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carla
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Some clean up

This commit is contained in:
nsubiron 2017-10-19 17:00:14 +02:00
parent 3f0553a3a5
commit a1143b3be0
2 changed files with 70 additions and 64 deletions
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128
Source/Carla/Game/CarlaServer.cpp
View File

@ -77,6 +77,70 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
}
}
static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
{
values.type = CARLA_SERVER_AGENT_PEDESTRIAN;
values.forward_speed = FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
/// @todo Perhaps the box it is not the same for every walker...
values.box_extent = {45.0f, 35.0f, 100.0f};
}
static void SetBoxSpeedAndType(carla_agent &values, const ACarlaWheeledVehicle *Vehicle)
{
values.type = CARLA_SERVER_AGENT_VEHICLE;
values.forward_speed = Vehicle->GetVehicleForwardSpeed();
Set(values.box_extent, Vehicle->GetVehicleBoundsExtent());
}
static void SetBoxSpeedAndType(carla_agent &values, const ATrafficSignBase *TrafficSign)
{
switch (TrafficSign->GetTrafficSignState()) {
case ETrafficSignState::TrafficLightRed:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_RED;
break;
case ETrafficSignState::TrafficLightYellow:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_YELLOW;
break;
case ETrafficSignState::TrafficLightGreen:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_GREEN;
break;
case ETrafficSignState::SpeedLimit_30:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 30.0f;
break;
case ETrafficSignState::SpeedLimit_40:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 40.0f;
break;
case ETrafficSignState::SpeedLimit_50:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 50.0f;
break;
case ETrafficSignState::SpeedLimit_60:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 60.0f;
break;
case ETrafficSignState::SpeedLimit_90:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 90.0f;
break;
case ETrafficSignState::SpeedLimit_100:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 100.0f;
break;
case ETrafficSignState::SpeedLimit_120:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 120.0f;
break;
case ETrafficSignState::SpeedLimit_130:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 130.0f;
break;
default:
UE_LOG(LogCarla, Error, TEXT("Unknown traffic sign!"));
}
}
// =============================================================================
// -- CarlaServer --------------------------------------------------------------
// =============================================================================
@ -184,70 +248,6 @@ CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaVehicleController &Player,
return ec;
}
static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
{
values.type = CARLA_SERVER_AGENT_PEDESTRIAN;
values.forward_speed = FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
/// @todo Perhaps the box it is not the same for every walker...
values.box_extent = {45.0f, 35.0f, 100.0f};
}
static void SetBoxSpeedAndType(carla_agent &values, const ACarlaWheeledVehicle *Vehicle)
{
values.type = CARLA_SERVER_AGENT_VEHICLE;
values.forward_speed = Vehicle->GetVehicleForwardSpeed();
Set(values.box_extent, Vehicle->GetVehicleBoundsExtent());
}
static void SetBoxSpeedAndType(carla_agent &values, const ATrafficSignBase *TrafficSign)
{
switch (TrafficSign->GetTrafficSignState()) {
case ETrafficSignState::TrafficLightRed:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_RED;
break;
case ETrafficSignState::TrafficLightYellow:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_YELLOW;
break;
case ETrafficSignState::TrafficLightGreen:
values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_GREEN;
break;
case ETrafficSignState::SpeedLimit_30:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 30.0f;
break;
case ETrafficSignState::SpeedLimit_40:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 40.0f;
break;
case ETrafficSignState::SpeedLimit_50:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 50.0f;
break;
case ETrafficSignState::SpeedLimit_60:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 60.0f;
break;
case ETrafficSignState::SpeedLimit_90:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 90.0f;
break;
case ETrafficSignState::SpeedLimit_100:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 100.0f;
break;
case ETrafficSignState::SpeedLimit_120:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 120.0f;
break;
case ETrafficSignState::SpeedLimit_130:
values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
values.forward_speed = 130.0f;
break;
default:
UE_LOG(LogCarla, Error, TEXT("Unknown traffic sign!"));
}
}
template <typename T>
static void AddAgents(TArray<carla_agent> &Agents, const TArray<T> &Actors)
{

6
Util/ImageConverter/README.md
View File

@ -3,5 +3,11 @@ Image Converter
Converts output images of depth and semantic segmentation to a prettier format.
Requires boost_system, boost_filesystem, boost_program_options, libpng, libtiff,
libjpeg and openmp.
Compile with `g++ -std=c++14 -fopenmp`, for the default compilation just run
make
make
./bin/image_converter -h