -178,8 +185,8 @@ def compute_summary(filename, dynamic_episodes): if list(tasks).index(t) in set(dynamic_episodes): lane_road = get_out_of_road_lane( - task_reward_matrix, header_rewards) - colisions = get_colisions(task_reward_matrix, header_rewards) + task_reward_matrix, header_details) + colisions = get_colisions(task_reward_matrix, header_details) From cec548c9644b991f24588fe0b8db91933f9aab81 Mon Sep 17 00:00:00 2001 From: felipecode Date: Thu, 18 Jan 2018 14:19:50 +0100 Subject: [PATCH 078/121] Small bug on checking experiment --- PythonClient/carla/benchmarks/benchmark.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index a1b113d66..e5ced2339 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -299,9 +299,7 @@ class Benchmark(object): def _experiment_exist(self): - - folder = os.path.dirname(self._full_name) - return os.path.isdir(folder) + return os.path.isfile(self._full_name) def _get_last_position(self): From 0e040e4dd285b3fedb68a091113701c37cf15c81 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Thu, 18 Jan 2018 16:43:08 +0100 Subject: [PATCH 079/121] Increase PEP8 line length --- PythonClient/.pep8 | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 PythonClient/.pep8 diff --git a/PythonClient/.pep8 b/PythonClient/.pep8 new file mode 100644 index 000000000..68859ad03 --- /dev/null +++ b/PythonClient/.pep8 @@ -0,0 +1,2 @@ +[pep8] +max-line-length = 120 From e9160f58b1cc8cf836ba6a80d4b17cb14737302f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 19 Jan 2018 16:10:27 +0100 Subject: [PATCH 080/121] Docs for new workflow --- Docs/CONTRIBUTING.md | 8 +++----- Docs/pull_request_template.md | 3 +-- README.md | 16 ++++++++++++++++ 3 files changed, 20 insertions(+), 7 deletions(-) diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index 067579a52..1f0c50781 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -41,8 +41,7 @@ We build our documentation with [MkDocs](http://www.mkdocs.org/) based on the Markdown files inside the "Docs" folder. You can either directly modify them on GitHub or locally in your machine. -Once you are done with your changes, please submit a pull-request against the -`documentation` branch. +Once you are done with your changes, please submit a pull-request. **TIP:** You can build and serve it locally by running `mkdocs` in the project's main folder @@ -80,7 +79,7 @@ new code. #### Pull-requests Once you think your contribution is ready to be added to CARLA, please submit a -pull-request to the `dev` branch. +pull-request. Try to be as descriptive as possible when filling the pull-request description. Adding images and gifs may help people to understand your changes or new @@ -97,8 +96,7 @@ If you see a red mark, please correct your code accordingly. If you modify this list please keep it up-to-date with pull_request_template.md --> - - [ ] Make sure you are making a pull request against the `dev` branch (not `master` please) - - [ ] Your branch is up-to-date with `dev` branch and tested with latest changes + - [ ] Your branch is up-to-date with the `master` branch and tested with latest changes - [ ] Extended the README / documentation, if necessary - [ ] Code compiles correctly - [ ] All tests passing diff --git a/Docs/pull_request_template.md b/Docs/pull_request_template.md index 81ea6bda7..3a5c29258 100644 --- a/Docs/pull_request_template.md +++ b/Docs/pull_request_template.md @@ -5,8 +5,7 @@ view the contribution guidelines, then fill out the blanks below. Checklist: - - [ ] Make sure you are making a pull request against the `dev` branch (not `master` please) - - [ ] Your branch is up-to-date with `dev` branch and tested with latest changes + - [ ] Your branch is up-to-date with the `master` branch and tested with latest changes - [ ] Extended the README / documentation, if necessary - [ ] Code compiles correctly - [ ] All tests passing diff --git a/README.md b/README.md index 7eab6be40..c15573242 100644 --- a/README.md +++ b/README.md @@ -55,6 +55,22 @@ Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16 } ``` +Building CARLA +-------------- + +Use `git clone` or download the project from this page. Note that the master +branch contains the latest fixes and features, for the latest stable code may be +best to switch to the `stable` branch. + +Then follow the instruction at [How to build on Linux][buildlink]. + +Unfortunately we don't have yet official instructions to build on other +platforms, please check the progress for [Windows][issue21] and [Mac][issue150]. + +[buildlink]: http://carla.readthedocs.io/en/latest/how_to_build_on_linux +[issue21]: https://github.com/carla-simulator/carla/issues/21 +[issue150]: https://github.com/carla-simulator/carla/issues/150 + Contributing ------------ From f0eccca7ad9f02fbd38bebe29cf901caa31cb95f Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 10:43:12 +0100 Subject: [PATCH 081/121] Fixing exception on tcp, adding verbose --- PythonClient/carla/benchmarks/benchmark.py | 42 +++++++++++++--------- PythonClient/carla/tcp.py | 6 ++-- PythonClient/run_benchmark.py | 17 +++++++-- 3 files changed, 43 insertions(+), 22 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index e5ced2339..12bfd0beb 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -7,21 +7,19 @@ # For a copy, see . -from builtins import input as input_data - import csv import datetime import math import os - import abc +import logging +from builtins import input as input_data from carla.client import VehicleControl - def sldist(c1, c2): return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2) @@ -38,11 +36,15 @@ class Benchmark(object): city_name, name_to_save, continue_experiment=False, - save_images=False): + save_images=False, + verbose=False): + self.__metaclass__ = abc.ABCMeta self._city_name = city_name + self._verbose = verbose + self._base_name = name_to_save self._dict_stats = {'exp_id': -1, @@ -104,8 +106,11 @@ class Benchmark(object): measurements, sensor_data = carla.read_data() control = agent.run_step(measurements, sensor_data, target) - print('STEER ', control.steer, 'GAS ', - control.throttle, 'Brake ', control.brake) + + logging.info("Controller is Inputting:") + logging.info('Steer = %f Throttle = %f Brake = %f ' % + (control.steer, control.throttle, control.brake)) + carla.send_control(control) # measure distance to target @@ -124,9 +129,11 @@ class Benchmark(object): distance = sldist([curr_x, curr_y], [target.location.x, target.location.y]) - print( + logging.info('Status:') + logging.info( '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % - (float(distance), curr_x, curr_y, target.location.x, target.location.y)) + (float(distance), curr_x, curr_y, target.location.x, + target.location.y)) if distance < 200.0: success = True @@ -157,7 +164,7 @@ class Benchmark(object): else: (start_task, start_pose) = self._get_pose_and_task(self._line_on_file) - print(' START ') + logging.info(' START ') for experiment in self._experiments[start_task:]: @@ -172,12 +179,15 @@ class Benchmark(object): carla.start_episode(start_point) - print('======== !!!! ==========') - print(' Start Position ', start_point, - ' End Position ', end_point) + logging.info('======== !!!! ==========') + logging.info(' Start Position %d End Position %d ' % + (start_point, end_point)) path_distance = agent.get_distance( positions[start_point], positions[end_point]) + euclidean_distance = \ + sldist([positions[start_point].location.x, positions[start_point].location.y], + [positions[end_point].location.x, positions[end_point].location.y]) time_out = self._calculate_time_out(path_distance) # running the agent @@ -191,16 +201,16 @@ class Benchmark(object): # compute stats for the experiment self._write_summary_results( - experiment, pose, rep, path_distance, + experiment, pose, rep, euclidean_distance, remaining_distance, final_time, time_out, result) self._write_details_results(experiment, rep, reward_vec) if(result > 0): - print('+++++ Target achieved in %f seconds! +++++' % + logging.info('+++++ Target achieved in %f seconds! +++++' % final_time) else: - print('----- Timeout! -----') + logging.info('----- Timeout! -----') return self.get_all_statistics() def _write_summary_results(self, experiment, pose, rep, diff --git a/PythonClient/carla/tcp.py b/PythonClient/carla/tcp.py index 5dd9ed9ef..fbf1b17f3 100644 --- a/PythonClient/carla/tcp.py +++ b/PythonClient/carla/tcp.py @@ -41,7 +41,7 @@ class TCPClient(object): self._socket.settimeout(self._timeout) logging.debug('%sconnected', self._logprefix) return - except OSError as exception: + except socket.error as exception: error = exception logging.debug('%sconnection attempt %d: %s', self._logprefix, attempt, error) time.sleep(1) @@ -65,7 +65,7 @@ class TCPClient(object): header = struct.pack(' 0: try: data = self._socket.recv(length) - except OSError as exception: + except socket.error as exception: self._reraise_exception_as_tcp_error('failed to read data', exception) if not data: raise TCPConnectionError(self._logprefix + 'connection closed') diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 008347b22..790882600 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -35,6 +35,11 @@ if __name__ == '__main__': argparser.add_argument( '-v', '--verbose', action='store_true', + dest='verbose', + help='print some extra status information') + argparser.add_argument( + '-db', '--debug', + action='store_true', dest='debug', help='print debug information') argparser.add_argument( @@ -58,12 +63,17 @@ if __name__ == '__main__': '-n', '--log_name', metavar='T', default='test', - help='The name of the log file to be created by the scripts' + help='The name of the log file to be created by the benchmark' ) args = argparser.parse_args() + if args.debug: + log_level = logging.DEBUG + elif args.verbose: + log_level = logging.INFO + else: + log_level = logging.WARNING - log_level = logging.DEBUG if args.debug else logging.INFO logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) logging.info('listening to server %s:%s', args.host, args.port) @@ -71,7 +81,8 @@ if __name__ == '__main__': while True: try: with make_carla_client(args.host, args.port) as client: - corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name) + corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name, + verbose=args.verbose) agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) corl.plot_summary_test() From 78187b83d07bf7e84629fd370bc5574c4a0db7e3 Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 10:53:08 +0100 Subject: [PATCH 082/121] log not lazy fix --- PythonClient/carla/benchmarks/benchmark.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 12bfd0beb..b4e3dba02 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -108,8 +108,8 @@ class Benchmark(object): control = agent.run_step(measurements, sensor_data, target) logging.info("Controller is Inputting:") - logging.info('Steer = %f Throttle = %f Brake = %f ' % - (control.steer, control.throttle, control.brake)) + logging.info('Steer = %f Throttle = %f Brake = %f ', + control.steer, control.throttle, control.brake) carla.send_control(control) @@ -131,9 +131,9 @@ class Benchmark(object): logging.info('Status:') logging.info( - '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' % - (float(distance), curr_x, curr_y, target.location.x, - target.location.y)) + '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f', + float(distance), curr_x, curr_y, target.location.x, + target.location.y) if distance < 200.0: success = True @@ -180,8 +180,8 @@ class Benchmark(object): carla.start_episode(start_point) logging.info('======== !!!! ==========') - logging.info(' Start Position %d End Position %d ' % - (start_point, end_point)) + logging.info(' Start Position %d End Position %d ', + start_point, end_point) path_distance = agent.get_distance( positions[start_point], positions[end_point]) @@ -207,7 +207,7 @@ class Benchmark(object): self._write_details_results(experiment, rep, reward_vec) if(result > 0): - logging.info('+++++ Target achieved in %f seconds! +++++' % + logging.info('+++++ Target achieved in %f seconds! +++++', final_time) else: logging.info('----- Timeout! -----') From 07d2231ac3ab0955bca96320fb27d9abe09020a8 Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 11:01:13 +0100 Subject: [PATCH 083/121] removing verbose label --- PythonClient/carla/benchmarks/benchmark.py | 6 +++--- PythonClient/run_benchmark.py | 3 +-- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index b4e3dba02..672e4f0f7 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -36,14 +36,14 @@ class Benchmark(object): city_name, name_to_save, continue_experiment=False, - save_images=False, - verbose=False): + save_images=False + ): self.__metaclass__ = abc.ABCMeta self._city_name = city_name - self._verbose = verbose + self._base_name = name_to_save diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 790882600..384885ede 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -81,8 +81,7 @@ if __name__ == '__main__': while True: try: with make_carla_client(args.host, args.port) as client: - corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name, - verbose=args.verbose) + corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name) agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) corl.plot_summary_test() From 1da114b2ed1194a4213d79cf47a6af82dfdca9ff Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 11:21:09 +0100 Subject: [PATCH 084/121] Add doc string --- Update.sh | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/Update.sh b/Update.sh index 61f0807ad..35043f193 100755 --- a/Update.sh +++ b/Update.sh @@ -1,17 +1,19 @@ #! /bin/bash ################################################################################ -# Updates CARLA contents. +# Updates CARLA content. ################################################################################ set -e +DOC_STRING="Update CARLA content to the latest version, to be run after 'git pull'." + +USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download]" + # ============================================================================== # -- Parse arguments ----------------------------------------------------------- # ============================================================================== -USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download]" - SKIP_DOWNLOAD=false OPTS=`getopt -o hs --long help,skip-download -n 'parse-options' -- "$@"` @@ -26,6 +28,7 @@ while true; do SKIP_DOWNLOAD=true; shift ;; -h | --help ) + echo "$DOC_STRING" echo "$USAGE_STRING" exit 1 ;; From e8be3a20f4d9c2adfe8fcf1c9b9bc7f298bc8ea2 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 11:21:40 +0100 Subject: [PATCH 085/121] Add option to Rebuild.sh to not launch the editor --- Rebuild.sh | 51 +++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 49 insertions(+), 2 deletions(-) diff --git a/Rebuild.sh b/Rebuild.sh index 82dffb79d..09db805e2 100755 --- a/Rebuild.sh +++ b/Rebuild.sh @@ -1,6 +1,46 @@ #!/bin/bash + +################################################################################ +# Updates CARLA content. +################################################################################ + set -e +DOC_STRING="Update CARLA content to the latest version, to be run after 'git pull'." + +USAGE_STRING="Usage: $0 [-h|--help] [--no-editor]" + +# ============================================================================== +# -- Parse arguments ----------------------------------------------------------- +# ============================================================================== + +LAUNCH_UE4_EDITOR=true + +OPTS=`getopt -o h --long help,no-editor -n 'parse-options' -- "$@"` + +if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi + +eval set -- "$OPTS" + +while true; do + case "$1" in + --no-editor ) + LAUNCH_UE4_EDITOR=false; + shift ;; + -h | --help ) + echo "$DOC_STRING" + echo "$USAGE_STRING" + exit 1 + ;; + * ) + break ;; + esac +done + +# ============================================================================== +# -- Set up environment -------------------------------------------------------- +# ============================================================================== + SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" pushd "$SCRIPT_DIR" >/dev/null @@ -60,8 +100,15 @@ set -e log "Build CarlaUE4 project..." make CarlaUE4Editor -log "Launching UE4Editor..." -${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" +if $LAUNCH_UE4_EDITOR ; then + log "Launching UE4Editor..." + ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" +else + echo "" + echo "****************" + echo "*** Success! ***" + echo "****************" +fi popd >/dev/null From d67dc6a1de958750bdc9c1a484d2ec803a29ddad Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 11:22:16 +0100 Subject: [PATCH 086/121] New content version --- Util/ContentVersions.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt index 160075361..3a6553be4 100644 --- a/Util/ContentVersions.txt +++ b/Util/ContentVersions.txt @@ -7,3 +7,4 @@ 0.5.4: 0B2HFV-VuKn3PYUFFanlmZ2VMTW8 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT +0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq From 0df68de755adbcaa1c66efff37f6ee2453fc1f89 Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 15:30:54 +0100 Subject: [PATCH 087/121] Fixing links --- Docs/benchmark.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index 2dc8ff2b9..dd4a1ffed 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -61,7 +61,7 @@ To be benchmarked, an Agent subclass must redefine the *run_step* function as it return control The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. -The [measurements](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [target](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [sensor_data](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.m) and [control](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md) types are described at the documentation. +The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.m) and [control](measurements.md) types are described at the documentation. From e12098f3a605bf680da8c2e264d59065331989dd Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 15:36:14 +0100 Subject: [PATCH 088/121] C++ programmer job offer --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index c15573242..15b914876 100644 --- a/README.md +++ b/README.md @@ -19,6 +19,7 @@ For instructions on how to use and compile CARLA, check out News ---- +- 22.01.2018 Job opening: [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1). - 28.11.2017 CARLA 0.7.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-070), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.0). - 15.11.2017 CARLA 0.6.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-060), [release](https://github.com/carla-simulator/carla/releases/tag/0.6.0). @@ -84,6 +85,13 @@ F.A.Q. If you run into problems, check our [FAQ](http://carla.readthedocs.io/en/latest/faq/). +Jobs +---- + +We are currently looking for a new programmer to join our team + + * [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1) + License ------- From d700a388d6341bd5d76ce429e6b8827654977501 Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 15:39:59 +0100 Subject: [PATCH 089/121] Update benchmark.md --- Docs/benchmark.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index dd4a1ffed..c737beb08 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -41,7 +41,7 @@ The benchmark works by calling three lines of code agent = Manual(args.city_name) results = corl.benchmark_agent(agent, client) -This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/benchmark_branch/PythonClient/run_benchmark.py) example. +This is excerpt is executed in the [run_benchmark.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/run_benchmark.py) example. First a *benchmark* object is defined, for this case, a CoRL2017 benchmark. This is object is used to benchmark a certain Agent.
On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class @@ -61,7 +61,7 @@ To be benchmarked, an Agent subclass must redefine the *run_step* function as it return control The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. -The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.m) and [control](measurements.md) types are described at the documentation. +The [measurements](measurements.md), [target](measurements#player-measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described at the documentation. From 16b4679c1002c4344c790061af36e74d5be144de Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 15:40:35 +0100 Subject: [PATCH 090/121] Update benchmark.md --- Docs/benchmark.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index c737beb08..c73503521 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -61,7 +61,7 @@ To be benchmarked, an Agent subclass must redefine the *run_step* function as it return control The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. -The [measurements](measurements.md), [target](measurements#player-measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described at the documentation. +The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described at the documentation. From bb797c8700bba7dc6d210b8a235425e494fbc4b2 Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 15:41:22 +0100 Subject: [PATCH 091/121] Update benchmark.md --- Docs/benchmark.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index c73503521..e27d850cb 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -61,7 +61,7 @@ To be benchmarked, an Agent subclass must redefine the *run_step* function as it return control The function receives measurements from the world, sensor data and a target position. With this, the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc. -The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described at the documentation. +The [measurements](measurements.md), [target](measurements.md), [sensor_data](cameras_and_sensors.md) and [control](measurements.md) types are described on the documentation. From a991e53059050e712c14ff308ed5ae7179bfc36f Mon Sep 17 00:00:00 2001 From: felipecode Date: Mon, 22 Jan 2018 15:41:39 +0100 Subject: [PATCH 092/121] Update benchmark.md --- Docs/benchmark.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/Docs/benchmark.md b/Docs/benchmark.md index e27d850cb..b42d6eafa 100644 --- a/Docs/benchmark.md +++ b/Docs/benchmark.md @@ -1,10 +1,6 @@ CARLA Benchmark =============== -!!! important - Benchmark code is currently in beta and can be found only in the - `benchmark_branch`. - Running the Benchmark --------------------- From 438fd3baced8a5cc34e7fc377b9bdb8677081fb5 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 16:06:28 +0100 Subject: [PATCH 093/121] Remove repeated package --- PythonClient/setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonClient/setup.py b/PythonClient/setup.py index 31e26f2de..7969450a6 100644 --- a/PythonClient/setup.py +++ b/PythonClient/setup.py @@ -5,7 +5,7 @@ from setuptools import setup setup( name='carla_client', version='0.7.1', - packages=['carla', 'carla.planner', 'carla.benchmarks', 'carla.planner'], + packages=['carla', 'carla.benchmarks', 'carla.planner'], license='MIT License', description='Python API for communicating with the CARLA server.', url='https://github.com/carla-simulator/carla', From 5d72b4178f47f6eccd0c93bf326d3403f0f51d8f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 22 Jan 2018 16:42:10 +0100 Subject: [PATCH 094/121] Update license --- LICENSE | 2 +- PythonClient/carla/benchmarks/agent.py | 2 +- PythonClient/carla/benchmarks/benchmark.py | 2 +- PythonClient/carla/benchmarks/corl_2017.py | 2 +- PythonClient/carla/benchmarks/experiment.py | 5 +++++ PythonClient/carla/benchmarks/metrics.py | 2 +- PythonClient/carla/client.py | 2 +- PythonClient/carla/image_converter.py | 2 +- PythonClient/carla/planner/astar.py | 6 ++++++ PythonClient/carla/planner/city_track.py | 6 ++++++ PythonClient/carla/planner/converter.py | 6 ++++++ PythonClient/carla/planner/graph.py | 6 ++++++ PythonClient/carla/planner/grid.py | 6 ++++++ PythonClient/carla/planner/map.py | 2 +- PythonClient/carla/planner/planner.py | 6 ++++++ PythonClient/carla/sensor.py | 2 +- PythonClient/carla/settings.py | 2 +- PythonClient/carla/tcp.py | 2 +- PythonClient/carla/util.py | 2 +- PythonClient/client_example.py | 2 +- PythonClient/manual_control.py | 2 +- PythonClient/run_benchmark.py | 2 +- PythonClient/test/console.py | 2 +- PythonClient/test/test_client.py | 2 +- PythonClient/test/test_suite.py | 2 +- PythonClient/test/unit_tests/Basic.py | 2 +- PythonClient/test/unit_tests/__init__.py | 2 +- Unreal/CarlaUE4/Config/DefaultGame.ini | 2 +- .../Carla/Source/Carla/AI/CarlaWheeledVehicleState.h | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h | 2 +- .../Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp | 2 +- .../Plugins/Carla/Source/Carla/AI/TrafficLightBase.h | 2 +- .../Plugins/Carla/Source/Carla/AI/TrafficLightState.h | 2 +- .../Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp | 2 +- .../Plugins/Carla/Source/Carla/AI/TrafficSignBase.h | 2 +- .../Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp | 2 +- .../Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h | 2 +- .../Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp | 2 +- .../Plugins/Carla/Source/Carla/AI/WalkerAIController.h | 2 +- .../Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h | 2 +- .../Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp | 2 +- .../Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h | 2 +- .../Carla/Source/Carla/AI/WheeledVehicleAIController.cpp | 2 +- .../Carla/Source/Carla/AI/WheeledVehicleAIController.h | 2 +- .../Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp | 2 +- .../Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h | 2 +- .../Plugins/Carla/Source/Carla/CityMapGenerator.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CapturedImage.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameController.h | 2 +- .../Carla/Source/Carla/Game/CarlaGameControllerBase.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaGameState.h | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h | 2 +- .../Plugins/Carla/Source/Carla/Game/CarlaServer.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h | 2 +- .../Carla/Source/Carla/Game/CarlaVehicleController.cpp | 2 +- .../Carla/Source/Carla/Game/CarlaVehicleController.h | 2 +- .../Plugins/Carla/Source/Carla/Game/MockGameController.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/MockGameController.h | 2 +- .../Carla/Source/Carla/Game/MockGameControllerSettings.h | 2 +- .../Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp | 2 +- .../Plugins/Carla/Source/Carla/Game/TaggerDelegate.h | 2 +- .../Carla/Source/Carla/Game/WheeledVehicleController.cpp | 2 +- .../Carla/Source/Carla/Game/WheeledVehicleController.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityAreaDescription.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapDefinitions.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.cpp | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.cpp | 2 +- .../Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h | 2 +- .../Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp | 2 +- .../Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/GraphGenerator.cpp | 2 +- .../Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/GraphParser.cpp | 2 +- .../Plugins/Carla/Source/Carla/MapGen/GraphParser.h | 2 +- .../Plugins/Carla/Source/Carla/MapGen/GraphTypes.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.h | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.cpp | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h | 2 +- .../Carla/Source/Carla/MapGen/RoadSegmentDescription.h | 2 +- .../Carla/Source/Carla/MapGen/StaticMeshCollection.cpp | 2 +- .../Carla/Source/Carla/MapGen/StaticMeshCollection.h | 2 +- .../Plugins/Carla/Source/Carla/RoadIntersection.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.h | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.cpp | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h | 2 +- .../Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp | 2 +- .../Plugins/Carla/Source/Carla/SceneCaptureCamera.h | 2 +- .../Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp | 2 +- .../Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h | 2 +- .../Plugins/Carla/Source/Carla/Settings/CameraDescription.h | 2 +- .../Source/Carla/Settings/CameraPostProcessParameters.h | 2 +- .../Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp | 2 +- .../Plugins/Carla/Source/Carla/Settings/CarlaSettings.h | 2 +- .../Carla/Source/Carla/Settings/PostProcessEffect.cpp | 2 +- .../Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h | 2 +- .../Carla/Source/Carla/Settings/WeatherDescription.cpp | 2 +- .../Carla/Source/Carla/Settings/WeatherDescription.h | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h | 2 +- .../Carla/Source/Carla/Util/ActorWithRandomEngine.cpp | 2 +- .../Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h | 2 +- Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h | 2 +- .../Plugins/Carla/Source/Carla/Util/RandomEngine.cpp | 2 +- .../CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h | 2 +- Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.cpp | 2 +- Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.h | 2 +- Util/CarlaServer/include/carla/carla_server.h | 2 +- Util/CarlaServer/source/carla/ArrayView.h | 2 +- Util/CarlaServer/source/carla/Debug.h | 2 +- Util/CarlaServer/source/carla/Logging.h | 2 +- Util/CarlaServer/source/carla/NonCopyable.h | 2 +- Util/CarlaServer/source/carla/Profiler.h | 2 +- Util/CarlaServer/source/carla/StopWatch.h | 2 +- Util/CarlaServer/source/carla/server/AgentServer.cpp | 2 +- Util/CarlaServer/source/carla/server/AgentServer.h | 2 +- Util/CarlaServer/source/carla/server/AsyncServer.h | 2 +- Util/CarlaServer/source/carla/server/AsyncService.cpp | 2 +- Util/CarlaServer/source/carla/server/AsyncService.h | 2 +- Util/CarlaServer/source/carla/server/CarlaEncoder.cpp | 2 +- Util/CarlaServer/source/carla/server/CarlaEncoder.h | 2 +- Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp | 2 +- Util/CarlaServer/source/carla/server/CarlaMeasurements.h | 2 +- Util/CarlaServer/source/carla/server/CarlaServer.cpp | 2 +- Util/CarlaServer/source/carla/server/CarlaServer.h | 2 +- Util/CarlaServer/source/carla/server/CarlaServerAPI.h | 2 +- Util/CarlaServer/source/carla/server/DoubleBuffer.h | 2 +- Util/CarlaServer/source/carla/server/EncoderServer.h | 2 +- Util/CarlaServer/source/carla/server/Future.h | 2 +- Util/CarlaServer/source/carla/server/ImagesMessage.cpp | 2 +- Util/CarlaServer/source/carla/server/ImagesMessage.h | 2 +- Util/CarlaServer/source/carla/server/MeasurementsMessage.h | 2 +- Util/CarlaServer/source/carla/server/Protobuf.cpp | 2 +- Util/CarlaServer/source/carla/server/Protobuf.h | 2 +- Util/CarlaServer/source/carla/server/RequestNewEpisode.h | 2 +- Util/CarlaServer/source/carla/server/ServerTraits.h | 2 +- Util/CarlaServer/source/carla/server/TCPServer.cpp | 2 +- Util/CarlaServer/source/carla/server/TCPServer.h | 2 +- Util/CarlaServer/source/carla/server/Task.h | 2 +- Util/CarlaServer/source/carla/server/ThreadSafeQueue.h | 2 +- Util/CarlaServer/source/carla/server/WorldServer.cpp | 2 +- Util/CarlaServer/source/carla/server/WorldServer.h | 2 +- Util/ImageConverter/depth_pixel_converter.h | 2 +- Util/ImageConverter/image_converter.h | 2 +- Util/ImageConverter/image_converter_types.h | 2 +- Util/ImageConverter/image_io.h | 2 +- Util/ImageConverter/label_pixel_converter.h | 2 +- Util/ImageConverter/main.cpp | 2 +- Util/Proto/carla_server.proto | 2 +- Util/download_from_gdrive.py | 2 +- 165 files changed, 199 insertions(+), 158 deletions(-) diff --git a/LICENSE b/LICENSE index 1fdfb2a5e..fa5e6b50b 100644 --- a/LICENSE +++ b/LICENSE @@ -1,7 +1,7 @@ MIT License Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -Barcelona (UAB), and the INTEL Visual Computing Lab. +Barcelona (UAB). Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/PythonClient/carla/benchmarks/agent.py b/PythonClient/carla/benchmarks/agent.py index c71f4c1db..8f58ab372 100644 --- a/PythonClient/carla/benchmarks/agent.py +++ b/PythonClient/carla/benchmarks/agent.py @@ -1,7 +1,7 @@ #!/usr/bin/env python2 # -*- coding: utf-8 -*- # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/benchmarks/benchmark.py b/PythonClient/carla/benchmarks/benchmark.py index 672e4f0f7..2e6f3a164 100644 --- a/PythonClient/carla/benchmarks/benchmark.py +++ b/PythonClient/carla/benchmarks/benchmark.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py index cf2cf11c2..55a12b46c 100644 --- a/PythonClient/carla/benchmarks/corl_2017.py +++ b/PythonClient/carla/benchmarks/corl_2017.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/benchmarks/experiment.py b/PythonClient/carla/benchmarks/experiment.py index 8626dd797..95fda2972 100644 --- a/PythonClient/carla/benchmarks/experiment.py +++ b/PythonClient/carla/benchmarks/experiment.py @@ -1,3 +1,8 @@ +# 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 . from carla.settings import CarlaSettings diff --git a/PythonClient/carla/benchmarks/metrics.py b/PythonClient/carla/benchmarks/metrics.py index dd47a5f52..e3ff22f29 100644 --- a/PythonClient/carla/benchmarks/metrics.py +++ b/PythonClient/carla/benchmarks/metrics.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index 1f969d3f0..77780812b 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py index 1a1c2e718..22935a1b6 100644 --- a/PythonClient/carla/image_converter.py +++ b/PythonClient/carla/image_converter.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/planner/astar.py b/PythonClient/carla/planner/astar.py index e322395ec..0d24a6090 100644 --- a/PythonClient/carla/planner/astar.py +++ b/PythonClient/carla/planner/astar.py @@ -1,3 +1,9 @@ +# 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 . + import heapq diff --git a/PythonClient/carla/planner/city_track.py b/PythonClient/carla/planner/city_track.py index 4223426c8..2e9bf1bff 100644 --- a/PythonClient/carla/planner/city_track.py +++ b/PythonClient/carla/planner/city_track.py @@ -1,3 +1,9 @@ +# 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 . + from carla.planner.graph import sldist from carla.planner.astar import AStar diff --git a/PythonClient/carla/planner/converter.py b/PythonClient/carla/planner/converter.py index f417f7610..e05a5b820 100644 --- a/PythonClient/carla/planner/converter.py +++ b/PythonClient/carla/planner/converter.py @@ -1,3 +1,9 @@ +# 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 . + import math import numpy as np diff --git a/PythonClient/carla/planner/graph.py b/PythonClient/carla/planner/graph.py index 54913b00f..23f32d381 100644 --- a/PythonClient/carla/planner/graph.py +++ b/PythonClient/carla/planner/graph.py @@ -1,3 +1,9 @@ +# 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 . + import math import numpy as np diff --git a/PythonClient/carla/planner/grid.py b/PythonClient/carla/planner/grid.py index 3e7d8bcf4..fe14115a6 100644 --- a/PythonClient/carla/planner/grid.py +++ b/PythonClient/carla/planner/grid.py @@ -1,3 +1,9 @@ +# 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 . + import copy import numpy as np diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index f402b2650..7a9227952 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/planner/planner.py b/PythonClient/carla/planner/planner.py index 20f84f981..93c22e8a5 100644 --- a/PythonClient/carla/planner/planner.py +++ b/PythonClient/carla/planner/planner.py @@ -1,3 +1,9 @@ +# 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 . + import collections import math diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py index f4e14333a..9710d95f4 100644 --- a/PythonClient/carla/sensor.py +++ b/PythonClient/carla/sensor.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/settings.py b/PythonClient/carla/settings.py index f0eb50218..bea024333 100644 --- a/PythonClient/carla/settings.py +++ b/PythonClient/carla/settings.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/tcp.py b/PythonClient/carla/tcp.py index fbf1b17f3..d6de55972 100644 --- a/PythonClient/carla/tcp.py +++ b/PythonClient/carla/tcp.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/carla/util.py b/PythonClient/carla/util.py index ce668235c..517576344 100644 --- a/PythonClient/carla/util.py +++ b/PythonClient/carla/util.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py index 2b687313d..4f513b09f 100755 --- a/PythonClient/client_example.py +++ b/PythonClient/client_example.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py index 9e3d9d69b..3074c709d 100755 --- a/PythonClient/manual_control.py +++ b/PythonClient/manual_control.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/run_benchmark.py b/PythonClient/run_benchmark.py index 384885ede..d3b6c5686 100755 --- a/PythonClient/run_benchmark.py +++ b/PythonClient/run_benchmark.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/test/console.py b/PythonClient/test/console.py index 48b7805ff..da1b73e60 100644 --- a/PythonClient/test/console.py +++ b/PythonClient/test/console.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/test/test_client.py b/PythonClient/test/test_client.py index 96d0d0340..cba555cc3 100755 --- a/PythonClient/test/test_client.py +++ b/PythonClient/test/test_client.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/test/test_suite.py b/PythonClient/test/test_suite.py index b1efbd4d9..e4f822635 100755 --- a/PythonClient/test/test_suite.py +++ b/PythonClient/test/test_suite.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/test/unit_tests/Basic.py b/PythonClient/test/unit_tests/Basic.py index fc9e2323a..9197c1241 100644 --- a/PythonClient/test/unit_tests/Basic.py +++ b/PythonClient/test/unit_tests/Basic.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/PythonClient/test/unit_tests/__init__.py b/PythonClient/test/unit_tests/__init__.py index 45081b562..ddd0237e8 100644 --- a/PythonClient/test/unit_tests/__init__.py +++ b/PythonClient/test/unit_tests/__init__.py @@ -1,5 +1,5 @@ # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . diff --git a/Unreal/CarlaUE4/Config/DefaultGame.ini b/Unreal/CarlaUE4/Config/DefaultGame.ini index 6b8758a26..8a71b87ee 100644 --- a/Unreal/CarlaUE4/Config/DefaultGame.ini +++ b/Unreal/CarlaUE4/Config/DefaultGame.ini @@ -2,7 +2,7 @@ ProjectID=675BF8694238308FA9368292CC440350 ProjectName=CARLA UE4 CompanyName=CVC -CopyrightNotice="Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonomade Barcelona (UAB), and the INTEL Visual Computing Lab.This work is licensed under the terms of the MIT license.For a copy, see ." +CopyrightNotice="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 ." ProjectVersion=0.7.0 [/Script/UnrealEd.ProjectPackagingSettings] diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h index 39e861b54..a2ffb78c6 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp index c25b86905..906cfe698 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h index 8a94d2c51..633887e54 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp index bc21f21f9..9a15ad2a5 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h index 2e8194388..b48e6c994 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h index 44cae4ab9..daba3d2e7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp index 9eb72fa70..59e954be4 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h index 48e87264e..8832dc7ed 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp index e8030de9a..198e7b199 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h index b1518c92d..b3fc2a623 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp index cc6b86bc6..a59e1d0e9 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h index 3159ef6c9..c4f59b672 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h index 7acdda9cc..5ea6cbc48 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp index 2e9e0e2cf..409a033a0 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h index ad077d234..0adb22b77 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp index ec9c7e5f7..795a656af 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h index c4e51c74f..02d9972f2 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp index 27ad8a495..c74aa981c 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h index ebfaee7f7..b2cdd2d36 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp index a8bb3e720..070dae978 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h index 44e440a7a..814d50d21 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp index 3241a645d..77c4175ce 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h index 94becc24a..83608c76d 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h index b4dbe2659..8ecc4b033 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp index 9d3d4894c..6c80d71d4 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h index c7f43d68d..e54849f60 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h index 007fadf86..cb895ca6f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp index b9555f530..55ae20caf 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h index bb51daf14..896f5af7f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp index 3352bafe8..71d326f6b 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h index 5556fd53a..9dc4247a1 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp index be9d86e1a..3ce608ee1 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h index bae8545b0..b4c008be0 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp index 8b9a8b0d6..8b2753db4 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h index f6f5e7e64..761babefb 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp index a2f2df916..e72561aca 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h index 50cbf4679..fddbf0325 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp index 5e3f9d35e..a82cdf4ea 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h index 7e8ff7fad..f4ee095e2 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp index e1f7aa497..d2a29baa8 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h index a0ea4cf03..cbe7e0b7c 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp index edb367729..c57352758 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h index 8ef00a082..ff9712141 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h index 229485fd3..a32033f39 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp index 01d9225e0..97c0c44af 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.h index 60fbbee23..80c17c057 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp index 07d0ca64b..359ff96b3 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h index 3be863c5d..690566a99 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityAreaDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityAreaDescription.h index 85496f2db..5302456f4 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityAreaDescription.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityAreaDescription.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapDefinitions.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapDefinitions.h index 114096cb5..1b03db3e6 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapDefinitions.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapDefinitions.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.cpp index 0d649a92b..47412f3fd 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h index 9cad7d854..f9eeb4ba2 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.cpp index 80c99a4f7..1ee7916fb 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h index 49d627843..32354d2d7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp index 192f81209..58a2db67a 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.h index e6af7ce57..ea83bf0aa 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.cpp index f3af81d3b..4ecc46d78 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h index 79993f7b7..b36c32dac 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.cpp index dc25d9a2b..624209441 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h index f556456af..e60405f0e 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.cpp index 81f4e2bf0..9653d8078 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.h index f332636a8..41d3662a4 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphTypes.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h index dbab62be8..d7e042443 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.cpp index bf0badbb1..2994f8f75 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h index abd6ff57b..ceb9974b7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h index 5521c0b9e..de8afa1a2 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.cpp index 97e65913c..28aaa8062 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.h index 6eb007a2c..cc61ccb13 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/StaticMeshCollection.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.cpp index ef7acda21..d05354c9f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.h index 96ea75446..ddfb852eb 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadIntersection.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.cpp index 32a974c71..f564996ea 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h index 80ab186e1..53a6e044a 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp index 0307eb634..a1fd1d1c2 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h index d4411bb7b..360bbebfd 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp index d5738a78c..223efffcc 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h index 1ab429a14..38698478b 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h index 05240a86c..d10650fc8 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h index ee59dac02..07ebded37 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp index 74c7fbb11..905ee408e 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h index 37d130c32..d024870c3 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp index 5e30ff5b7..660bfac12 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h index 522d28647..3a6005485 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp index 394aa42b6..383c1edf7 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h index edde82efb..67f5f074e 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp index 6d3639f68..9cf36179b 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h index 58d88306e..97ee77ffe 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.cpp index 31d994ab1..28c1dfd3f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h index b9f54dbcb..58437e410 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h index e2bc20502..9e6e7276f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h index 91adfd089..cd6ddf7e3 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp index 91f299282..a823cd793 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h index a124baf20..db786fade 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.cpp b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.cpp index 99d14f44e..d593e9629 100644 --- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.cpp +++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.h b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.h index 1a5eb380f..b3608a546 100644 --- a/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.h +++ b/Unreal/CarlaUE4/Source/CarlaUE4/CarlaMapGenerator.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h index 8df08944f..4ffb02f31 100644 --- a/Util/CarlaServer/include/carla/carla_server.h +++ b/Util/CarlaServer/include/carla/carla_server.h @@ -1,5 +1,5 @@ /* Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma - * de Barcelona (UAB), and the INTEL Visual Computing Lab. + * de Barcelona (UAB). * * This work is licensed under the terms of the MIT license. * For a copy, see . diff --git a/Util/CarlaServer/source/carla/ArrayView.h b/Util/CarlaServer/source/carla/ArrayView.h index edb94526e..21d5aea0c 100644 --- a/Util/CarlaServer/source/carla/ArrayView.h +++ b/Util/CarlaServer/source/carla/ArrayView.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/Debug.h b/Util/CarlaServer/source/carla/Debug.h index 00ccc37ba..c9cc82c0f 100644 --- a/Util/CarlaServer/source/carla/Debug.h +++ b/Util/CarlaServer/source/carla/Debug.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/Logging.h b/Util/CarlaServer/source/carla/Logging.h index e2d231fd9..684a0274d 100644 --- a/Util/CarlaServer/source/carla/Logging.h +++ b/Util/CarlaServer/source/carla/Logging.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/NonCopyable.h b/Util/CarlaServer/source/carla/NonCopyable.h index d6f577aab..41747bc41 100644 --- a/Util/CarlaServer/source/carla/NonCopyable.h +++ b/Util/CarlaServer/source/carla/NonCopyable.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/Profiler.h b/Util/CarlaServer/source/carla/Profiler.h index 6647ec03b..b070696eb 100644 --- a/Util/CarlaServer/source/carla/Profiler.h +++ b/Util/CarlaServer/source/carla/Profiler.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/StopWatch.h b/Util/CarlaServer/source/carla/StopWatch.h index 818a7e46c..b79d8b692 100644 --- a/Util/CarlaServer/source/carla/StopWatch.h +++ b/Util/CarlaServer/source/carla/StopWatch.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/AgentServer.cpp b/Util/CarlaServer/source/carla/server/AgentServer.cpp index 06390da48..6eac5bd94 100644 --- a/Util/CarlaServer/source/carla/server/AgentServer.cpp +++ b/Util/CarlaServer/source/carla/server/AgentServer.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/AgentServer.h b/Util/CarlaServer/source/carla/server/AgentServer.h index e02b956da..37494f387 100644 --- a/Util/CarlaServer/source/carla/server/AgentServer.h +++ b/Util/CarlaServer/source/carla/server/AgentServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/AsyncServer.h b/Util/CarlaServer/source/carla/server/AsyncServer.h index ca21f3bc9..972edde8d 100644 --- a/Util/CarlaServer/source/carla/server/AsyncServer.h +++ b/Util/CarlaServer/source/carla/server/AsyncServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/AsyncService.cpp b/Util/CarlaServer/source/carla/server/AsyncService.cpp index 967e018fa..a0aabeb11 100644 --- a/Util/CarlaServer/source/carla/server/AsyncService.cpp +++ b/Util/CarlaServer/source/carla/server/AsyncService.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/AsyncService.h b/Util/CarlaServer/source/carla/server/AsyncService.h index 7ff5b2799..aef601242 100644 --- a/Util/CarlaServer/source/carla/server/AsyncService.h +++ b/Util/CarlaServer/source/carla/server/AsyncService.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp index b90fbeca5..39cb2e654 100644 --- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp +++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.h b/Util/CarlaServer/source/carla/server/CarlaEncoder.h index c3b3525be..91732671c 100644 --- a/Util/CarlaServer/source/carla/server/CarlaEncoder.h +++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp b/Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp index 6a39cf821..081475495 100644 --- a/Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp +++ b/Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaMeasurements.h b/Util/CarlaServer/source/carla/server/CarlaMeasurements.h index b15f9a1f3..834511a3d 100644 --- a/Util/CarlaServer/source/carla/server/CarlaMeasurements.h +++ b/Util/CarlaServer/source/carla/server/CarlaMeasurements.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.cpp b/Util/CarlaServer/source/carla/server/CarlaServer.cpp index 6bf81bfd4..7add00d05 100644 --- a/Util/CarlaServer/source/carla/server/CarlaServer.cpp +++ b/Util/CarlaServer/source/carla/server/CarlaServer.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.h b/Util/CarlaServer/source/carla/server/CarlaServer.h index 8c1b2abc9..6e61b9346 100644 --- a/Util/CarlaServer/source/carla/server/CarlaServer.h +++ b/Util/CarlaServer/source/carla/server/CarlaServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/CarlaServerAPI.h b/Util/CarlaServer/source/carla/server/CarlaServerAPI.h index 6755920d3..32ffa12f9 100644 --- a/Util/CarlaServer/source/carla/server/CarlaServerAPI.h +++ b/Util/CarlaServer/source/carla/server/CarlaServerAPI.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/DoubleBuffer.h b/Util/CarlaServer/source/carla/server/DoubleBuffer.h index 4cd42920f..a9172e823 100644 --- a/Util/CarlaServer/source/carla/server/DoubleBuffer.h +++ b/Util/CarlaServer/source/carla/server/DoubleBuffer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/EncoderServer.h b/Util/CarlaServer/source/carla/server/EncoderServer.h index 5a9657f1e..70067d7ff 100644 --- a/Util/CarlaServer/source/carla/server/EncoderServer.h +++ b/Util/CarlaServer/source/carla/server/EncoderServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/Future.h b/Util/CarlaServer/source/carla/server/Future.h index f05509fe7..61c51acd0 100644 --- a/Util/CarlaServer/source/carla/server/Future.h +++ b/Util/CarlaServer/source/carla/server/Future.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp index b681e474c..95499b032 100644 --- a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp +++ b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.h b/Util/CarlaServer/source/carla/server/ImagesMessage.h index 0336d326f..58a6dfb29 100644 --- a/Util/CarlaServer/source/carla/server/ImagesMessage.h +++ b/Util/CarlaServer/source/carla/server/ImagesMessage.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h index 4804c3eb6..bcffc829b 100644 --- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h +++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/Protobuf.cpp b/Util/CarlaServer/source/carla/server/Protobuf.cpp index 7d27cbffa..acf7549e3 100644 --- a/Util/CarlaServer/source/carla/server/Protobuf.cpp +++ b/Util/CarlaServer/source/carla/server/Protobuf.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/Protobuf.h b/Util/CarlaServer/source/carla/server/Protobuf.h index 4dac0125a..b04abd022 100644 --- a/Util/CarlaServer/source/carla/server/Protobuf.h +++ b/Util/CarlaServer/source/carla/server/Protobuf.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/RequestNewEpisode.h b/Util/CarlaServer/source/carla/server/RequestNewEpisode.h index dc0b20515..0e615ffbd 100644 --- a/Util/CarlaServer/source/carla/server/RequestNewEpisode.h +++ b/Util/CarlaServer/source/carla/server/RequestNewEpisode.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/ServerTraits.h b/Util/CarlaServer/source/carla/server/ServerTraits.h index 36d206846..49720a74b 100644 --- a/Util/CarlaServer/source/carla/server/ServerTraits.h +++ b/Util/CarlaServer/source/carla/server/ServerTraits.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/TCPServer.cpp b/Util/CarlaServer/source/carla/server/TCPServer.cpp index 6470ae23f..b99745001 100644 --- a/Util/CarlaServer/source/carla/server/TCPServer.cpp +++ b/Util/CarlaServer/source/carla/server/TCPServer.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/TCPServer.h b/Util/CarlaServer/source/carla/server/TCPServer.h index c1d5ebcd8..a0b580131 100644 --- a/Util/CarlaServer/source/carla/server/TCPServer.h +++ b/Util/CarlaServer/source/carla/server/TCPServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/Task.h b/Util/CarlaServer/source/carla/server/Task.h index 6ec9a6caf..bdc51e0a9 100644 --- a/Util/CarlaServer/source/carla/server/Task.h +++ b/Util/CarlaServer/source/carla/server/Task.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/ThreadSafeQueue.h b/Util/CarlaServer/source/carla/server/ThreadSafeQueue.h index d1550d2d0..3a72c6923 100644 --- a/Util/CarlaServer/source/carla/server/ThreadSafeQueue.h +++ b/Util/CarlaServer/source/carla/server/ThreadSafeQueue.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/WorldServer.cpp b/Util/CarlaServer/source/carla/server/WorldServer.cpp index 3b7d974e8..55377af82 100644 --- a/Util/CarlaServer/source/carla/server/WorldServer.cpp +++ b/Util/CarlaServer/source/carla/server/WorldServer.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/CarlaServer/source/carla/server/WorldServer.h b/Util/CarlaServer/source/carla/server/WorldServer.h index 8f41abc51..87cfeb145 100644 --- a/Util/CarlaServer/source/carla/server/WorldServer.h +++ b/Util/CarlaServer/source/carla/server/WorldServer.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/depth_pixel_converter.h b/Util/ImageConverter/depth_pixel_converter.h index 89abe99e8..b9f4d0eec 100644 --- a/Util/ImageConverter/depth_pixel_converter.h +++ b/Util/ImageConverter/depth_pixel_converter.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/image_converter.h b/Util/ImageConverter/image_converter.h index ad2c28caf..9d8916d5f 100644 --- a/Util/ImageConverter/image_converter.h +++ b/Util/ImageConverter/image_converter.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/image_converter_types.h b/Util/ImageConverter/image_converter_types.h index 0d41ab33b..6990bfecf 100644 --- a/Util/ImageConverter/image_converter_types.h +++ b/Util/ImageConverter/image_converter_types.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/image_io.h b/Util/ImageConverter/image_io.h index fa0b9621c..31dcf128e 100644 --- a/Util/ImageConverter/image_io.h +++ b/Util/ImageConverter/image_io.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/label_pixel_converter.h b/Util/ImageConverter/label_pixel_converter.h index 0aaef761f..9c922f87b 100644 --- a/Util/ImageConverter/label_pixel_converter.h +++ b/Util/ImageConverter/label_pixel_converter.h @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/ImageConverter/main.cpp b/Util/ImageConverter/main.cpp index b9b727377..c8ed147b5 100644 --- a/Util/ImageConverter/main.cpp +++ b/Util/ImageConverter/main.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/Proto/carla_server.proto b/Util/Proto/carla_server.proto index 876ed321f..1ce3a8296 100644 --- a/Util/Proto/carla_server.proto +++ b/Util/Proto/carla_server.proto @@ -1,5 +1,5 @@ // Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma -// de Barcelona (UAB), and the INTEL Visual Computing Lab. +// de Barcelona (UAB). // // This work is licensed under the terms of the MIT license. // For a copy, see . diff --git a/Util/download_from_gdrive.py b/Util/download_from_gdrive.py index 5d13f51f6..fa137a114 100755 --- a/Util/download_from_gdrive.py +++ b/Util/download_from_gdrive.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de -# Barcelona (UAB), and the INTEL Visual Computing Lab. +# Barcelona (UAB). # # This work is licensed under the terms of the MIT license. # For a copy, see . From 241bca1c3ca6034cf706628ff5aa0635a717ea42 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 23 Jan 2018 13:03:15 +0100 Subject: [PATCH 095/121] Fix benchmark link --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index f2a803b6d..4cdce0fef 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,9 @@ environmental conditions. For instructions on how to use and compile CARLA, check out [CARLA Documentation](http://carla.readthedocs.io). -If you want to benchmark your model in the same conditions as in our CoRL’17 paper, check out [Benchmarking](https://github.com/carla-simulator/carla/blob/benchmark_branch/Docs/benchmark.md). +If you want to benchmark your model in the same conditions as in our CoRL’17 +paper, check out +[Benchmarking](http://carla.readthedocs.io/en/latest/benchmark/). News ---- From 7b22ccae3fc1470a1da8cc643f8781f2aaf3a7d0 Mon Sep 17 00:00:00 2001 From: Wim Lemkens Date: Tue, 23 Jan 2018 14:38:38 +0100 Subject: [PATCH 096/121] Added a basic description for creating a new map --- Docs/map_customization.md | 33 ++++++++++++++++++++++++++++++++- 1 file changed, 32 insertions(+), 1 deletion(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 13e7ce966..b15b7f26d 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -2,6 +2,37 @@ This are the specific blueprint assets created to help building the environment. +## Creating a new map +Notes: + - As creating a map from scratch with the Carla tools causes a crash with UE4.17.2 (Issue [#99](https://github.com/carla-simulator/carla/issues/99)), +this guide will suggest dupplicating an existing level instead of creating one from scratch. + +### Requirements + + - Checkout and build carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md) + +### Creating +1. Duplicate an existing map +2. Remove everything you don't need from the map + - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator". + - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. +3. In the CarlaMapGenerator, there is a field "seed". You can change the map by altering that seed and clicking "Trigger Road Map Generation". "Save Road Map To Disk" should also be checked. +4. You can change the seed until you have a map you are satisfied with. +5. After that you can place new PlayerStarts at the places you want the cars to be spawned. +6. The AI already works, but the cars don't act randomly. + - They will prefer to go forward at crossings. + - If that fails they try to go left. + - Going right is the final thing to try. +7. To get a random behavior, you have to place IntersectionEntrances. +(See the two example towns how it exactly works). + - Basically an entrance has a set of actors that will be the waypoints to guide the car through the intersection. + - For each intersection path, there is a different list of waypoints. +8. To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) +9. Traffic lights need to be scripted to avoid traffic accidents. +Every street at a crossing should have its own turn at green without the other streets having green. +10. Then you can populate the world with landscape and buildings. + + ## MultipleFloorBuilding: The purpose of this blueprint is to make repeating and varying tall buildings a bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats the middle floor to the desired number of stores and tops it whith the last floor given some conditions: @@ -90,4 +121,4 @@ This is the actor in charge of modifying all the lighting, environmental actors - CameraPostProcessParameters.AutoExposureBias: Darkens or brightens the final image towards a defined bias. -You can have as many different configurations saved in the proyect as you want and choose the configuration to aply while on the build, through the [settings file](carla_settings.md); or in the editor while building the level or testing. \ No newline at end of file +You can have as many different configurations saved in the proyect as you want and choose the configuration to aply while on the build, through the [settings file](carla_settings.md); or in the editor while building the level or testing. From d662fe3c91d7a268e943a8c0482291fe01e77075 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 23 Jan 2018 17:01:22 +0100 Subject: [PATCH 097/121] Increase version number --- Unreal/CarlaUE4/Config/DefaultGame.ini | 2 +- Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Unreal/CarlaUE4/Config/DefaultGame.ini b/Unreal/CarlaUE4/Config/DefaultGame.ini index 8a71b87ee..4c9370430 100644 --- a/Unreal/CarlaUE4/Config/DefaultGame.ini +++ b/Unreal/CarlaUE4/Config/DefaultGame.ini @@ -3,7 +3,7 @@ ProjectID=675BF8694238308FA9368292CC440350 ProjectName=CARLA UE4 CompanyName=CVC CopyrightNotice="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 ." -ProjectVersion=0.7.0 +ProjectVersion=0.7.1 [/Script/UnrealEd.ProjectPackagingSettings] BuildConfiguration=PPBC_Development diff --git a/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin b/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin index 4bef00a01..678cec47d 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin +++ b/Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin @@ -1,7 +1,7 @@ { "FileVersion": 3, "Version": 1, - "VersionName": "0.7.0", + "VersionName": "0.7.1", "FriendlyName": "CARLA", "Description": "", "Category": "Science", From 8cb0f038054e3b8e3d75996611c233e538ff928d Mon Sep 17 00:00:00 2001 From: felipecode Date: Tue, 23 Jan 2018 17:02:00 +0100 Subject: [PATCH 098/121] Some bug on map for manual control example --- PythonClient/carla/planner/converter.py | 5 ++++- PythonClient/carla/planner/map.py | 6 +++--- PythonClient/manual_control.py | 15 +++++++++------ 3 files changed, 16 insertions(+), 10 deletions(-) diff --git a/PythonClient/carla/planner/converter.py b/PythonClient/carla/planner/converter.py index f417f7610..00bf8a26e 100644 --- a/PythonClient/carla/planner/converter.py +++ b/PythonClient/carla/planner/converter.py @@ -12,7 +12,7 @@ NODE = 2 class Converter(object): - def __init__(self, city_file, node_density, pixel_density): + def __init__(self, city_file, pixel_density, node_density): self._node_density = node_density self._pixel_density = pixel_density @@ -60,6 +60,7 @@ class Converter(object): """ input_type = self._check_input_type(input_data) + if input_type == NODE: return self._node_to_pixel(input_data) elif input_type == WORLD: @@ -136,6 +137,8 @@ class Converter(object): rotation[1] + self._worldoffset[1] - self._mapoffset[1], rotation[2] + self._worldoffset[2] - self._mapoffset[2]] + + pixel = [math.floor(relative_location[0] / float(self._pixel_density)), math.floor(relative_location[1] / float(self._pixel_density))] diff --git a/PythonClient/carla/planner/map.py b/PythonClient/carla/planner/map.py index f402b2650..7818f8e37 100644 --- a/PythonClient/carla/planner/map.py +++ b/PythonClient/carla/planner/map.py @@ -26,7 +26,7 @@ from carla.planner.converter import Converter def color_to_angle(color): - return ((float(color) / 255.0)) * 2 * math.pi + return (float(color) / 255.0) * 2 * math.pi class CarlaMap(object): @@ -105,7 +105,7 @@ class CarlaMap(object): def convert_to_pixel(self, input_data): """ - Receives a data type (Can Be Pixel or World ) + Receives a data type (Can Be Node or World ) :param input_data: position in some coordinate :return: A node object """ @@ -113,7 +113,7 @@ class CarlaMap(object): def convert_to_world(self, input_data): """ - Receives a data type (Can Be Pixel or World ) + Receives a data type (Can Be Pixel or Node ) :param input_data: position in some coordinate :return: A node object """ diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py index 9e3d9d69b..d366fa1cf 100755 --- a/PythonClient/manual_control.py +++ b/PythonClient/manual_control.py @@ -182,7 +182,7 @@ class CarlaGame(object): if self._timer.elapsed_seconds_since_lap() > 1.0: if self._city_name is not None: # Function to get car position on map. - map_position = self._map.get_position_on_map([ + map_position = self._map.convert_to_pixel([ measurements.player_measurements.transform.location.x, measurements.player_measurements.transform.location.y, measurements.player_measurements.transform.location.z]) @@ -206,7 +206,7 @@ class CarlaGame(object): control = self._get_keyboard_control(pygame.key.get_pressed()) # Set the player position if self._city_name is not None: - self._position = self._map.get_position_on_map([ + self._position = self._map.convert_to_pixel([ measurements.player_measurements.transform.location.x, measurements.player_measurements.transform.location.y, measurements.player_measurements.transform.location.z]) @@ -298,22 +298,25 @@ class CarlaGame(object): if self._map_view is not None: array = self._map_view array = array[:, :, :3] + new_window_width =(float(WINDOW_HEIGHT)/float(self._map_shape[0]))*float(self._map_shape[1]) surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) w_pos = int(self._position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0]))) - h_pos =int(self._position[1] *(new_window_width/float(self._map_shape[1]))) + h_pos = int(self._position[1] *(new_window_width/float(self._map_shape[1]))) pygame.draw.circle(surface, [255, 0, 0, 255], (w_pos,h_pos), 6, 0) for agent in self._agent_positions: if agent.HasField('vehicle'): - agent_position = self._map.get_position_on_map([ + agent_position = self._map.convert_to_pixel([ agent.vehicle.transform.location.x, agent.vehicle.transform.location.y, agent.vehicle.transform.location.z]) + w_pos = int(agent_position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0]))) - h_pos =int(agent_position[1] *(new_window_width/float(self._map_shape[1]))) - pygame.draw.circle(surface, [255, 0, 255, 255], (w_pos,h_pos), 4, 0) + h_pos = 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Duplicate an existing map 2. Remove everything you don't need from the map - - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator". - - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. + - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator" this will keep the climate working as intended and the post process saved. + - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. 3. In the CarlaMapGenerator, there is a field "seed". You can change the map by altering that seed and clicking "Trigger Road Map Generation". "Save Road Map To Disk" should also be checked. 4. You can change the seed until you have a map you are satisfied with. 5. After that you can place new PlayerStarts at the places you want the cars to be spawned. -6. The AI already works, but the cars don't act randomly. - - They will prefer to go forward at crossings. - - If that fails they try to go left. - - Going right is the final thing to try. -7. To get a random behavior, you have to place IntersectionEntrances. +6. The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: +![Road_Instructions_Example.png](img/Road_Instructions_Example.png) + (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) + +7. To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). (See the two example towns how it exactly works). - - Basically an entrance has a set of actors that will be the waypoints to guide the car through the intersection. - - For each intersection path, there is a different list of waypoints. + +*Before version 0.7.1: +For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path + +*After version 0.7.1: +Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. + 8. To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) 9. Traffic lights need to be scripted to avoid traffic accidents. Every street at a crossing should have its own turn at green without the other streets having green. 10. Then you can populate the world with landscape and buildings. +## Blueprint Assets + +This are the specific blueprint assets created to help building the environment. ## MultipleFloorBuilding: From 85761d61ecfef235d9216f812fab673dde3b4f3a Mon Sep 17 00:00:00 2001 From: FPerez Date: Tue, 23 Jan 2018 18:21:05 +0100 Subject: [PATCH 101/121] Tweaked Map documentation --- Docs/map_customization.md | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 94510deba..0295628b8 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -19,15 +19,19 @@ this guide will suggest dupplicating an existing level instead of creating one f 5. After that you can place new PlayerStarts at the places you want the cars to be spawned. 6. The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: ![Road_Instructions_Example.png](img/Road_Instructions_Example.png) - (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) + + + + + > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) 7. To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). (See the two example towns how it exactly works). -*Before version 0.7.1: + - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path -*After version 0.7.1: + - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. 8. To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) From b785a407f9d299734062e7a2e4444532069d43ae Mon Sep 17 00:00:00 2001 From: FPerez Date: Tue, 23 Jan 2018 18:25:03 +0100 Subject: [PATCH 102/121] Tweaked Map documentation --- Docs/map_customization.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 0295628b8..806bd156e 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -23,7 +23,7 @@ this guide will suggest dupplicating an existing level instead of creating one f - > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) + > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) 7. To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). (See the two example towns how it exactly works). From fb3039a501fb8c67e0c9c8c8bb343d8dd6af6331 Mon Sep 17 00:00:00 2001 From: FPerez Date: Tue, 23 Jan 2018 18:33:37 +0100 Subject: [PATCH 103/121] Tweaked Map documentation again --- Docs/map_customization.md | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 806bd156e..a17463452 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -19,21 +19,12 @@ this guide will suggest dupplicating an existing level instead of creating one f 5. After that you can place new PlayerStarts at the places you want the cars to be spawned. 6. The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: ![Road_Instructions_Example.png](img/Road_Instructions_Example.png) - - - - > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) 7. To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). (See the two example towns how it exactly works). - - - Before version 0.7.1: -For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path - - - After version 0.7.1: -Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. - + - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path + - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. 8. To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) 9. Traffic lights need to be scripted to avoid traffic accidents. Every street at a crossing should have its own turn at green without the other streets having green. From 373cfa21649f267f3062527202cd551bb08e14c5 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 12:33:54 +0100 Subject: [PATCH 104/121] Clarification in example settings --- Docs/Example.CarlaSettings.ini | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Docs/Example.CarlaSettings.ini b/Docs/Example.CarlaSettings.ini index 8de855982..a9e904672 100644 --- a/Docs/Example.CarlaSettings.ini +++ b/Docs/Example.CarlaSettings.ini @@ -1,4 +1,6 @@ ; Example of settings file for CARLA. +; +; 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 From 022daafc69ba5afcc14e50ccb6bd990a09324d5f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 12:34:12 +0100 Subject: [PATCH 105/121] Update changelog --- CHANGELOG.md | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f52b32893..0b631ea12 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,21 @@ +## CARLA 0.7.1 + + * New Python API module: Benchmark + - Defines a set of tasks and conditions to test a certain agent + - Contains a starting benchmark, CoRL2017 + - Contains Agent Class: Interface for benchmarking AIs + * New Python API module: Basic Planner (Temporary Hack) + - Provide routes for the agent + - Contains AStar module to find the shortest route + * Other Python API improvements + - Converter class to convert between Unreal world and map units + - Metrics module to summarize benchmark results + * Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated) + * New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed) + * Create a random engine for each vehicle, which greatly improves repeatability + * Add option to skip content download in Setup.sh + * Few small fixes to the city assets + ## CARLA 0.7.0 * New Python client API @@ -9,7 +27,7 @@ - Better documentation - Protocol: renamed "ai_control" to "autopilot_control" - Merged testing client - - Added the maps for both cities, the client can now access the car position within the lane. + - Added the maps for both cities, the client can now access the car position within the lane * Make CARLA start without client by default * Added wind effect to some trees and plants * Improvements to the existing weather presets From 23dcee8cf4908197674d7208dbcef389a47d94e5 Mon Sep 17 00:00:00 2001 From: FPerez Date: Wed, 24 Jan 2018 12:35:16 +0100 Subject: [PATCH 106/121] Tweaked Map documentation again --- Docs/map_customization.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index a17463452..875f76203 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -1,8 +1,8 @@ # Map customization ## Creating a new map -Notes: - - As creating a map from scratch with the Carla tools causes a crash with UE4.17.2 (Issue [#99](https://github.com/carla-simulator/carla/issues/99)), +!!! Bug + - Creating a map from scratch with the Carla tools causes a crash with UE4.17.2 (Issue [#99](https://github.com/carla-simulator/carla/issues/99)), this guide will suggest dupplicating an existing level instead of creating one from scratch. ### Requirements From e5a9de971d3ae0f2489fb26d1caf46e9e2274d98 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 12:36:18 +0100 Subject: [PATCH 107/121] Add Package.sh --- Package.sh | 156 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 156 insertions(+) create mode 100755 Package.sh diff --git a/Package.sh b/Package.sh new file mode 100755 index 000000000..72b62e664 --- /dev/null +++ b/Package.sh @@ -0,0 +1,156 @@ +#! /bin/bash + +################################################################################ +# Packages a CARLA build. +################################################################################ + +set -e + +DOC_STRING="Makes a packaged version of CARLA for distribution. +Please make sure to run Rebuild.sh before!" + +USAGE_STRING="Usage: $0 [-h|--help] [--skip-packaging]" + +# ============================================================================== +# -- Parse arguments ----------------------------------------------------------- +# ============================================================================== + +DO_PACKAGE=true +DO_COPY_FILES=true +DO_TARBALL=true + +OPTS=`getopt -o h --long help,skip-packaging -n 'parse-options' -- "$@"` + +if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi + +eval set -- "$OPTS" + +while true; do + case "$1" in + --skip-packaging ) + DO_PACKAGE=false + shift ;; + -h | --help ) + echo "$DOC_STRING" + echo "$USAGE_STRING" + exit 1 + ;; + * ) + break ;; + esac +done + +# ============================================================================== +# -- Set up environment -------------------------------------------------------- +# ============================================================================== + +SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" +pushd "$SCRIPT_DIR" >/dev/null + +REPOSITORY_TAG=`git describe --tags --dirty --always` + +echo "Packaging version '$REPOSITORY_TAG'." + +UNREAL_PROJECT_FOLDER=${PWD}/Unreal/CarlaUE4 +DIST_FOLDER=${PWD}/Dist +BUILD_FOLDER=${DIST_FOLDER}/${REPOSITORY_TAG} + +function fatal_error { + echo -e "\033[0;31mERROR: $1\033[0m" + exit 1 +} + +function log { + echo -e "\033[0;33m$1\033[0m" +} + +# ============================================================================== +# -- Package project ----------------------------------------------------------- +# ============================================================================== + +if $DO_PACKAGE ; then + + pushd "$UNREAL_PROJECT_FOLDER" >/dev/null + + log "Packaging the project..." + + if [ ! -d "${UE4_ROOT}" ]; then + fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable." + fi + + rm -Rf ${BUILD_FOLDER} + mkdir ${BUILD_FOLDER} + + ${UE4_ROOT}/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \ + -project="${PWD}/CarlaUE4.uproject" \ + -noP4 -platform=Linux \ + -clientconfig=Development -serverconfig=Development \ + -cook -compile -build -stage -pak -archive \ + -archivedirectory="${BUILD_FOLDER}" + + popd >/dev/null + +fi + +if [[ ! -d ${BUILD_FOLDER}/LinuxNoEditor ]] ; then + fatal_error "Failed to package the project!" +fi + +# ============================================================================== +# -- Copy files (Python server, README, etc) ----------------------------------- +# ============================================================================== + +if $DO_COPY_FILES ; then + + DESTINATION=${BUILD_FOLDER}/LinuxNoEditor + + log "Copying extra files..." + + cp -v ./LICENSE ${DESTINATION}/LICENSE + cp -v ./CHANGELOG.md ${DESTINATION}/CHANGELOG + cp -v ./Docs/release_readme.md ${DESTINATION}/README + cp -v ./Docs/Example.CarlaSettings.ini ${DESTINATION}/Example.CarlaSettings.ini + + rsync -vhr --delete --delete-excluded \ + --exclude "__pycache__" \ + --exclude "*.pyc" \ + --exclude ".*" \ + PythonClient/ ${DESTINATION}/PythonClient + + echo + +fi + +# ============================================================================== +# -- Zip the project ----------------------------------------------------------- +# ============================================================================== + +if $DO_TARBALL ; then + + DESTINATION=${DIST_FOLDER}/CARLA_${REPOSITORY_TAG}.tar.gz + SOURCE=${BUILD_FOLDER}/LinuxNoEditor + + pushd "$SOURCE" >/dev/null + + log "Packaging build..." + + rm -f ./Manifest_NonUFSFiles_Linux.txt + rm -Rf ./CarlaUE4/Saved + rm -Rf ./Engine/Saved + + tar -czvf ${DESTINATION} * + + popd >/dev/null + +fi + +# ============================================================================== +# -- ...and we are done -------------------------------------------------------- +# ============================================================================== + +echo "" +echo "****************" +echo "*** Success! ***" +echo "****************" + +popd >/dev/null From 66f35cec9dcb5968c465bd4bc79deaadbd18846d Mon Sep 17 00:00:00 2001 From: FPerez Date: Wed, 24 Jan 2018 12:42:28 +0100 Subject: [PATCH 108/121] Tweaked Map documentation again --- Docs/map_customization.md | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 875f76203..e52a9c0c4 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -10,25 +10,25 @@ this guide will suggest dupplicating an existing level instead of creating one f - Checkout and build carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md) ### Creating -1. Duplicate an existing map -2. Remove everything you don't need from the map - - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator" this will keep the climate working as intended and the post process saved. - - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. -3. In the CarlaMapGenerator, there is a field "seed". You can change the map by altering that seed and clicking "Trigger Road Map Generation". "Save Road Map To Disk" should also be checked. -4. You can change the seed until you have a map you are satisfied with. -5. After that you can place new PlayerStarts at the places you want the cars to be spawned. -6. The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: +- Duplicate an existing map +- Remove everything you don't need from the map + - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator" this will keep the climate working as intended and the post process saved. + - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. +- In the CarlaMapGenerator, there is a field "seed". You can change the map by altering that seed and clicking "Trigger Road Map Generation". "Save Road Map To Disk" should also be checked. +- You can change the seed until you have a map you are satisfied with. +- After that you can place new PlayerStarts at the places you want the cars to be spawned. +- The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: ![Road_Instructions_Example.png](img/Road_Instructions_Example.png) > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) -7. To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). +- To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). (See the two example towns how it exactly works). - - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path - - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. -8. To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) -9. Traffic lights need to be scripted to avoid traffic accidents. + - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path + - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. +- To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) +- Traffic lights need to be scripted to avoid traffic accidents. Every street at a crossing should have its own turn at green without the other streets having green. -10. Then you can populate the world with landscape and buildings. +- Then you can populate the world with landscape and buildings. ## Blueprint Assets From 8ebe65070d65a46d187dfd3c469339c05bc3dbcb Mon Sep 17 00:00:00 2001 From: FPerez Date: Wed, 24 Jan 2018 14:38:32 +0100 Subject: [PATCH 109/121] Spellchecked MapCustomization ducumentation --- Docs/map_customization.md | 50 +++++++++++++++++++-------------------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index e52a9c0c4..0c673284a 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -3,28 +3,28 @@ ## Creating a new map !!! Bug - Creating a map from scratch with the Carla tools causes a crash with UE4.17.2 (Issue [#99](https://github.com/carla-simulator/carla/issues/99)), -this guide will suggest dupplicating an existing level instead of creating one from scratch. +this guide will suggest duplicating an existing level instead of creating one from scratch. ### Requirements - - Checkout and build carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md) + - Checkout and build Carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md) ### Creating - Duplicate an existing map - Remove everything you don't need from the map - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator" this will keep the climate working as intended and the post process saved. - - It might be interesting to keep the empty level as a template and dupplicate it before starting to populate it. + - It might be interesting to keep the empty level as a template and duplicate it before starting to populate it. - In the CarlaMapGenerator, there is a field "seed". You can change the map by altering that seed and clicking "Trigger Road Map Generation". "Save Road Map To Disk" should also be checked. - You can change the seed until you have a map you are satisfied with. - After that you can place new PlayerStarts at the places you want the cars to be spawned. - The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections: ![Road_Instructions_Example.png](img/Road_Instructions_Example.png) - > (This is a debug view of the instructions the road gives to the Vehicle. They will allways follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) + > (This is a debug view of the instructions the road gives to the Vehicle. They will always follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road) -- To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the directoion the vehicle will take overwriting the directions given by the roadmap (until they finish their given order). -(See the two example towns how it exactly works). - - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to asign the corresponding actors to every Path - - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. +- To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the direction the vehicle will take overwriting the directions given by the road map (until they finish their given order). +(See the two example towns how it exactly works). + - Before version 0.7.1: For every entrance you'll have to create a series of empty actors that will be the waypoints to guide the car through the intersection; Then you'll have to assign the corresponding actors to every Path + - After version 0.7.1: Every IntersectionEntrance has an array called routes, adding an element to this creates an editable spline in the world with the first point on the IntersectionEntrance (You might have to select another object before you can see it) This spline defines the possible routes any car will take when entering the intersection (as the Empty actors did before) you might configure this routes as you would edit any Unreal spline. Each route will create an element in the field bellow: "Probabilities" every number in this array defines the chances of any vehicle to take the corresponding route. - To change the speed of the car, use the SpeedLimiters. They are straightforward to use. (Make sure you limit the speed for the corners, otherwise the cars will try and fail to take them at full speed) - Traffic lights need to be scripted to avoid traffic accidents. Every street at a crossing should have its own turn at green without the other streets having green. @@ -36,7 +36,7 @@ This are the specific blueprint assets created to help building the environment. ## MultipleFloorBuilding: -The purpose of this blueprint is to make repeating and varying tall buildings a bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats the middle floor to the desired number of stores and tops it whith the last floor given some conditions: +The purpose of this blueprint is to make repeating and varying tall buildings a bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats the middle floor to the desired number of stores and tops it with the last floor given some conditions: - All model pivots should be in the bottom center of the Specific mesh. - Al models must start and end exactly where the repetition happen. @@ -46,8 +46,8 @@ This blueprint is controlled by this 6 specific Parameters: - Floor: The mesh to be repeated along the building. - Roof: Final mesh to top the building. - FloorNumber: Number of stores of the building. - - FloorHeightOffset: Adjust The placement of every floor verticaly. - - RoofOffset: Adjust the placement of the roof verticaly. + - FloorHeightOffset: Adjust The placement of every floor vertically. + - RoofOffset: Adjust the placement of the roof vertically. All of This parameters can be modified once this blueprint is placed in the world. @@ -55,36 +55,36 @@ All of This parameters can be modified once this blueprint is placed in the worl !!! Bug See [#35 SplineMeshRepeater loses its collider mesh](https://github.com/carla-simulator/carla/issues/35) - + ### Standard use: -SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in the Carla Project to help building urban environments; It repeats and aligns a specific choosen mesh along a [Spline](https://docs.unrealengine.com/latest/INT/Engine/BlueprintSplines/Reference/SplineEditorTool/index.html) (Unreal Component). Its principal function is to build Tipicaly tiled and repetitive structures as Walls, Roads, Bridges, Fences... Once the actor is placed into the world the spline can be modified so the object gets the desired form. Each Point Defining the spline Generates a new tile so that as more points the Spline has, the more defined it will be, but also heavyer on the world. This actor is defined by the following parameters: +SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in the Carla Project to help building urban environments; It repeats and aligns a specific choosen mesh along a [Spline](https://docs.unrealengine.com/latest/INT/Engine/BlueprintSplines/Reference/SplineEditorTool/index.html) (Unreal Component). Its principal function is to build Tipicaly tiled and repetitive structures as Walls, Roads, Bridges, Fences... Once the actor is placed into the world the spline can be modified so the object gets the desired form. Each Point Defining the spline Generates a new tile so that as more points the Spline has, the more defined it will be, but also heavier on the world. This actor is defined by the following parameters: - StaticMesh: The mesh to be repeated along the spline. - - ForWardAxis: Changes the mesh axis to be alingned with the spline. + - ForWardAxis: Changes the mesh axis to be aligned with the spline. - Material: Overrides the mesh' default material. - - Colission Enabled: Chooses the tipe of colission to use. + - Collision Enabled: Chooses the type of collision to use. - Gap distance: Places a Gap between each repeated mesh, for repetitive non continuous walls: bush chains, bollards... -(Last three variables are specific for some particular assets to be defined in the next point) A requisite to create assets compatibles with this componenis is that all the meshes have their pivot placed wherever the repetition starts in the lower point possible with the rest of the mesh pointing positive (Preferably by the X axis) +(Last three variables are specific for some particular assets to be defined in the next point) A requisite to create assets compatibles with this component is that all the meshes have their pivot placed wherever the repetition starts in the lower point possible with the rest of the mesh pointing positive (Preferably by the X axis) ### Specific Walls (Dynamic material) -In the project folder "Content/Static/Walls" are included some specific assets to be used with this SplineMeshRepeater with a series of special caracteristics. The uv space of this meshes and their materials are the same for all of them, making them excangeable. each material is composed of three different surfaces the last three parameters slightly modify the color of this surfaces: +In the project folder "Content/Static/Walls" are included some specific assets to be used with this SplineMeshRepeater with a series of special characteristics. The uv space of this meshes and their materials are the same for all of them, making them exchangeable. each material is composed of three different surfaces the last three parameters slightly modify the color of this surfaces: - MainMaterialColor: Change the main material of the Wall - DetailsColor: Change the color of the details (if any) - - TopWallColor: Cambia el color de la cubierta del muro (if any) + - TopWallColor: Change the color of the wall cover (if any) - To add elements that profit from this functions exist in the (Carpeta) folder the GardenWallMask File that defines the uv space to place the materials: (Blue space: MainMaterial; green space: Details; red space TopWall). + To add elements that profit from this functions exist the GardenWallMask File that defines the uv space to place the materials: (Blue space: MainMaterial; green space: Details; red space TopWall). Between the material masters is WallMaster which is going to be the master of the materials using this function. An instance of this material will be created and the correspondent textures will be added. This material includes the following parameters to be modified by the material to use: - - Normal Flattener: Slightly modifies the normal map values to exagerate it or flatten it. - - RoughnessCorrection: Para corregir El valor de rugosidad dado por la textura. + - Normal Flattener: Slightly modifies the normal map values to exaggerate it or flatten it. + - RoughnessCorrection: Changes the Roughness value given by the texture. The rest of the parameters are the mask the textures and the color corrections that won't be modified in this instance but in the blueprint that will be launched into the world. @@ -92,7 +92,7 @@ Between the material masters is WallMaster which is going to be the master of th ## Weather -This is the actor in charge of modifying all the lighting, environmental actors an anything that affects the impression of the climate. It runs automaticaly with the game when is not specified otherwise In the Config.Ini but has Its own actor to launch in editor mode to configure the climatic conditions. To fuly work It will need One of each of the folowing actors: SkySphere, Skylight, Postprocess Volume (Boundless) And Light Source to exist in the world. +This is the actor in charge of modifying all the lighting, environmental actors an anything that affects the impression of the climate. It runs automatically with the game when is not specified otherwise In the Config.Ini but has Its own actor to launch in editor mode to configure the climatic conditions. To fully work It will need One of each of the following actors: SkySphere, Skylight, Postprocess Volume (Boundless) And Light Source to exist in the world. - SunPolarAngle: polar angle of the sun, determines time of the day - SunAzimuthAngle: adds to the location of the sun in the current level @@ -100,7 +100,7 @@ This is the actor in charge of modifying all the lighting, environmental actors - SunDirectionalLightIntensity: Intensity of the sunlight - SunDirectionalLightColor: Color of the sunlight - SunIndirectLightIntensity: intensity of the bounces of the main light - - CloudOpacity: visivility of the cloud rendering on the skybox + - CloudOpacity: visibility of the cloud rendering on the skybox - HorizontFalloff: determines the height of the gradient between the zenith and horizon color - ZenithColor: Defines the color of the zenith. - HorizonColor: Defines the color of the horizon. @@ -111,7 +111,7 @@ This is the actor in charge of modifying all the lighting, environmental actors - Precipitation: Defines if any precipitation is active. - PrecipitationType: the type of precipitation to active. - PrecipitationAmount: the quantity of the chosen precipitation. - - PrecipitationAccumulation: the acumulation of the chosen precipitation. + - PrecipitationAccumulation: the accumulation of the chosen precipitation. - bWind: defines if there is any wind. - WindIntensity: defines the wind intensity. - WindAngle: defines the wind direction. @@ -122,4 +122,4 @@ This is the actor in charge of modifying all the lighting, environmental actors - CameraPostProcessParameters.AutoExposureBias: Darkens or brightens the final image towards a defined bias. -You can have as many different configurations saved in the proyect as you want and choose the configuration to aply while on the build, through the [settings file](carla_settings.md); or in the editor while building the level or testing. +You can have as many different configurations saved in the project as you want and choose the configuration to aply while on the build, through the [settings file](carla_settings.md); or in the editor while building the level or testing. From ee555a90a0fc3ebfe9c0d768532a5bf73a3e192e Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 15:15:40 +0100 Subject: [PATCH 110/121] Format fixes --- Docs/map_customization.md | 69 +++++++++++++++++++++++++++++---------- 1 file changed, 52 insertions(+), 17 deletions(-) diff --git a/Docs/map_customization.md b/Docs/map_customization.md index 0c673284a..a242dd427 100644 --- a/Docs/map_customization.md +++ b/Docs/map_customization.md @@ -1,15 +1,19 @@ # Map customization ## Creating a new map + !!! Bug - - Creating a map from scratch with the Carla tools causes a crash with UE4.17.2 (Issue [#99](https://github.com/carla-simulator/carla/issues/99)), -this guide will suggest duplicating an existing level instead of creating one from scratch. + Creating a map from scratch with the Carla tools causes a crash with + UE4.17.2 ([Issue #99](https://github.com/carla-simulator/carla/issues/99)), + this guide will suggest duplicating an existing level instead of creating + one from scratch. ### Requirements - Checkout and build Carla from source on [Linux](how_to_build_on_linux.md) or [Windows](how_to_build_on_windows.md) ### Creating + - Duplicate an existing map - Remove everything you don't need from the map - Keep the folder "Lighting", "AtmosphericFog", "PostProcessVol" and "CarlaMapGenerator" this will keep the climate working as intended and the post process saved. @@ -36,7 +40,11 @@ This are the specific blueprint assets created to help building the environment. ## MultipleFloorBuilding: -The purpose of this blueprint is to make repeating and varying tall buildings a bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats the middle floor to the desired number of stores and tops it with the last floor given some conditions: +The purpose of this blueprint is to make repeating and varying tall buildings a +bit easier. Provided a Base, a MiddleFloor and a roof; this blueprint repeats +the middle floor to the desired number of stores and tops it with the last floor +given some conditions: + - All model pivots should be in the bottom center of the Specific mesh. - Al models must start and end exactly where the repetition happen. @@ -49,7 +57,8 @@ This blueprint is controlled by this 6 specific Parameters: - FloorHeightOffset: Adjust The placement of every floor vertically. - RoofOffset: Adjust the placement of the roof vertically. -All of This parameters can be modified once this blueprint is placed in the world. +All of This parameters can be modified once this blueprint is placed in the +world. ## SplinemeshRepeater: @@ -58,8 +67,16 @@ All of This parameters can be modified once this blueprint is placed in the worl ### Standard use: -SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in the Carla Project to help building urban environments; It repeats and aligns a specific choosen mesh along a [Spline](https://docs.unrealengine.com/latest/INT/Engine/BlueprintSplines/Reference/SplineEditorTool/index.html) (Unreal Component). Its principal function is to build Tipicaly tiled and repetitive structures as Walls, Roads, Bridges, Fences... Once the actor is placed into the world the spline can be modified so the object gets the desired form. Each Point Defining the spline Generates a new tile so that as more points the Spline has, the more defined it will be, but also heavier on the world. This actor is defined by the following parameters: - +SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in +the Carla Project to help building urban environments; It repeats and aligns a +specific chosen mesh along a +[Spline](https://docs.unrealengine.com/latest/INT/Engine/BlueprintSplines/Reference/SplineEditorTool/index.html) +(Unreal Component). Its principal function is to build Typically tiled and +repetitive structures as Walls, Roads, Bridges, Fences... Once the actor is +placed into the world the spline can be modified so the object gets the desired +form. Each Point Defining the spline Generates a new tile so that as more points +the Spline has, the more defined it will be, but also heavier on the world. This +actor is defined by the following parameters: - StaticMesh: The mesh to be repeated along the spline. - ForWardAxis: Changes the mesh axis to be aligned with the spline. @@ -67,13 +84,21 @@ SplineMeshRepeater "Content/Blueprints/SplineMeshRepeater" is a tool included in - Collision Enabled: Chooses the type of collision to use. - Gap distance: Places a Gap between each repeated mesh, for repetitive non continuous walls: bush chains, bollards... - -(Last three variables are specific for some particular assets to be defined in the next point) A requisite to create assets compatibles with this component is that all the meshes have their pivot placed wherever the repetition starts in the lower point possible with the rest of the mesh pointing positive (Preferably by the X axis) +(Last three variables are specific for some particular assets to be defined in +the next point) A requisite to create assets compatibles with this component is +that all the meshes have their pivot placed wherever the repetition starts in +the lower point possible with the rest of the mesh pointing positive (Preferably +by the X axis) ### Specific Walls (Dynamic material) -In the project folder "Content/Static/Walls" are included some specific assets to be used with this SplineMeshRepeater with a series of special characteristics. The uv space of this meshes and their materials are the same for all of them, making them exchangeable. each material is composed of three different surfaces the last three parameters slightly modify the color of this surfaces: +In the project folder "Content/Static/Walls" are included some specific assets +to be used with this SplineMeshRepeater with a series of special +characteristics. The UV space of this meshes and their materials are the same +for all of them, making them exchangeable. each material is composed of three +different surfaces the last three parameters slightly modify the color of this +surfaces: - MainMaterialColor: Change the main material of the Wall - DetailsColor: Change the color of the details (if any) @@ -81,18 +106,26 @@ In the project folder "Content/Static/Walls" are included some specific assets t To add elements that profit from this functions exist the GardenWallMask File that defines the uv space to place the materials: (Blue space: MainMaterial; green space: Details; red space TopWall). -Between the material masters is WallMaster which is going to be the master of the materials using this function. An instance of this material will be created and the correspondent textures will be added. This material includes the following parameters to be modified by the material to use: +Between the material masters is WallMaster which is going to be the master of +the materials using this function. An instance of this material will be created +and the correspondent textures will be added. This material includes the +following parameters to be modified by the material to use: - Normal Flattener: Slightly modifies the normal map values to exaggerate it or flatten it. - RoughnessCorrection: Changes the Roughness value given by the texture. - The rest of the parameters are the mask the textures and the color corrections that won't be modified in this instance but in the blueprint that will be launched into the world. - - - +The rest of the parameters are the mask the textures and the color corrections +that won't be modified in this instance but in the blueprint that will be +launched into the world. ## Weather -This is the actor in charge of modifying all the lighting, environmental actors an anything that affects the impression of the climate. It runs automatically with the game when is not specified otherwise In the Config.Ini but has Its own actor to launch in editor mode to configure the climatic conditions. To fully work It will need One of each of the following actors: SkySphere, Skylight, Postprocess Volume (Boundless) And Light Source to exist in the world. + +This is the actor in charge of modifying all the lighting, environmental actors +an anything that affects the impression of the climate. It runs automatically +with the game when is not specified otherwise In the Config. Ini but has Its own +actor to launch in editor mode to configure the climatic conditions. To fully +work It will need One of each of the following actors: SkySphere, Skylight, +Postprocess Volume (Boundless) And Light Source to exist in the world. - SunPolarAngle: polar angle of the sun, determines time of the day - SunAzimuthAngle: adds to the location of the sun in the current level @@ -121,5 +154,7 @@ This is the actor in charge of modifying all the lighting, environmental actors - CameraPostProcessParameters.AutoExposureMaxBrightness: defines the maximum brightness the autoexposure will count as right in the final image. - CameraPostProcessParameters.AutoExposureBias: Darkens or brightens the final image towards a defined bias. - -You can have as many different configurations saved in the project as you want and choose the configuration to aply while on the build, through the [settings file](carla_settings.md); or in the editor while building the level or testing. +You can have as many different configurations saved in the project as you want +and choose the configuration to apply while on the build, through the +[settings file](carla_settings.md); or in the editor while building the level or +testing. From 78db608bcb59210038bc7c1607f7d74b37a89899 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 19:35:16 +0100 Subject: [PATCH 111/121] Use same package command as the editor --- Package.sh | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/Package.sh b/Package.sh index 72b62e664..b175a6969 100755 --- a/Package.sh +++ b/Package.sh @@ -83,9 +83,10 @@ if $DO_PACKAGE ; then ${UE4_ROOT}/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \ -project="${PWD}/CarlaUE4.uproject" \ - -noP4 -platform=Linux \ - -clientconfig=Development -serverconfig=Development \ - -cook -compile -build -stage -pak -archive \ + -nocompileeditor -nop4 -cook -stage -archive -package \ + -clientconfig=Development -ue4exe=UE4Editor \ + -pak -prereqs -nodebuginfo \ + -targetplatform=Linux -build -CrashReporter -utf8output \ -archivedirectory="${BUILD_FOLDER}" popd >/dev/null From 57a402ed0049e9fe3318707918a59b9950293f52 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 19:47:57 +0100 Subject: [PATCH 112/121] Some improvements to Package.sh --- Package.sh | 25 ++++++++++++++++++++++--- 1 file changed, 22 insertions(+), 3 deletions(-) diff --git a/Package.sh b/Package.sh index b175a6969..123c0bd89 100755 --- a/Package.sh +++ b/Package.sh @@ -9,7 +9,7 @@ set -e DOC_STRING="Makes a packaged version of CARLA for distribution. Please make sure to run Rebuild.sh before!" -USAGE_STRING="Usage: $0 [-h|--help] [--skip-packaging]" +USAGE_STRING="Usage: $0 [-h|--help] [--no-packaging] [--no-zip] [--clean-intermediate]" # ============================================================================== # -- Parse arguments ----------------------------------------------------------- @@ -18,8 +18,9 @@ USAGE_STRING="Usage: $0 [-h|--help] [--skip-packaging]" DO_PACKAGE=true DO_COPY_FILES=true DO_TARBALL=true +DO_CLEAN_INTERMEDIATE=false -OPTS=`getopt -o h --long help,skip-packaging -n 'parse-options' -- "$@"` +OPTS=`getopt -o h --long help,no-packaging,no-zip,clean-intermediate -n 'parse-options' -- "$@"` if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi @@ -27,9 +28,15 @@ eval set -- "$OPTS" while true; do case "$1" in - --skip-packaging ) + --no-packaging ) DO_PACKAGE=false shift ;; + --no-zip ) + DO_TARBALL=false + shift ;; + --clean-intermediate ) + DO_CLEAN_INTERMEDIATE=true + shift ;; -h | --help ) echo "$DOC_STRING" echo "$USAGE_STRING" @@ -145,6 +152,18 @@ if $DO_TARBALL ; then fi +# ============================================================================== +# -- Remove intermediate files ------------------------------------------------- +# ============================================================================== + +if $DO_CLEAN_INTERMEDIATE ; then + + log "Removing intermediate build..." + + rm -Rf ${BUILD_FOLDER} + +fi + # ============================================================================== # -- ...and we are done -------------------------------------------------------- # ============================================================================== From 7c06350340d4d75234d90482b5abe9f943b802dd Mon Sep 17 00:00:00 2001 From: nsubiron Date: Wed, 24 Jan 2018 23:39:26 +0100 Subject: [PATCH 113/121] Fix Package.sh fails if Dist folder does not exist --- Package.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Package.sh b/Package.sh index 123c0bd89..fe862178f 100755 --- a/Package.sh +++ b/Package.sh @@ -86,7 +86,7 @@ if $DO_PACKAGE ; then fi rm -Rf ${BUILD_FOLDER} - mkdir ${BUILD_FOLDER} + mkdir -p ${BUILD_FOLDER} ${UE4_ROOT}/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \ -project="${PWD}/CarlaUE4.uproject" \ From 729463a09380ac2d59cd2ddd2d0eb455db36df2e Mon Sep 17 00:00:00 2001 From: nsubiron Date: Thu, 25 Jan 2018 16:03:44 +0100 Subject: [PATCH 114/121] Update news with last release --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 4cdce0fef..f4823a8a3 100644 --- a/README.md +++ b/README.md @@ -23,6 +23,7 @@ paper, check out News ---- +- 25.01.2018 CARLA 0.7.1 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-071), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.1). - 22.01.2018 Job opening: [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1). - 28.11.2017 CARLA 0.7.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-070), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.0). - 15.11.2017 CARLA 0.6.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-060), [release](https://github.com/carla-simulator/carla/releases/tag/0.6.0). From a186c51952058d1202e77ead1f3f5ea08f1e068f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Thu, 25 Jan 2018 16:56:35 +0100 Subject: [PATCH 115/121] Fix minor bug in client_example.py --- PythonClient/client_example.py | 1 + 1 file changed, 1 insertion(+) diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py index 4f513b09f..325e7949d 100755 --- a/PythonClient/client_example.py +++ b/PythonClient/client_example.py @@ -212,6 +212,7 @@ def main(): settings_filepath=args.carla_settings) print('Done.') + return except TCPConnectionError as error: logging.error(error) From 756cf45c58e5a139af07031e542f977357d15c6c Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 26 Jan 2018 13:05:36 +0100 Subject: [PATCH 116/121] Update contents link --- Util/ContentVersions.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt index 3a6553be4..a38901626 100644 --- a/Util/ContentVersions.txt +++ b/Util/ContentVersions.txt @@ -7,4 +7,4 @@ 0.5.4: 0B2HFV-VuKn3PYUFFanlmZ2VMTW8 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT -0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq +0.7.1: 1oDGYzr8FaYl4TeMNlrEMLNo-_5umA9Th From 309df4cd7205be3ab8f250334ae15673b488a7c3 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 26 Jan 2018 15:54:42 +0100 Subject: [PATCH 117/121] Change email --- Docs/CONTRIBUTING.md | 2 +- PythonClient/setup.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index 1f0c50781..4aafed180 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -59,7 +59,7 @@ Before starting hands-on on coding, please check out the [projects page][projectslink] to see if we are already working on that, it would be a pity putting an effort into something just to discover that someone else was already working on that. In case of doubt or to discuss how to proceed, -please contact one of us (or send an email to carla.simulator@gmail.com). +please contact one of us (or send an email to carla.ai.simulator@gmail.com). [projectslink]: https://github.com/carla-simulator/carla/projects/1 diff --git a/PythonClient/setup.py b/PythonClient/setup.py index 7969450a6..cf2ee6512 100644 --- a/PythonClient/setup.py +++ b/PythonClient/setup.py @@ -10,6 +10,6 @@ setup( description='Python API for communicating with the CARLA server.', url='https://github.com/carla-simulator/carla', author='The CARLA team', - author_email='carla.simulator@gmail.com', + author_email='carla.ai.simulator@gmail.com', include_package_data=True ) From ef404644a8cb1e0309e06aab221189bb2a68d644 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 26 Jan 2018 15:55:56 +0100 Subject: [PATCH 118/121] Exclude Dist from ST project --- CARLA.sublime-project | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/CARLA.sublime-project b/CARLA.sublime-project index b5f335ef3..caa5bc2bb 100644 --- a/CARLA.sublime-project +++ b/CARLA.sublime-project @@ -5,18 +5,19 @@ "path": ".", "folder_exclude_patterns": [ - "__pycache__", ".clang", ".codelite", ".kdev4", ".vs", - "Build", "Binaries", - "Unreal/CarlaUE4/Content*", + "Build", "DerivedDataCache", + "Dist", "Doxygen", "Intermediate", - "Saved" + "Saved", + "Unreal/CarlaUE4/Content*", + "__pycache__" ], "file_exclude_patterns": [ From 65e76fbcb7e89854aabf469af3cc914cbc4cac62 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Mon, 29 Jan 2018 11:45:46 +0100 Subject: [PATCH 119/121] Rollback links --- Docs/CONTRIBUTING.md | 2 +- PythonClient/setup.py | 2 +- Util/ContentVersions.txt | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md index 4aafed180..1f0c50781 100644 --- a/Docs/CONTRIBUTING.md +++ b/Docs/CONTRIBUTING.md @@ -59,7 +59,7 @@ Before starting hands-on on coding, please check out the [projects page][projectslink] to see if we are already working on that, it would be a pity putting an effort into something just to discover that someone else was already working on that. In case of doubt or to discuss how to proceed, -please contact one of us (or send an email to carla.ai.simulator@gmail.com). +please contact one of us (or send an email to carla.simulator@gmail.com). [projectslink]: https://github.com/carla-simulator/carla/projects/1 diff --git a/PythonClient/setup.py b/PythonClient/setup.py index cf2ee6512..7969450a6 100644 --- a/PythonClient/setup.py +++ b/PythonClient/setup.py @@ -10,6 +10,6 @@ setup( description='Python API for communicating with the CARLA server.', url='https://github.com/carla-simulator/carla', author='The CARLA team', - author_email='carla.ai.simulator@gmail.com', + author_email='carla.simulator@gmail.com', include_package_data=True ) diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt index a38901626..3a6553be4 100644 --- a/Util/ContentVersions.txt +++ b/Util/ContentVersions.txt @@ -7,4 +7,4 @@ 0.5.4: 0B2HFV-VuKn3PYUFFanlmZ2VMTW8 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT -0.7.1: 1oDGYzr8FaYl4TeMNlrEMLNo-_5umA9Th +0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq From af9b5f37aa2a391cb6c453f58d40be8876ec322f Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 30 Jan 2018 16:32:24 +0000 Subject: [PATCH 120/121] Fix compiler crash on Windows --- .../Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp index 58a2db67a..3d1108b27 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/DoublyConnectedEdgeList.cpp @@ -44,7 +44,7 @@ namespace MapGen { using Dcel = DoublyConnectedEdgeList; // from [-pi, pi] to [0, 1]. auto normalize = [](auto a) { - constexpr decltype(a) twoPi = 2.0 * 3.14159265359; + constexpr float twoPi = 2.0 * 3.14159265359; a /= twoPi; while (a >= 1.0) a -= 1.0; while (a < 0.0) a += 1.0; From fa28317d1a8fc856735c2f81dc2f5a186a0a1b72 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Tue, 30 Jan 2018 16:38:23 +0000 Subject: [PATCH 121/121] Add travis-ci badge --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index f4823a8a3..0988cfaab 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,8 @@ CARLA Simulator =============== +[![Build Status](https://travis-ci.org/carla-simulator/carla.svg?branch=master)](https://travis-ci.org/carla-simulator/carla) + CARLA is an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code

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