Merge branch 'Optimizations' of https://github.com/carla-simulator/carla into Optimizations

Docs/Example.CarlaSettings.ini

@@ -73,10 +73,10 @@ ImageSizeX=800
 ImageSizeY=600
 ; Camera (horizontal) field of view in degrees.
 FOV=90
-; Position of the camera relative to the car in centimeters.
+; Position of the camera relative to the car in meters.
-PositionX=15
+PositionX=0.20
 PositionY=0
-PositionZ=123
+PositionZ=1.30
 ; Rotation of the camera relative to the car in degrees.
 RotationPitch=8
 RotationRoll=0
@@ -93,8 +93,8 @@ PostProcessing=Depth
 SensorType=LIDAR_RAY_TRACE
 ; Number of lasers.
 Channels=32
-; Measure distance in centimeters.
+; Measure distance in meters.
-Range=5000
+Range=50.0
 ; Points generated by all lasers per second.
 PointsPerSecond=100000
 ; Lidar rotation frequency.
@@ -105,7 +105,7 @@ LowerFOVLimit=-30
 ; Position and rotation relative to the vehicle.
 PositionX=0
 PositionY=0
-PositionZ=140
+PositionZ=1.40
 RotationPitch=0
 RotationYaw=0
 RotationRoll=0

Docs/cameras_and_sensors.md

@@ -1,6 +1,10 @@
 Cameras and sensors
 ===================
 
+!!! important
+    Since version 0.8.0 the positions of the sensors are specified in meters
+    instead of centimeters. Always relative to the vehicle.
+
 Cameras and sensors can be added to the player vehicle by defining them in the
 settings sent by the client on every new episode. This can be done either by
 filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink])
@@ -39,7 +43,7 @@ using the functions at `carla.image_converter` Python module.
 Camera: Scene final
 -------------------
 
-![SceneFinal](img/capture_scenefinal.png)<br>
+![SceneFinal](img/capture_scenefinal.png)
 
 The "scene final" camera provides a view of the scene after applying some
 post-processing effects to create a more realistic feel. These are actually
@@ -61,7 +65,7 @@ in the Camera. We use the following post process effects:
 camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
 camera.set(FOV=90.0)
 camera.set_image_size(800, 600)
-camera.set_position(x=30, y=0, z=130)
+camera.set_position(x=0.30, y=0, z=1.30)
 camera.set_rotation(pitch=0, yaw=0, roll=0)
 
 carla_settings.add_sensor(camera)
@@ -76,9 +80,9 @@ PostProcessing=SceneFinal
 ImageSizeX=800
 ImageSizeY=600
 FOV=90
-PositionX=30
+PositionX=0.30
 PositionY=0
-PositionZ=130
+PositionZ=1.30
 RotationPitch=0
 RotationRoll=0
 RotationYaw=0
@@ -122,7 +126,7 @@ seen in "PythonClient/point_cloud_example.py".
 camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
 camera.set(FOV=90.0)
 camera.set_image_size(800, 600)
-camera.set_position(x=30, y=0, z=130)
+camera.set_position(x=0.30, y=0, z=1.30)
 camera.set_rotation(pitch=0, yaw=0, roll=0)
 
 carla_settings.add_sensor(camera)
@@ -137,9 +141,9 @@ PostProcessing=Depth
 ImageSizeX=800
 ImageSizeY=600
 FOV=90
-PositionX=30
+PositionX=0.30
 PositionY=0
-PositionZ=130
+PositionZ=1.30
 RotationPitch=0
 RotationRoll=0
 RotationYaw=0
@@ -192,7 +196,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
 camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
 camera.set(FOV=90.0)
 camera.set_image_size(800, 600)
-camera.set_position(x=30, y=0, z=130)
+camera.set_position(x=0.30, y=0, z=1.30)
 camera.set_rotation(pitch=0, yaw=0, roll=0)
 
 carla_settings.add_sensor(camera)
@@ -207,9 +211,9 @@ PostProcessing=SemanticSegmentation
 ImageSizeX=800
 ImageSizeY=600
 FOV=90
-PositionX=30
+PositionX=0.30
 PositionY=0
-PositionZ=130
+PositionZ=1.30
 RotationPitch=0
 RotationRoll=0
 RotationYaw=0
@@ -234,10 +238,10 @@ The received `LidarMeasurement` object contains the following information
 
 Key                        | Type       | Description
 -------------------------- | ---------- | ------------
-horizontal_angle           | float      | Angle in XY plane of the lidar this frame
+horizontal_angle           | float      | Angle in XY plane of the lidar this frame (in degrees).
-channels                   | uint32     | Number of channels (lasers) of the lidar
+channels                   | uint32     | Number of channels (lasers) of the lidar.
-point_count_by_channel     | uint32     | Number of points per channel captured this frame
+point_count_by_channel     | uint32     | Number of points per channel captured this frame.
-point_cloud                | PointCloud | Captured points this frame
+point_cloud                | PointCloud | Captured points this frame.
 
 ###### Python
 
@@ -245,12 +249,12 @@ point_cloud                | PointCloud | Captured points this frame
 lidar = carla.sensor.Lidar('MyLidar')
 lidar.set(
     Channels=32,
-    Range=5000,
+    Range=50,
     PointsPerSecond=100000,
     RotationFrequency=10,
     UpperFovLimit=10,
     LowerFovLimit=-30)
-lidar.set_position(x=0, y=0, z=140)
+lidar.set_position(x=0, y=0, z=1.40)
 lidar.set_rotation(pitch=0, yaw=0, roll=0)
 
 carla_settings.add_sensor(lidar)
@@ -262,14 +266,14 @@ carla_settings.add_sensor(lidar)
 [CARLA/Sensor/MyLidar]
 SensorType=LIDAR_RAY_TRACE
 Channels=32
-Range=5000
+Range=50
 PointsPerSecond=100000
 RotationFrequency=10
 UpperFOVLimit=10
 LowerFOVLimit=-30
 PositionX=0
 PositionY=0
-PositionZ=140
+PositionZ=1.40
 RotationPitch=0
 RotationYaw=0
 RotationRoll=0

Docs/map_customization.md

@@ -22,7 +22,7 @@
 - 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)
+![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 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 direction the vehicle will take overwriting the directions given by the road map (until they finish their given order).

Docs/measurements.md

@@ -1,6 +1,11 @@
 Measurements
 ============
 
+!!! important
+    Since version 0.8.0 the measurements received by the client are in SI
+    units. All locations have been converted to `meters` and speeds to
+    `meters/second`.
+
 Every frame the server sends a package with the measurements and images gathered
 to the client. This document describes the details of these measurements.
 
@@ -10,10 +15,10 @@ Time-stamps
 Since CARLA can be run at fixed-frame rate, we keep track of two different
 time-stamps.
 
-Key                        | Type      | Description
+Key                        | Type      | Units        | Description
--------------------------- | --------- | ------------
+-------------------------- | --------- | ------------ | ------------
-platform_timestamp         | uint32    | Time-stamp of the current frame, in milliseconds as given by the OS.
+platform_timestamp         | uint32    | milliseconds | Time-stamp of the current frame, as given by the OS.
-game_timestamp             | uint32    | In-game time-stamp, milliseconds elapsed since the beginning of the current level.
+game_timestamp             | uint32    | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
 
 In real-time mode, the elapsed time between two time steps should be similar
 both platform and game time-stamps. When run in fixed-time step, the game
@@ -23,27 +28,27 @@ time-stamp keeps the actual time elapsed.
 Player measurements
 -------------------
 
-Key                        | Type      | Description
+Key                        | Type      | Units  | Description
--------------------------- | --------- | ------------
+-------------------------- | --------- | ------ | ------------
-transform                  | Transform | World transform of the player.
+transform                  | Transform |        | World transform of the player (contains a locations and a rotation).
-acceleration               | Vector3D  | Current acceleration of the player.
+acceleration               | Vector3D  | m/s^2  | Current acceleration of the player.
-forward_speed              | float     | Forward speed in km/h.
+forward_speed              | float     | m/s    | Forward speed of the player.
-collision_vehicles         | float     | Collision intensity with other vehicles.
+collision_vehicles         | float     | kg*m/s | Collision intensity with other vehicles.
-collision_pedestrians      | float     | Collision intensity with pedestrians.
+collision_pedestrians      | float     | kg*m/s | Collision intensity with pedestrians.
-collision_other            | float     | General collision intensity (everything else but pedestrians and vehicles).
+collision_other            | float     | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
-intersection_otherlane     | float     | Percentage of the car invading other lanes.
+intersection_otherlane     | float     |        | Percentage of the car invading other lanes.
-intersection_offroad       | float     | Percentage of the car off-road.
+intersection_offroad       | float     |        | Percentage of the car off-road.
-autopilot_control          | Control   | Vehicle's autopilot control that would apply this frame.
+autopilot_control          | Control   |        | Vehicle's autopilot control that would apply this frame.
 
 ###### Transform
 
 The transform contains the location and rotation of the player.
 
-Key                        | Type       | Description
+Key                        | Type       | Units   | Description
--------------------------- | ---------- | ------------
+-------------------------- | ---------- | ------- | ------------
-location                   | Vector3D   | World location.
+location                   | Vector3D   | m       | World location.
-orientation *[deprecated]* | Vector3D   | Orientation in Cartesian coordinates.
+orientation *[deprecated]* | Vector3D   |         | Orientation in Cartesian coordinates.
-rotation                   | Rotation3D | Pitch, roll, and yaw.
+rotation                   | Rotation3D | degrees | Pitch, roll, and yaw.
 
 ###### Collision
 
@@ -100,6 +105,8 @@ carla_client.send_control(control)
 has a maximum steering angle of 70 degrees (this can be checked in the vehicle's
 front wheel blueprint).
 
+![Mustan Steering Angle](img/steering_angle_mustang.png)
+
 Non-player agents info
 ----------------------
 

PythonClient/carla/benchmarks/benchmark.py

@@ -119,8 +119,8 @@ class Benchmark(object):
                     image.save_to_disk(self._image_filename_format.format(
                         episode_name, name, frame))
 
-            curr_x = measurements.player_measurements.transform.location.x
+            curr_x = 1e2 * measurements.player_measurements.transform.location.x
-            curr_y = measurements.player_measurements.transform.location.y
+            curr_y = 1e2 * measurements.player_measurements.transform.location.y
 
             measurement_vec.append(measurements.player_measurements)
 

PythonClient/carla/benchmarks/corl_2017.py

@@ -142,7 +142,7 @@ class CoRL2017(Benchmark):
 
         camera.set_image_size(800, 600)
 
-        camera.set_position(200, 0, 140)
+        camera.set_position(2.0, 0.0, 1.4)
         camera.set_rotation(-15.0, 0, 0)
 
         weathers = [1, 3, 6, 8, 4, 14]

PythonClient/carla/image_converter.py

@@ -114,7 +114,7 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
     RGB color of an array.
     "max_depth" is used to omit the points that are far enough.
     """
-    far = 100000.0  # max depth in centimeters
+    far = 1000.0  # max depth in meters.
     normalized_depth = depth_to_array(image)
 
     # (Intrinsic) K Matrix

PythonClient/carla/planner/converter.py

@@ -137,6 +137,7 @@ class Converter(object):
         """
 
         rotation = np.array([world[0], world[1], world[2]])
+        rotation *= 1e2 # meters to centimeters.
         rotation = rotation.dot(self._worldrotation)
 
         relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0],

PythonClient/carla/sensor.py

@@ -49,9 +49,9 @@ class Sensor(object):
     def __init__(self, name, sensor_type):
         self.SensorName = name
         self.SensorType = sensor_type
-        self.PositionX = 140.0
+        self.PositionX = 0.2
         self.PositionY = 0.0
-        self.PositionZ = 140.0
+        self.PositionZ = 1.3
         self.RotationPitch = 0.0
         self.RotationRoll = 0.0
         self.RotationYaw = 0.0

PythonClient/client_example.py

@@ -60,19 +60,19 @@ def run_carla_client(args):
                 camera0 = Camera('CameraRGB')
                 # Set image resolution in pixels.
                 camera0.set_image_size(800, 600)
-                # Set its position relative to the car in centimeters.
+                # Set its position relative to the car in meters.
-                camera0.set_position(30, 0, 130)
+                camera0.set_position(0.30, 0, 1.30)
                 settings.add_sensor(camera0)
 
                 # Let's add another camera producing ground-truth depth.
                 camera1 = Camera('CameraDepth', PostProcessing='Depth')
                 camera1.set_image_size(800, 600)
-                camera1.set_position(30, 0, 130)
+                camera1.set_position(0.30, 0, 1.30)
                 settings.add_sensor(camera1)
 
                 if args.lidar:
                     lidar = Lidar('Lidar32')
-                    lidar.set_position(0, 0, 250)
+                    lidar.set_position(0, 0, 2.50)
                     lidar.set_rotation(0, 0, 0)
                     lidar.set(
                         Channels=32,
@@ -158,14 +158,14 @@ def print_measurements(measurements):
     number_of_agents = len(measurements.non_player_agents)
     player_measurements = measurements.player_measurements
     message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
-    message += '{speed:.2f} km/h, '
+    message += '{speed:.0f} km/h, '
     message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
     message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
     message += '({agents_num:d} non-player agents in the scene)'
     message = message.format(
-        pos_x=player_measurements.transform.location.x / 100, # cm -> m
+        pos_x=player_measurements.transform.location.x,
-        pos_y=player_measurements.transform.location.y / 100,
+        pos_y=player_measurements.transform.location.y,
-        speed=player_measurements.forward_speed,
+        speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
         col_cars=player_measurements.collision_vehicles,
         col_ped=player_measurements.collision_pedestrians,
         col_other=player_measurements.collision_other,

PythonClient/manual_control.py

@@ -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
 

PythonClient/point_cloud_example.py

@@ -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
 

Unreal/CarlaUE4/Config/DefaultGame.ini

@@ -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
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp

@@ -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()

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h

@@ -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

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp

@@ -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("Location", GetVectorAsText(Vehicle.GetLocation() * TO_METERS));
-  Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration(), HighPrecision));
+  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("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars() * TO_METERS));
-  Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians()));
+  Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians() * TO_METERS));
-  Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther()));
+  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(

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp

@@ -19,7 +19,6 @@
 #include "Paths.h"
 
 
-
 static constexpr auto DEPTH_MAT_PATH =
 #if PLATFORM_LINUX
     TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'");
@@ -142,12 +141,12 @@ 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);
 	  });
  
 }
@@ -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();
+  FTextureRenderTarget2DResource* RenderResource = (FTextureRenderTarget2DResource*)CaptureRenderTarget->Resource;
-  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));
   struct {
     uint32 Width;
     uint32 Height;
@@ -255,31 +246,56 @@ void ASceneCaptureCamera::WritePixels(float DeltaTime) const
     PostProcessEffect::ToUInt(PostProcessEffect),
     CaptureComponent2D->FOVAngle
   };
+
+  if(IsVulkanPlatform(GMaxRHIShaderPlatform))
+  {
+	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);
-
-  /*
-   * 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)
-  {
-    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);
-
+  }
 }
 
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h

@@ -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.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp

@@ -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.GetBoundsExtent() * TO_METERS, Player.box_extent);
-  ::Encode(PlayerState.GetAcceleration(), Player.acceleration);
+  ::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
-  Player.forward_speed = PlayerState.GetForwardSpeed();
+  Player.forward_speed = PlayerState.GetForwardSpeed() * TO_METERS;
-  Player.collision_vehicles = PlayerState.GetCollisionIntensityCars();
+  Player.collision_vehicles = PlayerState.GetCollisionIntensityCars() * TO_METERS;
-  Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians();
+  Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians() * TO_METERS;
-  Player.collision_other = PlayerState.GetCollisionIntensityOther();
+  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);
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp

@@ -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"));

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp

@@ -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);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h

@@ -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;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp

@@ -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);
+  constexpr float TO_CENTIMETERS = 1e2;
-  Config.GetFloat(*Section, TEXT("PositionY"), Position.Y);
+  Config.GetFloat(*Section, TEXT("PositionX"), Position.X, TO_CENTIMETERS);
-  Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z);
+  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);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h

@@ -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);
     }
   }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp

@@ -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);
   }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -46,7 +46,7 @@ FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
 
 float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 {
-  return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f;
+  return GetVehicleMovementComponent()->GetForwardSpeed();
 }
 
 FVector ACarlaWheeledVehicle::GetVehicleOrientation() const

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -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;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

@@ -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) {

Util/CarlaServer/include/carla/carla_server.h

@@ -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;