Merge branch 'master' into roads

.gitignore

@@ -1,7 +1,7 @@
 Build
 Dist
 Doxygen
-PythonClient/dist
+Deprecated/PythonClient/dist
 Util/Build
 Install
 

.travis.yml

@@ -45,10 +45,10 @@ matrix:
             - python
             - python-pip
       install:
-        - pip2 install -q --user -r PythonClient/requirements.txt
+        - pip2 install -q --user -r Deprecated/PythonClient/requirements.txt
         - pip2 install -q --user pylint
       script:
-        - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py
+        - pylint --disable=R,C --rcfile=Deprecated/PythonClient/.pylintrc Deprecated/PythonClient/carla Deprecated/PythonClient/*.py
 
     - env: TEST="MkDocs"
       install:

Deprecated/PythonClient/carla/sensor.py

@@ -274,7 +274,7 @@ class PointCloud(SensorData):
 
         # Open the file and save with the specific PLY format.
         with open(filename, 'w+') as ply_file:
-            ply_file.write('\n'.join([construct_ply_header(), ply]))
+            ply_file.write('\n'.join([construct_ply_header(), ply, '']))
 
     def __len__(self):
         return len(self.array)

Docs/CONTRIBUTING.md

@@ -131,7 +131,4 @@ If you see a red mark, please correct your code accordingly.
   - [ ] 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
-    - [ ] `make check`
-    - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py`
-    - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning`
+  - [ ] All tests passing with `make check`

Docs/benchmark_creating.md

@@ -213,7 +213,7 @@ vector as we show in the following code excerpt:
 
 
 
-The full code could be found at [basic_experiment_suite.py](https://github.com/carla-simulator/carla/blob/master/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py)
+The full code could be found at [basic_experiment_suite.py](https://github.com/carla-simulator/carla/blob/master/Deprecated/PythonClient/carla/driving_benchmark/experiment_suites/basic_experiment_suite.py)
 
 
 

Docs/cameras_and_sensors.md

@@ -1,10 +1,11 @@
 <h1>Cameras and sensors</h1>
 
 !!! important
-    This document still refers to the 0.8.X API (stable version). The
-    proceedings stated here may not apply to latest versions, 0.9.0 or later.
-    Latest versions introduced significant changes in the API, we are still
-    working on documenting everything, sorry for the inconvenience.
+    This document still refers to the 0.8.X API (stable version), this API is
+    currently located under _"Deprecated/PythonClient"_. The proceedings stated
+    here may not apply to latest versions, 0.9.0 or later. Latest versions
+    introduced significant changes in the API, we are still working on
+    documenting everything, sorry for the inconvenience.
 
 !!! important
     Since version 0.8.0 the positions of the sensors are specified in meters
@@ -30,7 +31,8 @@ moment there are four different sensors available.
     The images are sent by the server as a BGRA array of bytes. The provided
     Python client retrieves the images in this format, it's up to the users to
     parse the images and convert them to the desired format. There are some
-    examples in the PythonClient folder showing how to parse the images.
+    examples in the Deprecated/PythonClient folder showing how to parse the
+    images.
 
 There is a fourth post-processing effect available for cameras, _None_, which
 provides a view with of the scene with no effect, not even scene lighting; we
@@ -46,7 +48,7 @@ number_ matches the one received in the measurements. This is especially useful
 for running the simulator in asynchronous mode and synchronize sensor data on
 the client side.
 
-[clientexamplelink]: https://github.com/carla-simulator/carla/blob/master/PythonClient/client_example.py
+[clientexamplelink]: https://github.com/carla-simulator/carla/blob/master/Deprecated/PythonClient/client_example.py
 [settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini
 [imgconvlink]: https://github.com/carla-simulator/carla/tree/master/Util/ImageConverter
 
@@ -128,7 +130,7 @@ Our max render distance (far) is 1km.
 
 The generated "depth map" images are usually converted to a logarithmic
 grayscale for display. A point cloud can also be extracted from depth images as
-seen in "PythonClient/point_cloud_example.py".
+seen in "Deprecated/PythonClient/point_cloud_example.py".
 
 <h6>Python</h6>
 

Docs/carla_design.md

@@ -6,7 +6,7 @@ CARLA Design
 CARLA is composed by the following modules
 
   * Client side
-    - Python client API: "PythonClient/carla"
+    - Python client API: "Deprecated/PythonClient/carla"
   * Server side
     - CarlaUE4 Unreal Engine project: "Unreal/CarlaUE4"
     - Carla plugin for Unreal Engine: "Unreal/CarlaUE4/Plugins/Carla"
@@ -20,7 +20,7 @@ Python client API
 -----------------
 
 The client API provides a Python module for communicating with the CARLA server.
-In the folder "PythonClient", we provide several examples for scripting a CARLA
+In the folder "Deprecated/PythonClient", we provide several examples for scripting a CARLA
 client using the "carla" module.
 
 CarlaUE4 Unreal Engine project

Docs/connecting_the_client.md

@@ -8,11 +8,11 @@ aspects of simulation, from environment to duration of each episode, it can
 retrieve data from different sensors, and send control instructions to the
 player vehicle.
 
-PythonClient contents
----------------------
+Deprecated/PythonClient contents
+--------------------------------
 
-In the release package, inside the _"PythonClient"_ folder, we provide the
-Python API module together with some use examples.
+In the release package, inside the _"Deprecated/PythonClient"_ folder, we
+provide the Python API module together with some use examples.
 
 File or folder           | Description
 ------------------------ | ------------
@@ -25,9 +25,9 @@ view_start_positions.py  | Show all the possible start positions in a map
 
 !!! note
     If you are building CARLA from source, the Python code is inside the
-    _"PythonClient"_ folder in the CARLA repository. Bear in mind that the
-    `master` branch contains latest fixes and changes that might be incompatible
-    with the release version. Consider using the `stable` branch.
+    _"Deprecated/PythonClient"_ folder in the CARLA repository. Bear in mind
+    that the `master` branch contains latest fixes and changes that might be
+    incompatible with the release version. Consider using the `stable` branch.
 
 Install dependencies
 --------------------
@@ -37,7 +37,7 @@ given examples is also compatible with Python 2.7.
 
 Install the dependencies with "pip" using the requirements file provided
 
-    $ pip install -r PythonClient/requirements.txt
+    $ pip install -r Deprecated/PythonClient/requirements.txt
 
 Running the client example
 --------------------------
@@ -96,7 +96,6 @@ You can see all the available options in the script's help
 
 <h4>Running other examples</h4>
 
-The other scripts present in the _"PythonClient"_ folder run in a similar
-fashion. We recommend now launching _"manual_control.py"_ for a GUI interface
-implemented with PyGame.
-
+The other scripts present in the _"Deprecated/PythonClient"_ folder run in a
+similar fashion. We recommend now launching _"manual_control.py"_ for a GUI
+interface implemented with PyGame.

Docs/pull_request_template.md

@@ -8,10 +8,7 @@ Checklist:
   - [ ] 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
-    - [ ] `make check`
-    - [ ] `pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py`
-    - [ ] `cppcheck . -iBuild -i.pb.cc --enable=warning`
+  - [ ] All tests passing with `make check`
 
 -->
 

Docs/python_api.md

@@ -17,6 +17,7 @@
 
 - `id`
 - `map_name`
+- `debug`
 - `get_blueprint_library()`
 - `get_map()`
 - `get_spectator()`
@@ -28,6 +29,14 @@
 - `wait_for_tick(seconds=1.0)`
 - `on_tick(callback)`
 
+## `carla.DebugHelper`
+
+- `draw_point(location, size=0.1, color={Red}, life_time=-1.0, persistent_lines=True)`
+- `draw_line(begin, end, thickness=0.1, color={Red}, life_time=-1.0, persistent_lines=True)`
+- `draw_arrow(begin, end, thickness=0.1, arrow_size=0.1, color={Red}, life_time=-1.0, persistent_lines=True)`
+- `draw_box(box, rotation, thickness=0.1, color={Red}, life_time=-1.0, persistent_lines=True)`
+- `draw_string(location, text, draw_shadow=False, color={Red}, life_time=-1.0, persistent_lines=True)`
+
 ## `carla.BlueprintLibrary`
 
 - `find(id)`

LibCarla/source/carla/client/ActorBlueprint.cpp

@@ -37,6 +37,19 @@ namespace client {
         });
   }
 
+  const ActorAttribute &ActorBlueprint::GetAttribute(const std::string &id) const {
+    auto it = _attributes.find(id);
+    if (it == _attributes.end()) {
+      using namespace std::string_literals;
+      throw std::out_of_range("attribute '"s + id + "' not found");
+    }
+    return it->second;
+  }
+
+  void ActorBlueprint::SetAttribute(const std::string &id, std::string value) {
+    const_cast<ActorAttribute &>(GetAttribute(id)).Set(std::move(value));
+  }
+
   rpc::ActorDescription ActorBlueprint::MakeActorDescription() const {
     rpc::ActorDescription description;
     description.uid = _uid;

LibCarla/source/carla/client/ActorBlueprint.h

@@ -76,18 +76,14 @@ namespace client {
     }
 
     /// @throw std::out_of_range if no such element exists.
-    const ActorAttribute &GetAttribute(const std::string &id) const {
-      return _attributes.at(id);
-    }
+    const ActorAttribute &GetAttribute(const std::string &id) const;
 
     /// Set the value of the attribute given by @a id.
     ///
     /// @throw std::out_of_range if no such element exists.
     /// @throw InvalidAttributeValue if attribute is not modifiable.
     /// @throw InvalidAttributeValue if format does not match the attribute type.
-    void SetAttribute(const std::string &id, std::string value) {
-      _attributes.at(id).Set(std::move(value));
-    }
+    void SetAttribute(const std::string &id, std::string value);
 
     size_t size() const {
       return _attributes.size();

LibCarla/source/carla/client/BlueprintLibrary.cpp

@@ -31,6 +31,20 @@ namespace client {
     return SharedPtr<BlueprintLibrary>{new BlueprintLibrary(result)};
   }
 
+  BlueprintLibrary::const_pointer BlueprintLibrary::Find(const std::string &key) const {
+    auto it = _blueprints.find(key);
+    return it != _blueprints.end() ? &it->second : nullptr;
+  }
+
+  BlueprintLibrary::const_reference BlueprintLibrary::at(const std::string &key) const {
+    auto it = _blueprints.find(key);
+    if (it == _blueprints.end()) {
+      using namespace std::string_literals;
+      throw std::out_of_range("blueprint '"s + key + "' not found");
+    }
+    return it->second;
+  }
+
   BlueprintLibrary::const_reference BlueprintLibrary::at(size_type pos) const {
     if (pos >= size())
       throw std::out_of_range("index out of range");

LibCarla/source/carla/client/BlueprintLibrary.h

@@ -44,14 +44,10 @@ namespace client {
     /// @a wildcard_pattern.
     SharedPtr<BlueprintLibrary> Filter(const std::string &wildcard_pattern) const;
 
-    const_pointer Find(const std::string &key) const {
-      auto it = _blueprints.find(key);
-      return it != _blueprints.end() ? &it->second : nullptr;
-    }
+    const_pointer Find(const std::string &key) const;
 
-    const_reference at(const std::string &key) const {
-      return _blueprints.at(key);
-    }
+    /// @throw std::out_of_range if no such element exists.
+    const_reference at(const std::string &key) const;
 
     /// @warning Linear complexity.
     const_reference operator[](size_type pos) const {
@@ -59,6 +55,7 @@ namespace client {
     }
 
     /// @warning Linear complexity.
+    /// @throw std::out_of_range if !(pos < size()).
     const_reference at(size_type pos) const;
 
     const_iterator begin() const /*noexcept*/ {

LibCarla/source/carla/client/DebugHelper.cpp

@@ -0,0 +1,85 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/client/DebugHelper.h"
+
+#include "carla/client/detail/Simulator.h"
+#include "carla/rpc/DebugShape.h"
+
+namespace carla {
+namespace client {
+
+  using Shape = rpc::DebugShape;
+
+  template <typename T>
+  static void DrawShape(
+      detail::EpisodeProxy &episode,
+      const T &primitive,
+      rpc::Color color,
+      float life_time,
+      bool persistent_lines) {
+    const Shape shape{primitive, color, life_time, persistent_lines};
+    episode.Lock()->DrawDebugShape(shape);
+  }
+
+  void DebugHelper::DrawPoint(
+      const geom::Location &location,
+      float size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::Point point{location, size};
+    DrawShape(_episode, point, color, life_time, persistent_lines);
+  }
+
+  void DebugHelper::DrawLine(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::Line line{begin, end, thickness};
+    DrawShape(_episode, line, color, life_time, persistent_lines);
+  }
+
+  void DebugHelper::DrawArrow(
+      const geom::Location &begin,
+      const geom::Location &end,
+      float thickness,
+      float arrow_size,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::Line line{begin, end, thickness};
+    Shape::Arrow arrow{line, arrow_size};
+    DrawShape(_episode, arrow, color, life_time, persistent_lines);
+  }
+
+  void DebugHelper::DrawBox(
+      const geom::BoundingBox &box,
+      const geom::Rotation &rotation,
+      float thickness,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::Box the_box{box, rotation, thickness};
+    DrawShape(_episode, the_box, color, life_time, persistent_lines);
+  }
+
+  void DebugHelper::DrawString(
+      const geom::Location &location,
+      const std::string &text,
+      bool draw_shadow,
+      sensor::data::Color color,
+      float life_time,
+      bool persistent_lines) {
+    Shape::String string{location, text, draw_shadow};
+    DrawShape(_episode, string, color, life_time, persistent_lines);
+  }
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/DebugHelper.h

@@ -0,0 +1,72 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/client/detail/EpisodeProxy.h"
+#include "carla/geom/BoundingBox.h"
+#include "carla/geom/Location.h"
+#include "carla/geom/Rotation.h"
+#include "carla/sensor/data/Color.h"
+
+namespace carla {
+namespace client {
+
+  class DebugHelper {
+  public:
+
+    using Color = sensor::data::Color;
+
+    explicit DebugHelper(detail::EpisodeProxy episode)
+      : _episode(std::move(episode)) {}
+
+    void DrawPoint(
+        const geom::Location &location,
+        float size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
+    void DrawLine(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
+    void DrawArrow(
+        const geom::Location &begin,
+        const geom::Location &end,
+        float thickness = 0.1f,
+        float arrow_size = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
+    void DrawBox(
+        const geom::BoundingBox &box,
+        const geom::Rotation &rotation,
+        float thickness = 0.1f,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
+    void DrawString(
+        const geom::Location &location,
+        const std::string &text,
+        bool draw_shadow = false,
+        Color color = Color{255u, 0u, 0u},
+        float life_time = -1.0f,
+        bool persistent_lines = true);
+
+  private:
+
+    detail::EpisodeProxy _episode;
+  };
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/Sensor.cpp

@@ -11,6 +11,8 @@
 
 #include <exception>
 
+#include <exception>
+
 namespace carla {
 namespace client {
 

LibCarla/source/carla/client/World.h

@@ -8,6 +8,7 @@
 
 #include "carla/Memory.h"
 #include "carla/Time.h"
+#include "carla/client/DebugHelper.h"
 #include "carla/client/Timestamp.h"
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/geom/Transform.h"
@@ -80,6 +81,10 @@ namespace client {
     /// Register a @a callback to be called every time a world tick is received.
     void OnTick(std::function<void(Timestamp)> callback);
 
+    DebugHelper MakeDebugHelper() const {
+      return DebugHelper{_episode};
+    }
+
   private:
 
     detail::EpisodeProxy _episode;

LibCarla/source/carla/client/detail/Client.cpp

@@ -9,6 +9,7 @@
 #include "carla/Version.h"
 #include "carla/rpc/ActorDescription.h"
 #include "carla/rpc/Client.h"
+#include "carla/rpc/DebugShape.h"
 #include "carla/rpc/VehicleControl.h"
 #include "carla/streaming/Client.h"
 
@@ -152,6 +153,10 @@ namespace detail {
     _pimpl->streaming_client.UnSubscribe(token);
   }
 
+  void Client::DrawDebugShape(const rpc::DebugShape &shape) {
+    _pimpl->AsyncCall("draw_debug_shape", shape);
+  }
+
 } // namespace detail
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/detail/Client.h

@@ -26,6 +26,7 @@ namespace carla {
   class Buffer;
 namespace rpc {
   class ActorDescription;
+  class DebugShape;
   class VehicleControl;
 }
 namespace sensor { class SensorData; }
@@ -107,6 +108,8 @@ namespace detail {
 
     void UnSubscribeFromStream(const streaming::Token &token);
 
+    void DrawDebugShape(const rpc::DebugShape &shape);
+
   private:
 
     class Pimpl;

LibCarla/source/carla/client/detail/Simulator.h

@@ -215,6 +215,16 @@ namespace detail {
     void UnSubscribeFromSensor(const Sensor &sensor);
 
     /// @}
+    // =========================================================================
+    /// @name Debug
+    // =========================================================================
+    /// @{
+
+    void DrawDebugShape(const rpc::DebugShape &shape) {
+      _client.DrawDebugShape(shape);
+    }
+
+    /// @}
 
   private:
 

LibCarla/source/carla/rpc/ActorAttribute.h

@@ -14,6 +14,10 @@
 
 MSGPACK_ADD_ENUM(carla::rpc::ActorAttributeType);
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Actor/ActorAttribute.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

LibCarla/source/carla/rpc/ActorDescription.h

@@ -13,6 +13,10 @@
 
 #include <vector>
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Actor/ActorDescription.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

LibCarla/source/carla/rpc/Color.h

@@ -0,0 +1,50 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#include <cstdint>
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Math/Color.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace rpc {
+
+  class Color {
+  public:
+
+    uint8_t r = 0u;
+    uint8_t g = 0u;
+    uint8_t b = 0u;
+
+    Color() = default;
+    Color(const Color &) = default;
+
+    Color(uint8_t r, uint8_t g, uint8_t b)
+      : r(r), g(g), b(b) {}
+
+    Color &operator=(const Color &) = default;
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Color(const FColor &color)
+      : Color(color.R, color.G, color.B) {}
+
+    operator FColor() const {
+      return FColor{r, g, b};
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(r, g, b);
+  };
+
+} // namespace rpc
+} // namespace carla

LibCarla/source/carla/rpc/DebugShape.h

@@ -0,0 +1,70 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/geom/BoundingBox.h"
+#include "carla/geom/Location.h"
+#include "carla/geom/Rotation.h"
+#include "carla/rpc/Color.h"
+#include "carla/rpc/Variant.h"
+
+// #include <rpc/msgpack/adaptor/boost/msgpack_variant.hpp>
+
+// #include <boost/variant.hpp>
+
+namespace carla {
+namespace rpc {
+
+  class DebugShape {
+  public:
+
+    struct Point {
+      geom::Location location;
+      float size;
+      MSGPACK_DEFINE_ARRAY(location, size);
+    };
+
+    struct Line {
+      geom::Location begin;
+      geom::Location end;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(begin, end, thickness);
+    };
+
+    struct Arrow {
+      Line line;
+      float arrow_size;
+      MSGPACK_DEFINE_ARRAY(line, arrow_size);
+    };
+
+    struct Box {
+      geom::BoundingBox box;
+      geom::Rotation rotation;
+      float thickness;
+      MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
+    };
+
+    struct String {
+      geom::Location location;
+      std::string text;
+      bool draw_shadow;
+      MSGPACK_DEFINE_ARRAY(location, text, draw_shadow);
+    };
+
+    Variant<Point, Line, Arrow, Box, String> primitive;
+
+    Color color = {255u, 0u, 0u};
+
+    float life_time = -1.0f;
+
+    bool persistent_lines = true;
+
+    MSGPACK_DEFINE_ARRAY(primitive, color, life_time, persistent_lines);
+  };
+
+} // namespace rpc
+} // namespace carla

LibCarla/source/carla/rpc/Variant.h

@@ -0,0 +1,70 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#include <tuple>
+
+namespace carla {
+namespace rpc {
+
+  /// @todo Workaround for packing boost::variant; it uses tuple instead so it's
+  /// quite inefficient memory-wise.
+  template <typename... Ts>
+  class Variant {
+  private:
+
+    size_t _index = 0u;
+
+    std::tuple<Ts...> _tuple;
+
+    template <typename T, typename Tuple>
+    struct IndexFromType;
+
+    template <typename T, typename... Types>
+    struct IndexFromType<T, std::tuple<T, Types...>> {
+      static constexpr size_t value = 0u;
+    };
+
+    template <typename T, typename U, typename... Types>
+    struct IndexFromType<T, std::tuple<U, Types...>> {
+      static constexpr size_t value = 1u + IndexFromType<T, std::tuple<Types...>>::value;
+    };
+
+    template <typename VisitorT, size_t... Is>
+    void ApplyVisitorImpl(VisitorT &visitor, std::index_sequence<Is...>) const {
+      std::initializer_list<int> ({ (_index == Is ? visitor(std::get<Is>(_tuple)), 0 : 0)... });
+    }
+
+  public:
+
+    Variant() = default;
+
+    template <typename ObjT>
+    Variant(ObjT &&rhs) {
+      (*this) = std::forward<ObjT>(rhs);
+    }
+
+    template <typename ObjT>
+    Variant &operator=(ObjT &&rhs) {
+      constexpr auto index = IndexFromType<typename std::decay<ObjT>::type, decltype(_tuple)>::value;
+      _index = index;
+      std::get<index>(_tuple) = std::forward<ObjT>(rhs);
+      return *this;
+    }
+
+    template <typename VisitorT>
+    void ApplyVisitor(VisitorT visitor) const {
+      return ApplyVisitorImpl(visitor, std::make_index_sequence<sizeof...(Ts)>());
+    }
+
+    MSGPACK_DEFINE_ARRAY(_index, _tuple);
+  };
+
+} // namespace rpc
+} // namespace carla

LibCarla/source/carla/sensor/data/Color.h

@@ -6,6 +6,8 @@
 
 #pragma once
 
+#include "carla/rpc/Color.h"
+
 #include <cstdint>
 
 namespace carla {
@@ -31,6 +33,10 @@ namespace data {
       return !(*this == rhs);
     }
 
+    operator rpc::Color() const {
+      return {r, g, b};
+    }
+
     uint8_t b = 0u;
     uint8_t g = 0u;
     uint8_t r = 0u;

LibCarla/source/test/test.h

@@ -21,6 +21,6 @@
 #include <cstdint>
 #include <iostream>
 
-constexpr uint16_t TESTING_PORT = 2000u;
+constexpr uint16_t TESTING_PORT = 2017u;
 
 using namespace std::chrono_literals;

PythonAPI/dynamic_weather.py

@@ -1,5 +1,18 @@
 #!/usr/bin/env python
 
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""
+CARLA Dynamic Weather:
+
+Connect to a CARLA Simulator instance and control the weather. Change Sun
+position smoothly with time and generate storms occasionally.
+"""
+
 import glob
 import os
 import sys
@@ -87,12 +100,7 @@ class Weather(object):
 
 def main():
     argparser = argparse.ArgumentParser(
-        description='CARLA Dynamic Weather')
-    argparser.add_argument(
-        '-v', '--verbose',
-        action='store_true',
-        dest='debug',
-        help='print debug information')
+        description=__doc__)
     argparser.add_argument(
         '--host',
         metavar='H',
@@ -109,7 +117,7 @@ def main():
         metavar='FACTOR',
         default=1.0,
         type=float,
-        help='update speed (default: 1.0)')
+        help='rate at which the weather changes (default: 1.0)')
     args = argparser.parse_args()
 
     speed_factor = args.speed

PythonAPI/manual_control.py

@@ -6,8 +6,8 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-# Keyboard controlling for CARLA. Please refer to client_example.py for a simpler
-# and more documented example.
+# Allows controlling a vehicle with a keyboard. For a simpler and more
+# documented example, please take a look at tutorial.py.
 
 """
 Welcome to CARLA manual control.

PythonAPI/setup.py

@@ -20,7 +20,7 @@ def get_libcarla_extensions():
     sources = ['source/libcarla/libcarla.cpp']
 
     if os.name == "posix":
-        if platform.dist()[0] == "Ubuntu":
+        if platform.dist()[0].lower() in ["ubuntu", "debian"]:
             pwd = os.path.dirname(os.path.realpath(__file__))
             pylib = "libboost_python%d%d.a" % (sys.version_info.major,
                                                sys.version_info.minor)

PythonAPI/source/libcarla/World.cpp

@@ -84,6 +84,7 @@ void export_world() {
   class_<cc::World>("World", no_init)
     .add_property("id", &cc::World::GetId)
     .add_property("map_name", CALL_RETURNING_COPY(cc::World, GetMapName))
+    .add_property("debug", &cc::World::MakeDebugHelper)
     .def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
     .def("get_map", CONST_CALL_WITHOUT_GIL(cc::World, GetMap))
     .def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
@@ -98,4 +99,42 @@ void export_world() {
   ;
 
 #undef SPAWN_ACTOR_WITHOUT_GIL
+
+  class_<cc::DebugHelper>("DebugHelper", no_init)
+    .def("draw_point", &cc::DebugHelper::DrawPoint,
+        (arg("location"),
+         arg("size")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
+    .def("draw_line", &cc::DebugHelper::DrawLine,
+        (arg("begin"),
+         arg("end"),
+         arg("thickness")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
+    .def("draw_arrow", &cc::DebugHelper::DrawArrow,
+        (arg("begin"),
+         arg("end"),
+         arg("thickness")=0.1f,
+         arg("arrow_size")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
+    .def("draw_box", &cc::DebugHelper::DrawBox,
+        (arg("box"),
+         arg("rotation"),
+         arg("thickness")=0.1f,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
+    .def("draw_string", &cc::DebugHelper::DrawString,
+        (arg("location"),
+         arg("text"),
+         arg("draw_shadow")=false,
+         arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+         arg("life_time")=-1.0f,
+         arg("persistent_lines")=true))
+  ;
 }

PythonAPI/tutorial.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env python
 
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
 import glob
 import os
 import sys

PythonAPI/vehicle_gallery.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env python
 
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
 import glob
 import os
 import sys

README.md

@@ -44,6 +44,7 @@ If you use CARLA, please cite our CoRL’17 paper.
 _CARLA: An Open Urban Driving Simulator_<br>Alexey Dosovitskiy, German Ros,
 Felipe Codevilla, Antonio Lopez, Vladlen Koltun; PMLR 78:1-16
 [[PDF](http://proceedings.mlr.press/v78/dosovitskiy17a/dosovitskiy17a.pdf)]
+[[talk](https://www.youtube.com/watch?v=xfyK03MEZ9Q&feature=youtu.be&t=2h44m30s)]
 
 
 ```

Unreal/CarlaUE4/Config/DefaultEngine.ini

@@ -28,6 +28,7 @@ r.DefaultFeature.AmbientOcclusionStaticFraction=False
 r.DefaultFeature.AutoExposure=False
 r.CustomDepth=3
 r.Streaming.PoolSize=2000
+r.TextureStreaming=False
 
 [/Script/AIModule.AISense_Sight]
 bAutoRegisterAllPawnsAsSources=False

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

@@ -8,6 +8,7 @@
 #include "Carla/Server/TheNewCarlaServer.h"
 
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Util/DebugShapeDrawer.h"
 #include "Carla/Util/OpenDrive.h"
 #include "Carla/Vehicle/CarlaWheeledVehicle.h"
 
@@ -18,6 +19,7 @@
 #include <carla/rpc/Actor.h>
 #include <carla/rpc/ActorDefinition.h>
 #include <carla/rpc/ActorDescription.h>
+#include <carla/rpc/DebugShape.h>
 #include <carla/rpc/EpisodeInfo.h>
 #include <carla/rpc/MapInfo.h>
 #include <carla/rpc/Server.h>
@@ -382,6 +384,14 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     }
     Controller->SetAutopilot(bEnabled);
   });
+
+  Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) {
+    RequireEpisode();
+    auto *World = Episode->GetWorld();
+    check(World != nullptr);
+    FDebugShapeDrawer Drawer(*World);
+    Drawer.Draw(shape);
+  });
 }
 
 // =============================================================================

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

@@ -127,8 +127,8 @@ static bool GetSettingsFilePathFromCommandLine(FString &Value)
     if (FPaths::IsRelative(Value))
     {
       Value = FPaths::ConvertRelativePathToFull(FPaths::LaunchDir(), Value);
-      return true;
     }
+    return true;
   }
   return false;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp

@@ -0,0 +1,110 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Util/DebugShapeDrawer.h"
+
+#include "DrawDebugHelpers.h"
+
+#include <compiler/disable-ue4-macros.h>
+#include <carla/rpc/DebugShape.h>
+#include <carla/rpc/String.h>
+#include <compiler/enable-ue4-macros.h>
+
+struct FShapeVisitor
+{
+  using Shape = carla::rpc::DebugShape;
+
+  FShapeVisitor(UWorld &InWorld, FColor InColor, float InLifeTime, bool bInPersistentLines)
+    : World(&InWorld),
+      Color(InColor),
+      LifeTime(InLifeTime),
+      bPersistentLines(bInPersistentLines) {}
+
+  void operator()(const Shape::Point &Point) const
+  {
+    DrawDebugPoint(
+        World,
+        Point.location,
+        1e2f * Point.size,
+        Color,
+        bPersistentLines,
+        LifeTime,
+        DepthPriority);
+  }
+
+  void operator()(const Shape::Line &Line) const
+  {
+    DrawDebugLine(
+        World,
+        Line.begin,
+        Line.end,
+        Color,
+        bPersistentLines,
+        LifeTime,
+        DepthPriority,
+        1e2f * Line.thickness);
+  }
+
+  void operator()(const Shape::Arrow &Arrow) const
+  {
+    DrawDebugDirectionalArrow(
+        World,
+        Arrow.line.begin,
+        Arrow.line.end,
+        1e2f * Arrow.arrow_size,
+        Color,
+        bPersistentLines,
+        LifeTime,
+        DepthPriority,
+        1e2f * Arrow.line.thickness);
+  }
+
+  void operator()(const Shape::Box &Box) const
+  {
+    FVector Extent = {Box.box.extent.x, Box.box.extent.y, Box.box.extent.z};
+    DrawDebugBox(
+        World,
+        Box.box.location,
+        1e2f * Extent,
+        FQuat(FRotator(Box.rotation)),
+        Color,
+        bPersistentLines,
+        LifeTime,
+        DepthPriority,
+        1e2f * Box.thickness);
+  }
+
+  void operator()(const Shape::String &Str) const
+  {
+    DrawDebugString(
+        World,
+        Str.location,
+        carla::rpc::ToFString(Str.text),
+        nullptr,
+        Color,
+        LifeTime,
+        Str.draw_shadow);
+  }
+
+private:
+
+  UWorld *World;
+
+  FColor Color;
+
+  float LifeTime;
+
+  bool bPersistentLines;
+
+  uint8 DepthPriority = 0;
+};
+
+void FDebugShapeDrawer::Draw(const carla::rpc::DebugShape &Shape)
+{
+  auto Visitor = FShapeVisitor(World, Shape.color, Shape.life_time, Shape.persistent_lines);
+  Shape.primitive.ApplyVisitor(Visitor);
+}