Merge branch 'Optimizations' of https://github.com/carla-simulator/carla into Optimizations
This commit is contained in:
Marc Garcia Puig
commit
92ca7cb146
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@ -73,10 +73,10 @@ ImageSizeX=800
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ImageSizeY=600
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; Camera (horizontal) field of view in degrees.
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FOV=90
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; Position of the camera relative to the car in centimeters.
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PositionX=15
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; Position of the camera relative to the car in meters.
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PositionX=0.20
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PositionY=0
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PositionZ=123
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PositionZ=1.30
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; Rotation of the camera relative to the car in degrees.
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RotationPitch=8
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RotationRoll=0
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@ -93,8 +93,8 @@ PostProcessing=Depth
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SensorType=LIDAR_RAY_TRACE
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; Number of lasers.
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Channels=32
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; Measure distance in centimeters.
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Range=5000
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; Measure distance in meters.
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Range=50.0
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; Points generated by all lasers per second.
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PointsPerSecond=100000
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; Lidar rotation frequency.
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@ -105,7 +105,7 @@ LowerFOVLimit=-30
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; Position and rotation relative to the vehicle.
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PositionX=0
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PositionY=0
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PositionZ=140
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PositionZ=1.40
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RotationPitch=0
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RotationYaw=0
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RotationRoll=0
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@ -1,6 +1,10 @@
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Cameras and sensors
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===================
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!!! important
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Since version 0.8.0 the positions of the sensors are specified in meters
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instead of centimeters. Always relative to the vehicle.
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Cameras and sensors can be added to the player vehicle by defining them in the
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settings sent by the client on every new episode. This can be done either by
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filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink])
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@ -39,7 +43,7 @@ using the functions at `carla.image_converter` Python module.
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Camera: Scene final
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-------------------
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<br>
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The "scene final" camera provides a view of the scene after applying some
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post-processing effects to create a more realistic feel. These are actually
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@ -61,7 +65,7 @@ in the Camera. We use the following post process effects:
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camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
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camera.set(FOV=90.0)
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camera.set_image_size(800, 600)
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camera.set_position(x=30, y=0, z=130)
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camera.set_position(x=0.30, y=0, z=1.30)
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camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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@ -76,9 +80,9 @@ PostProcessing=SceneFinal
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ImageSizeX=800
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ImageSizeY=600
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FOV=90
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PositionX=30
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PositionX=0.30
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PositionY=0
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PositionZ=130
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PositionZ=1.30
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RotationPitch=0
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RotationRoll=0
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RotationYaw=0
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@ -122,7 +126,7 @@ seen in "PythonClient/point_cloud_example.py".
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camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
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camera.set(FOV=90.0)
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camera.set_image_size(800, 600)
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camera.set_position(x=30, y=0, z=130)
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camera.set_position(x=0.30, y=0, z=1.30)
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camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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@ -137,9 +141,9 @@ PostProcessing=Depth
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ImageSizeX=800
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ImageSizeY=600
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FOV=90
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PositionX=30
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PositionX=0.30
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PositionY=0
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PositionZ=130
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PositionZ=1.30
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RotationPitch=0
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RotationRoll=0
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RotationYaw=0
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@ -192,7 +196,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
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camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
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camera.set(FOV=90.0)
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camera.set_image_size(800, 600)
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camera.set_position(x=30, y=0, z=130)
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camera.set_position(x=0.30, y=0, z=1.30)
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camera.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(camera)
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@ -207,9 +211,9 @@ PostProcessing=SemanticSegmentation
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ImageSizeX=800
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ImageSizeY=600
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FOV=90
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PositionX=30
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PositionX=0.30
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PositionY=0
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PositionZ=130
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PositionZ=1.30
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RotationPitch=0
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RotationRoll=0
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RotationYaw=0
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@ -234,10 +238,10 @@ The received `LidarMeasurement` object contains the following information
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Key | Type | Description
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-------------------------- | ---------- | ------------
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horizontal_angle | float | Angle in XY plane of the lidar this frame
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channels | uint32 | Number of channels (lasers) of the lidar
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point_count_by_channel | uint32 | Number of points per channel captured this frame
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point_cloud | PointCloud | Captured points this frame
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horizontal_angle | float | Angle in XY plane of the lidar this frame (in degrees).
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channels | uint32 | Number of channels (lasers) of the lidar.
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point_count_by_channel | uint32 | Number of points per channel captured this frame.
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point_cloud | PointCloud | Captured points this frame.
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###### Python
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@ -245,12 +249,12 @@ point_cloud | PointCloud | Captured points this frame
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lidar = carla.sensor.Lidar('MyLidar')
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lidar.set(
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Channels=32,
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Range=5000,
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Range=50,
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PointsPerSecond=100000,
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RotationFrequency=10,
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UpperFovLimit=10,
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LowerFovLimit=-30)
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lidar.set_position(x=0, y=0, z=140)
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lidar.set_position(x=0, y=0, z=1.40)
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lidar.set_rotation(pitch=0, yaw=0, roll=0)
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carla_settings.add_sensor(lidar)
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@ -262,14 +266,14 @@ carla_settings.add_sensor(lidar)
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[CARLA/Sensor/MyLidar]
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SensorType=LIDAR_RAY_TRACE
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Channels=32
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Range=5000
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Range=50
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PointsPerSecond=100000
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RotationFrequency=10
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UpperFOVLimit=10
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LowerFOVLimit=-30
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PositionX=0
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PositionY=0
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PositionZ=140
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PositionZ=1.40
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RotationPitch=0
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RotationYaw=0
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RotationRoll=0
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Before Width: | Height: | Size: 1.5 MiB After Width: | Height: | Size: 1.5 MiB |
Binary file not shown.
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After Width: | Height: | Size: 233 KiB |
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@ -22,7 +22,7 @@
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- You can change the seed until you have a map you are satisfied with.
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- After that you can place new PlayerStarts at the places you want the cars to be spawned.
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- 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:
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> (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)
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- 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).
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@ -1,6 +1,11 @@
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Measurements
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============
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!!! important
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Since version 0.8.0 the measurements received by the client are in SI
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units. All locations have been converted to `meters` and speeds to
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`meters/second`.
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Every frame the server sends a package with the measurements and images gathered
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to the client. This document describes the details of these measurements.
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@ -10,10 +15,10 @@ Time-stamps
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Since CARLA can be run at fixed-frame rate, we keep track of two different
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time-stamps.
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Key | Type | Description
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-------------------------- | --------- | ------------
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platform_timestamp | uint32 | Time-stamp of the current frame, in milliseconds as given by the OS.
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game_timestamp | uint32 | In-game time-stamp, milliseconds elapsed since the beginning of the current level.
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Key | Type | Units | Description
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-------------------------- | --------- | ------------ | ------------
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platform_timestamp | uint32 | milliseconds | Time-stamp of the current frame, as given by the OS.
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game_timestamp | uint32 | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
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In real-time mode, the elapsed time between two time steps should be similar
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both platform and game time-stamps. When run in fixed-time step, the game
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@ -23,27 +28,27 @@ time-stamp keeps the actual time elapsed.
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Player measurements
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-------------------
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Key | Type | Description
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-------------------------- | --------- | ------------
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transform | Transform | World transform of the player.
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acceleration | Vector3D | Current acceleration of the player.
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forward_speed | float | Forward speed in km/h.
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collision_vehicles | float | Collision intensity with other vehicles.
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collision_pedestrians | float | Collision intensity with pedestrians.
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collision_other | float | General collision intensity (everything else but pedestrians and vehicles).
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intersection_otherlane | float | Percentage of the car invading other lanes.
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intersection_offroad | float | Percentage of the car off-road.
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autopilot_control | Control | Vehicle's autopilot control that would apply this frame.
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Key | Type | Units | Description
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-------------------------- | --------- | ------ | ------------
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transform | Transform | | World transform of the player (contains a locations and a rotation).
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acceleration | Vector3D | m/s^2 | Current acceleration of the player.
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forward_speed | float | m/s | Forward speed of the player.
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collision_vehicles | float | kg*m/s | Collision intensity with other vehicles.
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collision_pedestrians | float | kg*m/s | Collision intensity with pedestrians.
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collision_other | float | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
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intersection_otherlane | float | | Percentage of the car invading other lanes.
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intersection_offroad | float | | Percentage of the car off-road.
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autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
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###### Transform
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The transform contains the location and rotation of the player.
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Key | Type | Description
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-------------------------- | ---------- | ------------
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location | Vector3D | World location.
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orientation *[deprecated]* | Vector3D | Orientation in Cartesian coordinates.
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rotation | Rotation3D | Pitch, roll, and yaw.
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Key | Type | Units | Description
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-------------------------- | ---------- | ------- | ------------
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location | Vector3D | m | World location.
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orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
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rotation | Rotation3D | degrees | Pitch, roll, and yaw.
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###### Collision
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@ -100,6 +105,8 @@ carla_client.send_control(control)
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has a maximum steering angle of 70 degrees (this can be checked in the vehicle's
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front wheel blueprint).
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Non-player agents info
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----------------------
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@ -119,8 +119,8 @@ class Benchmark(object):
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image.save_to_disk(self._image_filename_format.format(
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episode_name, name, frame))
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curr_x = measurements.player_measurements.transform.location.x
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curr_y = measurements.player_measurements.transform.location.y
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curr_x = 1e2 * measurements.player_measurements.transform.location.x
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curr_y = 1e2 * measurements.player_measurements.transform.location.y
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measurement_vec.append(measurements.player_measurements)
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@ -142,7 +142,7 @@ class CoRL2017(Benchmark):
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camera.set_image_size(800, 600)
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camera.set_position(200, 0, 140)
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camera.set_position(2.0, 0.0, 1.4)
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camera.set_rotation(-15.0, 0, 0)
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weathers = [1, 3, 6, 8, 4, 14]
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@ -114,7 +114,7 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
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RGB color of an array.
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"max_depth" is used to omit the points that are far enough.
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"""
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far = 100000.0 # max depth in centimeters
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far = 1000.0 # max depth in meters.
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normalized_depth = depth_to_array(image)
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# (Intrinsic) K Matrix
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|
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@ -137,6 +137,7 @@ class Converter(object):
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"""
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rotation = np.array([world[0], world[1], world[2]])
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rotation *= 1e2 # meters to centimeters.
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rotation = rotation.dot(self._worldrotation)
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relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0],
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@ -49,9 +49,9 @@ class Sensor(object):
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def __init__(self, name, sensor_type):
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self.SensorName = name
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self.SensorType = sensor_type
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self.PositionX = 140.0
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self.PositionX = 0.2
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self.PositionY = 0.0
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self.PositionZ = 140.0
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self.PositionZ = 1.3
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self.RotationPitch = 0.0
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self.RotationRoll = 0.0
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self.RotationYaw = 0.0
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@ -60,19 +60,19 @@ def run_carla_client(args):
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camera0 = Camera('CameraRGB')
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# Set image resolution in pixels.
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camera0.set_image_size(800, 600)
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# Set its position relative to the car in centimeters.
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camera0.set_position(30, 0, 130)
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# Set its position relative to the car in meters.
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camera0.set_position(0.30, 0, 1.30)
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settings.add_sensor(camera0)
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# Let's add another camera producing ground-truth depth.
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camera1 = Camera('CameraDepth', PostProcessing='Depth')
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camera1.set_image_size(800, 600)
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camera1.set_position(30, 0, 130)
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camera1.set_position(0.30, 0, 1.30)
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settings.add_sensor(camera1)
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|
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if args.lidar:
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lidar = Lidar('Lidar32')
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lidar.set_position(0, 0, 250)
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lidar.set_position(0, 0, 2.50)
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lidar.set_rotation(0, 0, 0)
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lidar.set(
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Channels=32,
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@ -158,14 +158,14 @@ def print_measurements(measurements):
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number_of_agents = len(measurements.non_player_agents)
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player_measurements = measurements.player_measurements
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message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
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message += '{speed:.2f} km/h, '
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message += '{speed:.0f} km/h, '
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message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
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message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
|
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message += '({agents_num:d} non-player agents in the scene)'
|
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message = message.format(
|
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pos_x=player_measurements.transform.location.x / 100, # cm -> m
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pos_y=player_measurements.transform.location.y / 100,
|
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speed=player_measurements.forward_speed,
|
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pos_x=player_measurements.transform.location.x,
|
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pos_y=player_measurements.transform.location.y,
|
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speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
|
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col_cars=player_measurements.collision_vehicles,
|
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col_ped=player_measurements.collision_pedestrians,
|
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col_other=player_measurements.collision_other,
|
||||
|
|
|
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|
|
@ -19,6 +19,7 @@ Use ARROWS or WASD keys for control.
|
|||
AD : steer
|
||||
Q : toggle reverse
|
||||
Space : hand-brake
|
||||
P : toggle autopilot
|
||||
|
||||
R : restart level
|
||||
|
||||
|
|
@ -41,6 +42,7 @@ try:
|
|||
from pygame.locals import K_UP
|
||||
from pygame.locals import K_a
|
||||
from pygame.locals import K_d
|
||||
from pygame.locals import K_p
|
||||
from pygame.locals import K_q
|
||||
from pygame.locals import K_r
|
||||
from pygame.locals import K_s
|
||||
|
|
@ -80,22 +82,22 @@ def make_carla_settings(enable_lidar):
|
|||
settings.randomize_seeds()
|
||||
camera0 = sensor.Camera('CameraRGB')
|
||||
camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
|
||||
camera0.set_position(200, 0, 140)
|
||||
camera0.set_position(2.0, 0.0, 1.4)
|
||||
camera0.set_rotation(0.0, 0.0, 0.0)
|
||||
settings.add_sensor(camera0)
|
||||
camera1 = sensor.Camera('CameraDepth', PostProcessing='Depth')
|
||||
camera1.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
|
||||
camera1.set_position(200, 0, 140)
|
||||
camera1.set_position(2.0, 0.0, 1.4)
|
||||
camera1.set_rotation(0.0, 0.0, 0.0)
|
||||
settings.add_sensor(camera1)
|
||||
camera2 = sensor.Camera('CameraSemSeg', PostProcessing='SemanticSegmentation')
|
||||
camera2.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
|
||||
camera2.set_position(200, 0, 140)
|
||||
camera2.set_position(2.0, 0.0, 1.4)
|
||||
camera2.set_rotation(0.0, 0.0, 0.0)
|
||||
settings.add_sensor(camera2)
|
||||
if enable_lidar:
|
||||
lidar = sensor.Lidar('Lidar32')
|
||||
lidar.set_position(0, 0, 250)
|
||||
lidar.set_position(0, 0, 2.5)
|
||||
lidar.set_rotation(0, 0, 0)
|
||||
lidar.set(
|
||||
Channels=32,
|
||||
|
|
@ -129,13 +131,14 @@ class Timer(object):
|
|||
|
||||
|
||||
class CarlaGame(object):
|
||||
def __init__(self, carla_client, enable_lidar=False, city_name=None):
|
||||
def __init__(self, carla_client, enable_autopilot=False, enable_lidar=False, city_name=None):
|
||||
self.client = carla_client
|
||||
self._timer = None
|
||||
self._display = None
|
||||
self._main_image = None
|
||||
self._mini_view_image1 = None
|
||||
self._mini_view_image2 = None
|
||||
self._enable_autopilot = enable_autopilot
|
||||
self._enable_lidar = enable_lidar
|
||||
self._lidar_measurement = None
|
||||
self._map_view = None
|
||||
|
|
@ -230,6 +233,8 @@ class CarlaGame(object):
|
|||
|
||||
if control is None:
|
||||
self._on_new_episode()
|
||||
elif self._enable_autopilot:
|
||||
self.client.send_control(measurements.player_measurements.autopilot_control)
|
||||
else:
|
||||
self.client.send_control(control)
|
||||
|
||||
|
|
@ -253,6 +258,8 @@ class CarlaGame(object):
|
|||
control.hand_brake = True
|
||||
if keys[K_q]:
|
||||
self._is_on_reverse = not self._is_on_reverse
|
||||
if keys[K_p]:
|
||||
self._enable_autopilot = not self._enable_autopilot
|
||||
control.reverse = self._is_on_reverse
|
||||
return control
|
||||
|
||||
|
|
@ -273,7 +280,7 @@ class CarlaGame(object):
|
|||
ori_y=lane_orientation[1],
|
||||
step=self._timer.step,
|
||||
fps=self._timer.ticks_per_second(),
|
||||
speed=player_measurements.forward_speed,
|
||||
speed=player_measurements.forward_speed * 3.6,
|
||||
other_lane=100 * player_measurements.intersection_otherlane,
|
||||
offroad=100 * player_measurements.intersection_offroad)
|
||||
print_over_same_line(message)
|
||||
|
|
@ -285,7 +292,7 @@ class CarlaGame(object):
|
|||
message = message.format(
|
||||
step=self._timer.step,
|
||||
fps=self._timer.ticks_per_second(),
|
||||
speed=player_measurements.forward_speed,
|
||||
speed=player_measurements.forward_speed * 3.6,
|
||||
other_lane=100 * player_measurements.intersection_otherlane,
|
||||
offroad=100 * player_measurements.intersection_offroad)
|
||||
print_over_same_line(message)
|
||||
|
|
@ -375,6 +382,10 @@ def main():
|
|||
default=2000,
|
||||
type=int,
|
||||
help='TCP port to listen to (default: 2000)')
|
||||
argparser.add_argument(
|
||||
'-a', '--autopilot',
|
||||
action='store_true',
|
||||
help='enable autopilot')
|
||||
argparser.add_argument(
|
||||
'-l', '--lidar',
|
||||
action='store_true',
|
||||
|
|
@ -398,7 +409,7 @@ def main():
|
|||
try:
|
||||
|
||||
with make_carla_client(args.host, args.port) as client:
|
||||
game = CarlaGame(client, args.lidar, args.map_name)
|
||||
game = CarlaGame(client, args.autopilot, args.lidar, args.map_name)
|
||||
game.execute()
|
||||
break
|
||||
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ def run_carla_client(host, port, far):
|
|||
frame_step = 100 # Save one image every 100 frames
|
||||
output_folder = '_out'
|
||||
image_size = [800, 600]
|
||||
camera_local_pos = [30, 0, 130] # [X, Y, Z]
|
||||
camera_local_pos = [0.3, 0.0, 1.3] # [X, Y, Z]
|
||||
camera_local_rotation = [0, 0, 0] # [pitch(Y), yaw(Z), roll(X)]
|
||||
fov = 70
|
||||
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@ bEncryptIniFiles=False
|
|||
bSkipEditorContent=False
|
||||
+MapsToCook=(FilePath="/Game/Maps/Town01")
|
||||
+MapsToCook=(FilePath="/Game/Maps/Town02")
|
||||
+DirectoriesToAlwaysCook=(Path="Static/GenericMaterials/Licenseplates/Textures")
|
||||
bNativizeBlueprintAssets=False
|
||||
bNativizeOnlySelectedBlueprints=False
|
||||
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@ UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectIni
|
|||
float UWalkerAgentComponent::GetForwardSpeed() const
|
||||
{
|
||||
/// @todo Is it necessary to compute this speed every tick?
|
||||
return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
|
||||
return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector());
|
||||
}
|
||||
|
||||
void UWalkerAgentComponent::BeginPlay()
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ public:
|
|||
|
||||
UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
|
||||
|
||||
/// Return forward speed in km/h.
|
||||
/// Return forward speed in cm/s.
|
||||
float GetForwardSpeed() const;
|
||||
|
||||
FVector GetBoundingBoxExtent() const
|
||||
|
|
|
|||
|
|
@ -69,18 +69,21 @@ static FText GetHUDText(const ACarlaPlayerState &Vehicle)
|
|||
HighPrecision.MinimumFractionalDigits = 2u;
|
||||
HighPrecision.MaximumFractionalDigits = 2u;
|
||||
|
||||
constexpr float TO_METERS = 1e-2;
|
||||
constexpr float TO_KMPH = 0.036f;
|
||||
|
||||
FFormatNamedArguments Args;
|
||||
Args.Add("FPS", RoundedFloatAsText(Vehicle.GetFramesPerSecond()));
|
||||
Args.Add("Location", GetVectorAsText(Vehicle.GetLocation()));
|
||||
Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration(), HighPrecision));
|
||||
Args.Add("Location", GetVectorAsText(Vehicle.GetLocation() * TO_METERS));
|
||||
Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration() * TO_METERS, HighPrecision));
|
||||
Args.Add("Orientation", GetVectorAsText(Vehicle.GetOrientation(), HighPrecision));
|
||||
Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed()));
|
||||
Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed() * TO_KMPH));
|
||||
Args.Add("Gear", GetGearAsText(Vehicle.GetCurrentGear()));
|
||||
Args.Add("SpeedLimit", RoundedFloatAsText(Vehicle.GetSpeedLimit()));
|
||||
Args.Add("TrafficLightState", GetTrafficLightAsText(Vehicle.GetTrafficLightState()));
|
||||
Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars()));
|
||||
Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians()));
|
||||
Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther()));
|
||||
Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars() * TO_METERS));
|
||||
Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians() * TO_METERS));
|
||||
Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther() * TO_METERS));
|
||||
Args.Add("IntersectionOtherLane", RoundedFloatAsText(100.0f * Vehicle.GetOtherLaneIntersectionFactor()));
|
||||
Args.Add("IntersectionOffRoad", RoundedFloatAsText(100.0f * Vehicle.GetOffRoadIntersectionFactor()));
|
||||
return FText::Format(
|
||||
|
|
|
|||
|
|
@ -19,7 +19,6 @@
|
|||
#include "Paths.h"
|
||||
|
||||
|
||||
|
||||
static constexpr auto DEPTH_MAT_PATH =
|
||||
#if PLATFORM_LINUX
|
||||
TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'");
|
||||
|
|
@ -142,14 +141,14 @@ void ASceneCaptureCamera::BeginPlay()
|
|||
void ASceneCaptureCamera::Tick(const float DeltaSeconds)
|
||||
{
|
||||
Super::Tick(DeltaSeconds);
|
||||
auto fn = [=](){WritePixels(DeltaSeconds);};
|
||||
auto fn = [=](FRHICommandListImmediate& RHICmdList){WritePixels(DeltaSeconds,RHICmdList);};
|
||||
ENQUEUE_UNIQUE_RENDER_COMMAND_ONEPARAMETER(
|
||||
FWritePixels,
|
||||
decltype(fn),write_function,fn,
|
||||
{
|
||||
write_function();
|
||||
write_function(RHICmdList);
|
||||
});
|
||||
|
||||
|
||||
}
|
||||
|
||||
float ASceneCaptureCamera::GetFOVAngle() const
|
||||
|
|
@ -226,7 +225,7 @@ bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
|
|||
return RTResource->ReadPixels(BitMap, ReadPixelFlags);
|
||||
}
|
||||
|
||||
void ASceneCaptureCamera::WritePixels(float DeltaTime) const
|
||||
void ASceneCaptureCamera::WritePixels(float DeltaTime, FRHICommandListImmediate& rhi_cmd_list) const
|
||||
{
|
||||
check(IsInRenderingThread());
|
||||
if(!CaptureRenderTarget)
|
||||
|
|
@ -234,16 +233,8 @@ void ASceneCaptureCamera::WritePixels(float DeltaTime) const
|
|||
UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
|
||||
return ;
|
||||
}
|
||||
FRHITexture2D *texture = CaptureRenderTarget->GetRenderTargetResource()->GetRenderTargetTexture();
|
||||
if(!texture)
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render texture"));
|
||||
return ;
|
||||
}
|
||||
const uint32 width = texture->GetSizeX();
|
||||
uint32 height = texture->GetSizeY();
|
||||
uint32 stride;
|
||||
uint8 *src = reinterpret_cast<uint8*>(RHILockTexture2D(texture, 0, RLM_ReadOnly, stride, false));
|
||||
FTextureRenderTarget2DResource* RenderResource = (FTextureRenderTarget2DResource*)CaptureRenderTarget->Resource;
|
||||
|
||||
struct {
|
||||
uint32 Width;
|
||||
uint32 Height;
|
||||
|
|
@ -255,31 +246,56 @@ void ASceneCaptureCamera::WritePixels(float DeltaTime) const
|
|||
PostProcessEffect::ToUInt(PostProcessEffect),
|
||||
CaptureComponent2D->FOVAngle
|
||||
};
|
||||
FSensorDataView DataView(
|
||||
GetId(),
|
||||
FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
|
||||
FReadOnlyBufferView{src,stride*height}
|
||||
);
|
||||
|
||||
WriteSensorData(DataView);
|
||||
|
||||
/*
|
||||
* example of buffer manual copy
|
||||
const uint32 bufferSize = stride * height;
|
||||
RawData.Empty(width*height);
|
||||
FMemory::BigBlockMemcpy(captureBuffer->getBuffer<void>(), src, captureBuffer->getBufferSize());
|
||||
for(unsigned y = 0; y < height; ++y)
|
||||
if(IsVulkanPlatform(GMaxRHIShaderPlatform))
|
||||
{
|
||||
for(unsigned x = 0; x < width; ++x)
|
||||
{
|
||||
//RGBA ->
|
||||
RawData.Add(FColor(src[2],src[1],src[0],src[3]));
|
||||
src += 4;
|
||||
}
|
||||
}*/
|
||||
|
||||
RHIUnlockTexture2D(texture, 0, false);
|
||||
|
||||
FTextureRHIParamRef texture = RenderResource->GetRenderTargetTexture();
|
||||
if(!texture)
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target texture"));
|
||||
return;
|
||||
}
|
||||
struct FReadSurfaceContext
|
||||
{
|
||||
FRenderTarget* SrcRenderTarget;
|
||||
TArray<FColor>* OutData;
|
||||
FIntRect Rect;
|
||||
FReadSurfaceDataFlags Flags;
|
||||
};
|
||||
TArray<FColor> Pixels;
|
||||
rhi_cmd_list.ReadSurfaceData(
|
||||
texture,
|
||||
FIntRect(0, 0, RenderResource->GetSizeXY().X, RenderResource->GetSizeXY().Y),
|
||||
Pixels,
|
||||
FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX)
|
||||
);
|
||||
FSensorDataView DataView(
|
||||
GetId(),
|
||||
FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
|
||||
FReadOnlyBufferView{Pixels}
|
||||
);
|
||||
WriteSensorData(DataView);
|
||||
} else
|
||||
{
|
||||
//if it's not vulkan we can lock the render target texture resource
|
||||
FRHITexture2D *texture = CaptureRenderTarget->GetRenderTargetResource()->GetRenderTargetTexture();
|
||||
if(!texture)
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render texture"));
|
||||
return ;
|
||||
}
|
||||
const uint32 height = texture->GetSizeY();
|
||||
uint32 stride;
|
||||
uint8 *src = reinterpret_cast<uint8*>(RHILockTexture2D(texture, 0, RLM_ReadOnly, stride, false));
|
||||
const FSensorDataView DataView(
|
||||
GetId(),
|
||||
FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
|
||||
FReadOnlyBufferView{src,stride*height}
|
||||
);
|
||||
|
||||
WriteSensorData(DataView);
|
||||
RHIUnlockTexture2D(texture, 0, false);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -72,7 +72,7 @@ public:
|
|||
|
||||
private:
|
||||
///Read the camera buffer and write it to a color array
|
||||
void WritePixels(float DeltaTime) const;
|
||||
void WritePixels(float DeltaTime,FRHICommandListImmediate& rhi_cmd_list) const;
|
||||
|
||||
/// Used to synchronize the DrawFrustumComponent with the
|
||||
/// SceneCaptureComponent2D settings.
|
||||
|
|
|
|||
|
|
@ -17,6 +17,9 @@
|
|||
|
||||
#include <cstring>
|
||||
|
||||
// Conversion from centimeters to meters.
|
||||
static constexpr float TO_METERS = 1e-2;
|
||||
|
||||
// =============================================================================
|
||||
// -- Static local methods -----------------------------------------------------
|
||||
// =============================================================================
|
||||
|
|
@ -47,7 +50,7 @@ static void Encode(const FRotator &Rotator, carla_rotation3d &Data)
|
|||
|
||||
static void Encode(const FTransform &Transform, carla_transform &Data)
|
||||
{
|
||||
Encode(Transform.GetLocation(), Data.location);
|
||||
Encode(Transform.GetLocation() * TO_METERS, Data.location);
|
||||
Encode(Transform.GetRotation().GetForwardVector(), Data.orientation);
|
||||
Encode(Transform.Rotator(), Data.rotation);
|
||||
}
|
||||
|
|
@ -107,12 +110,12 @@ void FCarlaEncoder::Encode(
|
|||
Data.game_timestamp = PlayerState.GetGameTimeStamp();
|
||||
auto &Player = Data.player_measurements;
|
||||
::Encode(PlayerState.GetTransform(), Player.transform);
|
||||
::Encode(PlayerState.GetBoundsExtent(), Player.box_extent);
|
||||
::Encode(PlayerState.GetAcceleration(), Player.acceleration);
|
||||
Player.forward_speed = PlayerState.GetForwardSpeed();
|
||||
Player.collision_vehicles = PlayerState.GetCollisionIntensityCars();
|
||||
Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians();
|
||||
Player.collision_other = PlayerState.GetCollisionIntensityOther();
|
||||
::Encode(PlayerState.GetBoundsExtent() * TO_METERS, Player.box_extent);
|
||||
::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
|
||||
Player.forward_speed = PlayerState.GetForwardSpeed() * TO_METERS;
|
||||
Player.collision_vehicles = PlayerState.GetCollisionIntensityCars() * TO_METERS;
|
||||
Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians() * TO_METERS;
|
||||
Player.collision_other = PlayerState.GetCollisionIntensityOther() * TO_METERS;
|
||||
Player.intersection_otherlane = PlayerState.GetOtherLaneIntersectionFactor();
|
||||
Player.intersection_offroad = PlayerState.GetOffRoadIntersectionFactor();
|
||||
Player.autopilot_control.steer = PlayerState.GetSteer();
|
||||
|
|
@ -203,7 +206,7 @@ void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
|
|||
auto &Vehicle = Agent.GetVehicle();
|
||||
::Encode(Vehicle.GetVehicleTransform(), Data.transform);
|
||||
Data.type = CARLA_SERVER_AGENT_VEHICLE;
|
||||
Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
|
||||
Data.forward_speed = Vehicle.GetVehicleForwardSpeed() * TO_METERS;
|
||||
::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
|
||||
}
|
||||
|
||||
|
|
@ -211,6 +214,6 @@ void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
|
|||
{
|
||||
::Encode(Agent.GetComponentTransform(), Data.transform);
|
||||
Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
|
||||
Data.forward_speed = Agent.GetForwardSpeed();
|
||||
Data.forward_speed = Agent.GetForwardSpeed() * TO_METERS;
|
||||
::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -149,7 +149,7 @@ void UCarlaSettingsDelegate::LaunchLowQualityCommands(UWorld * world) const
|
|||
GEngine->Exec(world,TEXT("r.SSR.MaxRoughness 0.1"));
|
||||
GEngine->Exec(world,TEXT("r.AllowOcclusionQueries 1"));
|
||||
//GEngine->Exec(world,TEXT("r.SSR 0"));
|
||||
GEngine->Exec(world,TEXT("r.StencilForLODDither 1"));
|
||||
//GEngine->Exec(world,TEXT("r.StencilForLODDither 1")); //readonly
|
||||
GEngine->Exec(world,TEXT("r.EarlyZPass 2")); //transparent before opaque
|
||||
GEngine->Exec(world,TEXT("r.EarlyZPassMovable 1"));
|
||||
GEngine->Exec(world,TEXT("Foliage.DitheredLOD 0"));
|
||||
|
|
@ -185,7 +185,7 @@ void UCarlaSettingsDelegate::SetAllRoads(UWorld* world, const float max_draw_dis
|
|||
if(staticmeshcomponent)
|
||||
{
|
||||
staticmeshcomponent->bAllowCullDistanceVolume = (max_draw_distance>0);
|
||||
//staticmeshcomponent->bUseAsOccluder = false;
|
||||
staticmeshcomponent->bUseAsOccluder = false;
|
||||
staticmeshcomponent->LDMaxDrawDistance = max_draw_distance;
|
||||
staticmeshcomponent->CastShadow = (max_draw_distance==0);
|
||||
if(road_pieces_materials.Num()>0)
|
||||
|
|
@ -288,7 +288,7 @@ void UCarlaSettingsDelegate::LaunchEpicQualityCommands(UWorld* world) const
|
|||
GEngine->Exec(world,TEXT("r.SceneColorFringeQuality 1"));
|
||||
GEngine->Exec(world,TEXT("r.FastBlurThreshold 100"));
|
||||
GEngine->Exec(world,TEXT("r.SSR.MaxRoughness -1"));
|
||||
GEngine->Exec(world,TEXT("r.StencilForLODDither 0"));
|
||||
//GEngine->Exec(world,TEXT("r.StencilForLODDither 0")); //readonly
|
||||
GEngine->Exec(world,TEXT("r.EarlyZPass 3"));
|
||||
GEngine->Exec(world,TEXT("r.EarlyZPassMovable 1"));
|
||||
GEngine->Exec(world,TEXT("Foliage.DitheredLOD 1"));
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@ void ULidarDescription::Load(const FIniFile &Config, const FString &Section)
|
|||
{
|
||||
Super::Load(Config, Section);
|
||||
Config.GetInt(*Section, TEXT("Channels"), Channels);
|
||||
Config.GetFloat(*Section, TEXT("Range"), Range);
|
||||
Config.GetFloat(*Section, TEXT("Range"), Range, 1e2);
|
||||
Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond);
|
||||
Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency);
|
||||
Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit);
|
||||
|
|
|
|||
|
|
@ -28,7 +28,7 @@ public:
|
|||
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
|
||||
uint32 Channels = 32u;
|
||||
|
||||
/** Measure distance. */
|
||||
/** Measure distance in centimeters. */
|
||||
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
|
||||
float Range = 5000.0f;
|
||||
|
||||
|
|
|
|||
|
|
@ -16,9 +16,10 @@ void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
|
|||
|
||||
void USensorDescription::Load(const FIniFile &Config, const FString &Section)
|
||||
{
|
||||
Config.GetFloat(*Section, TEXT("PositionX"), Position.X);
|
||||
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y);
|
||||
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z);
|
||||
constexpr float TO_CENTIMETERS = 1e2;
|
||||
Config.GetFloat(*Section, TEXT("PositionX"), Position.X, TO_CENTIMETERS);
|
||||
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y, TO_CENTIMETERS);
|
||||
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z, TO_CENTIMETERS);
|
||||
Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch);
|
||||
Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw);
|
||||
Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll);
|
||||
|
|
|
|||
|
|
@ -112,11 +112,11 @@ public:
|
|||
}
|
||||
}
|
||||
|
||||
void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target) const
|
||||
void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target, const float Factor = 1.0f) const
|
||||
{
|
||||
FString Value;
|
||||
if (ConfigFile.GetString(Section, Key, Value)) {
|
||||
Target = FCString::Atof(*Value);
|
||||
Target = Factor * FCString::Atof(*Value);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -94,7 +94,7 @@ void ACarlaVehicleController::OnCollisionEvent(
|
|||
{
|
||||
// Register collision only if we are moving faster than 1 km/h.
|
||||
check(IsPossessingAVehicle());
|
||||
if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed()) > 1.0f) {
|
||||
if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed() * 0.036f) > 1.0f) {
|
||||
CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
|
|||
|
||||
float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
|
||||
{
|
||||
return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f;
|
||||
return GetVehicleMovementComponent()->GetForwardSpeed();
|
||||
}
|
||||
|
||||
FVector ACarlaWheeledVehicle::GetVehicleOrientation() const
|
||||
|
|
|
|||
|
|
@ -46,7 +46,7 @@ public:
|
|||
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
|
||||
FTransform GetVehicleTransform() const;
|
||||
|
||||
/// Forward speed in km/h. Might be negative if goes backwards.
|
||||
/// Forward speed in cm/s. Might be negative if goes backwards.
|
||||
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
|
||||
float GetVehicleForwardSpeed() const;
|
||||
|
||||
|
|
|
|||
|
|
@ -177,7 +177,8 @@ void AWheeledVehicleAIController::TickAutopilotController()
|
|||
Steering = CalcStreeringValue(Direction);
|
||||
}
|
||||
|
||||
const auto Speed = Vehicle->GetVehicleForwardSpeed();
|
||||
// Speed in km/h.
|
||||
const auto Speed = Vehicle->GetVehicleForwardSpeed() * 0.036f;
|
||||
|
||||
float Throttle;
|
||||
if (TrafficLightState != ETrafficLightState::Green) {
|
||||
|
|
|
|||
|
|
@ -35,8 +35,11 @@ extern "C" {
|
|||
};
|
||||
|
||||
struct carla_transform {
|
||||
/** Location in meters. */
|
||||
struct carla_vector3d location;
|
||||
/** Unit vector pointing "forward". */
|
||||
struct carla_vector3d orientation;
|
||||
/** Rotation angles in degrees. */
|
||||
struct carla_rotation3d rotation;
|
||||
};
|
||||
|
||||
|
|
@ -160,7 +163,7 @@ extern "C" {
|
|||
struct carla_vector3d box_extent;
|
||||
/** Current acceleration of the player. */
|
||||
struct carla_vector3d acceleration;
|
||||
/** Forward speed in km/h. */
|
||||
/** Forward speed in m/s. */
|
||||
float forward_speed;
|
||||
/** Collision intensity with other vehicles. */
|
||||
float collision_vehicles;
|
||||
|
|
|
|||
Loading…
Reference in New Issue