New draft with parameters. Pending questions.
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sergi-e
Marc Garcia Puig
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@ -31,12 +31,26 @@ Traffic lights, stops and yields will be generated on the fly, as happens when u
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---
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## Run a standalone map
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In order to test this feature, the `config.py` script in `PythonAPI/util/` has a new argument, `-x` or `--xodr-path`. This argument contains a string with the path to the `.xodr` file. The script calls a client method, [`client.generate_opendrive_world()`](python_api.md#carla.Client.generate_opendrive_world). This will block the simulation, as [`load_world()`](python_api.md#carla.World.load_world) would do, until the new map is active.
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In order to open an OpenDRIVE file, the Python API includes now the method [`client.generate_opendrive_world()`](python_api.md#carla.Client.generate_opendrive_world). This will block the simulation until the new one is ready. The method needs for two parameters.
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* __`opendrive`__ is the content of the OpenDRIVE file parsed as a string.
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* __`parameters`__ is a [carla.OpendriveGenerationParameters](python_api.md#carla.OpendriveGenerationParameters) containing settings for the generation of the mesh.
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* `vertex_distance` is the distance between the vertices of the mesh. --> The bigger the more inaccuracies?? The smallest, the more detailed but heavier ??
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* `max_road_length`
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* `wall_height` states the height of the additional walls created on the boundaries of the road. These prevent vehicles from falling to the void.
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* `additional_width` is an small width increment applied to the junction lanes. This is a safety measure to prevent vehicles from falling.
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* `smooth_junctions` if __True__, the mesh at junctions will be smoothed, to prevent some inaccuracies that may occur when various lanes meet. --> And why can I choose to disable them??
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* `enable_mesh_visibility` if __True__, the mesh will be rendered. --> If False? Vehicles rendered, no rendering mode or what?
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In order to easily test this feature, the `config.py` script in `PythonAPI/util/` has a new argument, `-x` or `--xodr-path`. This argument contains a string with the path to the `.xodr` file. If the mesh is generated with this script, the parameters used will always be the default ones.
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```sh
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python3 config.py -x path/to/some/file.xodr
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```
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!!! Important
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__[carla.OpendriveGenerationParameters](python_api.md#carla.OpendriveGenerationParameters)__ uses __content of the OpenDRIVE file parsed as string__. On the contrary, __`config.py`__ script needs __the path to the `.xodr` file__.
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---
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## Mesh generation
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@ -328,11 +328,11 @@ Executes a list of commands on a single simulation step, blocks until the comman
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- `commands` (_list_) – A list of commands to execute in batch. The commands available are listed right above, in the function **<font color="#7fb800">apply_batch()</font>**.
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- `due_tick_cue` (_bool_) – A boolean parameter to specify whether or not to perform a [carla.World.tick](#carla.World.tick) after applying the batch in _synchronous mode_. It is __False__ by default.
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- **Return:** _list(command.Response)_
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- <a name="carla.Client.generate_opendrive_world"></a>**<font color="#7fb800">generate_opendrive_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive**</font>, <font color="#00a6ed">**parameters**</font>)
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- <a name="carla.Client.generate_opendrive_world"></a>**<font color="#7fb800">generate_opendrive_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive**</font>, <font color="#00a6ed">**parameters**=(2.0, 50.0, 1.0, 0.6, true, true)</font>)
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Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter. It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side. Cars can drive around the map, but there are no graphics besides the road and sidewalks.
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- **Parameters:**
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- `opendrive` (_str_) – Content of an OpenDRIVE file as `string` (**NOT** the path of the `.xodr` file!).
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- `parameters` (_[carla.OpendriveGenerationParameters](#carla.OpendriveGenerationParameters)_) – Parameters used when generating a world using an OpenDRIVE file.
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- `opendrive` (_str_) – Content of an OpenDRIVE file as `string`, __not the path to the `.xodr`__.
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- `parameters` (_[carla.OpendriveGenerationParameters](#carla.OpendriveGenerationParameters)_) – Additional settings for the mesh generation. If none are provided, default values will be used.
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- <a name="carla.Client.load_world"></a>**<font color="#7fb800">load_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_name**</font>)
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Creates a new world with default settings using `map_name` map. All actors in the current world will be destroyed.
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- **Parameters:**
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@ -1078,17 +1078,17 @@ This class defines the parameters used when generating a world using an OpenDRIV
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<h3>Instance Variables</h3>
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- <a name="carla.OpendriveGenerationParameters.vertex_distance"></a>**<font color="#f8805a">vertex_distance</font>** (_float_)
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The distance between vertices when generating the world mesh from OpenDRIVE.
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Distance between vertices of the mesh generated. __Default is `2.0`__.
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- <a name="carla.OpendriveGenerationParameters.max_road_length"></a>**<font color="#f8805a">max_road_length</font>** (_float_)
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Max road length for a single mesh portion.
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Max road length for a single mesh portion. The mesh of the map is divided into portions, in order to avoid propagating issues. __Default is `50.0`__.
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- <a name="carla.OpendriveGenerationParameters.wall_height"></a>**<font color="#f8805a">wall_height</font>** (_float_)
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Defines the height of walls added to roads to prevent vehicles from falling.
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Height of walls created on the boundaries of the road. These prevent vehicles from falling off the road. __Default is `1.0`__.
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- <a name="carla.OpendriveGenerationParameters.additional_width"></a>**<font color="#f8805a">additional_width</font>** (_float_)
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Additional with to junction lanes to prevent vehicles from falling.
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Additional with applied junction lanes. Complex situations tend to occur at junctions, and a little increase can prevent vehicles from falling off the road. __Default is `0.6`__.
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- <a name="carla.OpendriveGenerationParameters.smooth_junctions"></a>**<font color="#f8805a">smooth_junctions</font>** (_bool_)
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When this variable is `True` the generated junctions will be smoothed to prevent roads from blocking other roads.
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If __True__, the mesh at junctions will be smoothed to prevent issues where roads blocked other roads. __Default is `True`__.
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- <a name="carla.OpendriveGenerationParameters.enable_mesh_visibility"></a>**<font color="#f8805a">enable_mesh_visibility</font>** (_bool_)
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This variable indicates whether the mesh should be rendered to reduce the rendering overhead.
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If __True__, the road mesh will be rendered. Setting this to __False__ should reduce the rendering overhead. __Default is `True`__.
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---
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@ -65,11 +65,12 @@
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- param_name: opendrive
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type: str
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doc: >
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Content of an OpenDRIVE file as `string` (**NOT** the path of the `.xodr` file!).
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Content of an OpenDRIVE file as `string`, __not the path to the `.xodr`__.
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- param_name: parameters
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type: carla.OpendriveGenerationParameters
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default: (2.0, 50.0, 1.0, 0.6, true, true)
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doc: >
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Parameters used when generating a world using an OpenDRIVE file.
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Additional settings for the mesh generation. If none are provided, default values will be used.
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doc: >
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Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter.
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It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side.
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@ -425,24 +426,24 @@
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- var_name: vertex_distance
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type: float
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doc: >
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The distance between vertices when generating the world mesh from OpenDRIVE.
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Distance between vertices of the mesh generated. __Default is `2.0`__.
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- var_name: max_road_length
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type: float
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doc: >
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Max road length for a single mesh portion.
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Max road length for a single mesh portion. The mesh of the map is divided into portions, in order to avoid propagating issues. __Default is `50.0`__.
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- var_name: wall_height
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type: float
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doc: >
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Defines the height of walls added to roads to prevent vehicles from falling.
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Height of walls created on the boundaries of the road. These prevent vehicles from falling off the road. __Default is `1.0`__.
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- var_name: additional_width
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type: float
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doc: >
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Additional with to junction lanes to prevent vehicles from falling.
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Additional with applied junction lanes. Complex situations tend to occur at junctions, and a little increase can prevent vehicles from falling off the road. __Default is `0.6`__.
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- var_name: smooth_junctions
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type: bool
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doc: >
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When this variable is `True` the generated junctions will be smoothed to prevent roads from blocking other roads.
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If __True__, the mesh at junctions will be smoothed to prevent issues where roads blocked other roads. __Default is `True`__.
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- var_name: enable_mesh_visibility
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type: bool
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doc: >
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This variable indicates whether the mesh should be rendered to reduce the rendering overhead.
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If __True__, the road mesh will be rendered. Setting this to __False__ should reduce the rendering overhead. __Default is `True`__.
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