Merge GBuffer features. (#5960)
* Add Misc/GBuffer * Add EnqueueRenderSceneImmediateWithGBuffer. * Modified ASceneCaptureSensor to allow gbuffer recording. * Minor GBuffer progress. * More GBuffer changes. * Removed unnecessary files. * Add FRHITexture* functions to FPixelReader + temporarily disabled non-gbuffer rendering in ASceneCaptureSensor. * Add missing FPixelReader functions. * Minor changes (Switching to Windows). * Remove FRHITexture functions from FPixelReader, added the file ImageUtil. * Remove FRHITexture functions from FPixelReader, added the file ImageUtil. (2) * Added API to listen GBuffer data. * Added gbuffer serializer classes * Temporarily remove ViewRect hack. * Add USceneCaptureComponent* derived classes. * Disable USceneCaptureComponent*_CARLA and add initial FRHIGPUTextureReadBack-based code. * Fix and re-enable custom SceneCaptureComponents. * Fully switch to FRHIGPUTextureReadback. * Remove unnecessary call to FlushRenderingCommands. * Minor API changes. * Add support for PF_DepthStencil in ImageUtil. * More API progress... * More API progress... (2) * Removed testing code. * Minor changes for testing. * GBuffer API fixes. * Improve GBuffer capture code. * Fixed SceneDepth transfer issues and added SceneStencil, CustomDepth and CustomStencil to the GBuffer capture. * Fix compilation error due to the usage of C++17 features. * Removed major memory leak and added manual_control_gbuffer.py. * Fixed a silly mistake. * Minor changes to manual_control_gbuffer and SceneCaptureSensor. * Fix compilation error on some versions of Ubuntu. * Disable TAA when reading GBuffers to avoid jitter. * Improve memory usage. * Progress towards automatically detecting when a GBuffer stream is unused. * Fix includes in SceneCaptureSensor + minor change in manual_control_gbuffer.py * Progress on automatically detecting which GBuffers aren't needed. * Remove unneeded __declspec. * Revert ASensor changes + fix tutorial_gbuffer.py * Update CHANGELOG.md * Apply requested changes for the PR, add gitignore for the file OptionalModules.ini and add a GBufferTextureID enum to the Python API. * Remove OptionalModules.ini. * Fix indentation. * Fix indentation (2). * Fix indentation (3). * Add documentation and more indentation fixes. * Remove commented includes. * Add missing line break. * Fix memory leak + remove unneeded files. * Add .uproject again, fix EngineAssociation. * Remove unneeded ENQUEUE_RENDER_COMMAND. * Fix manual_control_gbuffer.py. * Add `stop_gbuffer` to the Python API. * Minor fixes. * Fix performance bug. Previously, when a client requested a gbuffer that is unused it would stay open, even after stopping it explicitly. This commit fixes this issue. * Fix indentation. * Add missing braces, more indentation fixes and simplify some of the code. * Update sensor.yml docs. * Update docs. * Remove unnecessary UE_Log + changed one verbosity level. Co-authored-by: Axel <axellopez92@outlook.com> Co-authored-by: Axel1092 <35765780+Axel1092@users.noreply.github.com>
This commit is contained in:
Marcel Pi
GitHub
parent
dcda50140a
commit
a152863b11
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@ -48,6 +48,8 @@
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* Added post process effects for rainy and dusty weathers.
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* Switched data type of the dust storm weather parameter from bool to float.
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* Check for the version of the installed Clang compiler during build.
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* Added API function to get direct access to the GBuffer textures of a sensor:
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- `listen_to_gbuffer`: to set a callback for a specific GBuffer texture
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## CARLA 0.9.13
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@ -83,6 +83,32 @@ Check out the [introduction to blueprints](core_actors.md).
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- `toe` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `use_log` (_Bool_) <sub>_- Modifiable_</sub>
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||||
- `white_clip` (_Float_) <sub>_- Modifiable_</sub>
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||||
- **<font color="#498efc">sensor.camera.instance_segmentation</font>**
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||||
- **Attributes:**
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||||
- `fov` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `image_size_x` (_Int_) <sub>_- Modifiable_</sub>
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||||
- `image_size_y` (_Int_) <sub>_- Modifiable_</sub>
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||||
- `lens_circle_falloff` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `lens_circle_multiplier` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `lens_k` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `lens_kcube` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_x_size` (_Float_) <sub>_- Modifiable_</sub>
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||||
- `lens_y_size` (_Float_) <sub>_- Modifiable_</sub>
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">sensor.camera.normals</font>**
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- **Attributes:**
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- `fov` (_Float_) <sub>_- Modifiable_</sub>
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- `image_size_x` (_Int_) <sub>_- Modifiable_</sub>
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- `image_size_y` (_Int_) <sub>_- Modifiable_</sub>
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- `lens_circle_falloff` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_circle_multiplier` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_k` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_kcube` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_x_size` (_Float_) <sub>_- Modifiable_</sub>
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- `lens_y_size` (_Float_) <sub>_- Modifiable_</sub>
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">sensor.camera.optical_flow</font>**
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- **Attributes:**
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- `fov` (_Float_) <sub>_- Modifiable_</sub>
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@ -306,6 +332,10 @@ Check out the [introduction to blueprints](core_actors.md).
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.busstoplb</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.calibrator</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -366,6 +396,10 @@ Check out the [introduction to blueprints](core_actors.md).
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.foodcart</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.fountain</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -410,6 +444,14 @@ Check out the [introduction to blueprints](core_actors.md).
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.haybale</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.haybalelb</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.ironplank</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -428,7 +470,10 @@ Check out the [introduction to blueprints](core_actors.md).
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- `size` (_String_)
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- **<font color="#498efc">static.prop.mesh</font>**
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- **Attributes:**
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- `mass` (_Float_) <sub>_- Modifiable_</sub>
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- `mesh_path` (_String_) <sub>_- Modifiable_</sub>
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `scale` (_Float_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">static.prop.mobile</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -437,14 +482,6 @@ Check out the [introduction to blueprints](core_actors.md).
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.omri-0</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.omri-1</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.pergola</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -597,6 +634,14 @@ Check out the [introduction to blueprints](core_actors.md).
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.warningaccident</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.warningconstruction</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `size` (_String_)
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- **<font color="#498efc">static.prop.wateringcan</font>**
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- **Attributes:**
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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@ -612,480 +657,518 @@ Check out the [introduction to blueprints](core_actors.md).
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### vehicle
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- **<font color="#498efc">vehicle.audi.a2</font>**
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- **Attributes:**
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- `base_type` (_String_)
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- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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- `generation` (_Int_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `base_type` (_String_)
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- `special_type` (_String_)
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- `has_dynamic_doors` (_Bool_)
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- `has_lights` (_Bool_)
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- `base_type` (_String_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `special_type` (_String_)
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- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">vehicle.audi.etron</font>**
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- **Attributes:**
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- `base_type` (_String_)
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- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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- `generation` (_Int_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `base_type` (_String_)
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- `special_type` (_String_)
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- `has_dynamic_doors` (_Bool_)
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- `has_lights` (_Bool_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `special_type` (_String_)
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- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">vehicle.audi.tt</font>**
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- **Attributes:**
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- `base_type` (_String_)
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- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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- `generation` (_Int_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `base_type` (_String_)
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- `special_type` (_String_)
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- `has_dynamic_doors` (_Bool_)
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- `has_lights` (_Bool_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `special_type` (_String_)
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- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">vehicle.bh.crossbike</font>**
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- **Attributes:**
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- `base_type` (_String_)
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- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
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- `generation` (_Int_)
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||||
- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `base_type` (_String_)
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- `special_type` (_String_)
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- `has_dynamic_doors` (_Bool_)
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- `has_lights` (_Bool_)
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- `number_of_wheels` (_Int_)
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- `object_type` (_String_)
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- `role_name` (_String_) <sub>_- Modifiable_</sub>
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- `special_type` (_String_)
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- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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- **<font color="#498efc">vehicle.bmw.grandtourer</font>**
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- **Attributes:**
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||||
- `base_type` (_String_)
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- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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||||
- `generation` (_Int_)
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||||
- `number_of_wheels` (_Int_)
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||||
- `object_type` (_String_)
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||||
- `base_type` (_String_)
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||||
- `special_type` (_String_)
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||||
- `has_dynamic_doors` (_Bool_)
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||||
- `has_lights` (_Bool_)
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||||
- `number_of_wheels` (_Int_)
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||||
- `object_type` (_String_)
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||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
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||||
- `special_type` (_String_)
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||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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||||
- **<font color="#498efc">vehicle.carlamotors.carlacola</font>**
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||||
- **Attributes:**
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||||
- `base_type` (_String_)
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||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
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||||
- `generation` (_Int_)
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||||
- `number_of_wheels` (_Int_)
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||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
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||||
- `special_type` (_String_)
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||||
- `has_dynamic_doors` (_Bool_)
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||||
- `has_lights` (_Bool_)
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||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
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||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
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||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
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||||
- **<font color="#498efc">vehicle.carlamotors.firetruck</font>**
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||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.chevrolet.impala</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.citroen.c3</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
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||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.diamondback.century</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
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||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.dodge.charger_2020</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.dodge.charger_police</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.dodge.charger_police_2020</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.ford.ambulance</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.ford.crown</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.ford.mustang</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.gazelle.omafiets</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.harley-davidson.low_rider</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.jeep.wrangler_rubicon</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.kawasaki.ninja</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.lincoln.mkz_2017</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.lincoln.mkz_2020</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.mercedes.coupe</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.mercedes.coupe_2020</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.mercedes.sprinter</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.micro.microlino</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.mini.cooper_s</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.mini.cooper_s_2021</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.nissan.micra</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.nissan.patrol</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.nissan.patrol_2021</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.seat.leon</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.tesla.cybertruck</font>**
|
||||
- **Attributes:**
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `generation` (_Int_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.tesla.model3</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.toyota.prius</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.vespa.zx125</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.volkswagen.t2</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.volkswagen.t2_2021</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">vehicle.yamaha.yzf</font>**
|
||||
- **Attributes:**
|
||||
- `base_type` (_String_)
|
||||
- `color` (_RGBColor_) <sub>_- Modifiable_</sub>
|
||||
- `driver_id` (_Int_) <sub>_- Modifiable_</sub>
|
||||
- `generation` (_Int_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `base_type` (_String_)
|
||||
- `special_type` (_String_)
|
||||
- `has_dynamic_doors` (_Bool_)
|
||||
- `has_lights` (_Bool_)
|
||||
- `number_of_wheels` (_Int_)
|
||||
- `object_type` (_String_)
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `special_type` (_String_)
|
||||
- `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
|
||||
### walker
|
||||
- **<font color="#498efc">walker.pedestrian.0001</font>**
|
||||
|
|
@ -1472,3 +1555,11 @@ Check out the [introduction to blueprints](core_actors.md).
|
|||
- `is_invincible` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `speed` (_Float_) <sub>_- Modifiable_</sub>
|
||||
- **<font color="#498efc">walker.pedestrian.0049</font>**
|
||||
- **Attributes:**
|
||||
- `age` (_String_)
|
||||
- `gender` (_String_)
|
||||
- `generation` (_Int_)
|
||||
- `is_invincible` (_Bool_) <sub>_- Modifiable_</sub>
|
||||
- `role_name` (_String_) <sub>_- Modifiable_</sub>
|
||||
- `speed` (_Float_) <sub>_- Modifiable_</sub>
|
||||
|
|
|
|||
|
|
@ -772,6 +772,57 @@ Initializes a color, black by default.
|
|||
|
||||
---
|
||||
|
||||
## carla.GBufferTextureID<a name="carla.GBufferTextureID"></a>
|
||||
Defines the identifiers of each GBuffer texture (See the method `[carla.Sensor.listen_to_gbuffer](#carla.Sensor.listen_to_gbuffer)`).
|
||||
|
||||
### Instance Variables
|
||||
- <a name="carla.GBufferTextureID.SceneColor"></a>**<font color="#f8805a">SceneColor</font>**
|
||||
The texture "SceneColor" contains the final color of the image.
|
||||
- <a name="carla.GBufferTextureID.SceneDepth"></a>**<font color="#f8805a">SceneDepth</font>**
|
||||
The texture "SceneDepth" contains the depth buffer - linear in world units.
|
||||
- <a name="carla.GBufferTextureID.SceneStencil"></a>**<font color="#f8805a">SceneStencil</font>**
|
||||
The texture "SceneStencil" contains the stencil buffer.
|
||||
- <a name="carla.GBufferTextureID.GBufferA"></a>**<font color="#f8805a">GBufferA</font>**
|
||||
The texture "GBufferA" contains the world-space normal vectors in the RGB channels. The alpha channel contains "per-object data".
|
||||
- <a name="carla.GBufferTextureID.GBufferB"></a>**<font color="#f8805a">GBufferB</font>**
|
||||
The texture "GBufferB" contains the metallic, specular and roughness in the RGB channels, respectively. The alpha channel contains a mask where the lower 4 bits indicate the shading model and the upper 4 bits contain the selective output mask.
|
||||
- <a name="carla.GBufferTextureID.GBufferC"></a>**<font color="#f8805a">GBufferC</font>**
|
||||
The texture "GBufferC" contains the diffuse color in the RGB channels, with the indirect irradiance in the alpha channel.<br> If static lightning is not allowed, the alpha channel will contain the ambient occlusion instead.
|
||||
- <a name="carla.GBufferTextureID.GBufferD"></a>**<font color="#f8805a">GBufferD</font>**
|
||||
The contents of the "GBufferD" varies depending on the rendered object's material shading model (GBufferB):<br>
|
||||
- MSM_Subsurface (2), MSM_PreintegratedSkin (3), MSM_TwoSidedFoliage (6):<br>
|
||||
RGB: Subsurface color.<br>
|
||||
A: Opacity.<br>
|
||||
- MSM_ClearCoat (4):<br>
|
||||
R: Clear coat.<br>
|
||||
G: Roughness.<br>
|
||||
- MSM_SubsurfaceProfile (5):<br>
|
||||
RGB: Subsurface profile.<br>
|
||||
- MSM_Hair (7):<br>
|
||||
RG: World normal.<br>
|
||||
B: Backlit value.<br>
|
||||
- MSM_Cloth (8):<br>
|
||||
RGB: Subsurface color.<br>
|
||||
A: Cloth value.<br>
|
||||
- MSM_Eye (9):<br>
|
||||
RG: Eye tangent.<br>
|
||||
B: Iris mask.<br>
|
||||
A: Iris distance.
|
||||
- <a name="carla.GBufferTextureID.GBufferE"></a>**<font color="#f8805a">GBufferE</font>**
|
||||
The texture "GBufferE" contains the precomputed shadow factors in the RGBA channels. This texture is unavailable if the selective output mask (GBufferB) does not have its 4th bit set.
|
||||
- <a name="carla.GBufferTextureID.GBufferF"></a>**<font color="#f8805a">GBufferF</font>**
|
||||
The texture "GBufferF" contains the world-space tangent in the RGB channels and the anisotropy in the alpha channel. This texture is unavailable if the selective output mask (GBufferB) does not have its 5th bit set.
|
||||
- <a name="carla.GBufferTextureID.Velocity"></a>**<font color="#f8805a">Velocity</font>**
|
||||
The texture "Velocity" contains the screen-space velocity of the scene objects.
|
||||
- <a name="carla.GBufferTextureID.SSAO"></a>**<font color="#f8805a">SSAO</font>**
|
||||
The texture "SSAO" contains the screen-space ambient occlusion texture.
|
||||
- <a name="carla.GBufferTextureID.CustomDepth"></a>**<font color="#f8805a">CustomDepth</font>**
|
||||
The texture "CustomDepth" contains the Unreal Engine custom depth data.
|
||||
- <a name="carla.GBufferTextureID.CustomStencil"></a>**<font color="#f8805a">CustomStencil</font>**
|
||||
The texture "CustomStencil" contains the Unreal Engine custom stencil data.
|
||||
|
||||
---
|
||||
|
||||
## carla.GearPhysicsControl<a name="carla.GearPhysicsControl"></a>
|
||||
Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to help simulate physics.
|
||||
|
||||
|
|
@ -2114,8 +2165,17 @@ When <b>True</b> the sensor will be waiting for data.
|
|||
The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.
|
||||
- **Parameters:**
|
||||
- `callback` (_function_) - The called function with one argument containing the sensor data.
|
||||
- <a name="carla.Sensor.listen_to_gbuffer"></a>**<font color="#7fb800">listen_to_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>, <font color="#00a6ed">**callback**</font>)
|
||||
The function the sensor will be calling to every time the desired GBuffer texture is received.<br> This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.
|
||||
- **Parameters:**
|
||||
- `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the desired Unreal Engine GBuffer texture.
|
||||
- `callback` (_function_) - The called function with one argument containing the received GBuffer texture.
|
||||
- <a name="carla.Sensor.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)
|
||||
Commands the sensor to stop listening for data.
|
||||
- <a name="carla.Sensor.stop_gbuffer"></a>**<font color="#7fb800">stop_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>)
|
||||
Commands the sensor to stop listening for the specified GBuffer texture.
|
||||
- **Parameters:**
|
||||
- `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the Unreal Engine GBuffer texture.
|
||||
|
||||
##### Dunder methods
|
||||
- <a name="carla.Sensor.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
|
||||
|
|
@ -3977,384 +4037,6 @@ document.getElementById("snipets-container").innerHTML = null;
|
|||
}
|
||||
</script>
|
||||
|
||||
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.enable_environment_objects
|
||||
</p>
|
||||
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe turn visibility off and on for two specifc buildings on the map
|
||||
|
||||
# Get the buildings in the world
|
||||
world = client.get_world()
|
||||
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
|
||||
|
||||
# Access individual building IDs and save in a set
|
||||
building_01 = env_objs[0]
|
||||
building_02 = env_objs[1]
|
||||
objects_to_toggle = {building_01.id, building_02.id}
|
||||
|
||||
# Toggle buildings off
|
||||
world.enable_environment_objects(objects_to_toggle, False)
|
||||
# Toggle buildings on
|
||||
world.enable_environment_objects(objects_to_toggle, True)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_string
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe is a modification of lane_explorer.py example.
|
||||
# It draws the path of an actor through the world, printing information at each waypoint.
|
||||
|
||||
# ...
|
||||
current_w = map.get_waypoint(vehicle.get_location())
|
||||
while True:
|
||||
|
||||
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
|
||||
# Check if the vehicle is moving
|
||||
if next_w.id != current_w.id:
|
||||
vector = vehicle.get_velocity()
|
||||
# Check if the vehicle is on a sidewalk
|
||||
if current_w.lane_type == carla.LaneType.Sidewalk:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
|
||||
else:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
|
||||
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
|
||||
draw_transform(debug, current_w.transform, white, 60)
|
||||
|
||||
# Update the current waypoint and sleep for some time
|
||||
current_w = next_w
|
||||
time.sleep(args.tick_time)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
</p>
|
||||
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe toggles off several layers in our "_Opt" maps
|
||||
|
||||
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
# as well as buildings and parked vehicles
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
|
||||
|
||||
# Toggle all buildings off
|
||||
world.unload_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all parked vehicles off
|
||||
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Vehicle.set_wheel_steer_direction
|
||||
</p>
|
||||
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
|
||||
|
||||
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
|
||||
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
</p>
|
||||
<div id="carla.Client.__init__-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows in every script provided in PythonAPI/Examples
|
||||
# and it is used to parse the client creation arguments when running the script.
|
||||
|
||||
argparser = argparse.ArgumentParser(
|
||||
description=__doc__)
|
||||
argparser.add_argument(
|
||||
'--host',
|
||||
metavar='H',
|
||||
default='127.0.0.1',
|
||||
help='IP of the host server (default: 127.0.0.1)')
|
||||
argparser.add_argument(
|
||||
'-p', '--port',
|
||||
metavar='P',
|
||||
default=2000,
|
||||
type=int,
|
||||
help='TCP port to listen to (default: 2000)')
|
||||
argparser.add_argument(
|
||||
'-s', '--speed',
|
||||
metavar='FACTOR',
|
||||
default=1.0,
|
||||
type=float,
|
||||
help='rate at which the weather changes (default: 1.0)')
|
||||
args = argparser.parse_args()
|
||||
|
||||
speed_factor = args.speed
|
||||
update_freq = 0.1 / speed_factor
|
||||
|
||||
client = carla.Client(args.host, args.port)
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Map.get_waypoint
|
||||
</p>
|
||||
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows the current traffic rules affecting the vehicle.
|
||||
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
|
||||
|
||||
# ...
|
||||
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
|
||||
print("Current lane type: " + str(waypoint.lane_type))
|
||||
# Check current lane change allowed
|
||||
print("Current Lane change: " + str(waypoint.lane_change))
|
||||
# Left and Right lane markings
|
||||
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
|
||||
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
|
||||
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
|
||||
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</p>
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
|
||||
|
||||
# stop pedestrians (list is [controller, actor, controller, actor ...])
|
||||
for i in range(0, len(all_id), 2):
|
||||
all_actors[i].stop()
|
||||
|
||||
# destroy pedestrian (actor and controller)
|
||||
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.get_spectator
|
||||
</p>
|
||||
<div id="carla.World.get_spectator-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe spawns an actor and the spectator camera at the actor's location.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.TrafficLight.set_state
|
||||
</p>
|
||||
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe changes from red to green the traffic light that affects the vehicle.
|
||||
# This is done by detecting if the vehicle actor is at a traffic light.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...# ...
|
||||
if vehicle_actor.is_at_traffic_light():
|
||||
traffic_light = vehicle_actor.get_traffic_light()
|
||||
if traffic_light.get_state() == carla.TrafficLightState.Red:
|
||||
# world.hud.notification("Traffic light changed! Good to go!")
|
||||
traffic_light.set_state(carla.TrafficLightState.Green)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.ActorBlueprint.set_attribute
|
||||
|
|
@ -4462,6 +4144,333 @@ for i in range(0, len(all_actors), 2):
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
</p>
|
||||
<div id="carla.Client.__init__-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows in every script provided in PythonAPI/Examples
|
||||
# and it is used to parse the client creation arguments when running the script.
|
||||
|
||||
argparser = argparse.ArgumentParser(
|
||||
description=__doc__)
|
||||
argparser.add_argument(
|
||||
'--host',
|
||||
metavar='H',
|
||||
default='127.0.0.1',
|
||||
help='IP of the host server (default: 127.0.0.1)')
|
||||
argparser.add_argument(
|
||||
'-p', '--port',
|
||||
metavar='P',
|
||||
default=2000,
|
||||
type=int,
|
||||
help='TCP port to listen to (default: 2000)')
|
||||
argparser.add_argument(
|
||||
'-s', '--speed',
|
||||
metavar='FACTOR',
|
||||
default=1.0,
|
||||
type=float,
|
||||
help='rate at which the weather changes (default: 1.0)')
|
||||
args = argparser.parse_args()
|
||||
|
||||
speed_factor = args.speed
|
||||
update_freq = 0.1 / speed_factor
|
||||
|
||||
client = carla.Client(args.host, args.port)
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_string
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe is a modification of lane_explorer.py example.
|
||||
# It draws the path of an actor through the world, printing information at each waypoint.
|
||||
|
||||
# ...
|
||||
current_w = map.get_waypoint(vehicle.get_location())
|
||||
while True:
|
||||
|
||||
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
|
||||
# Check if the vehicle is moving
|
||||
if next_w.id != current_w.id:
|
||||
vector = vehicle.get_velocity()
|
||||
# Check if the vehicle is on a sidewalk
|
||||
if current_w.lane_type == carla.LaneType.Sidewalk:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
|
||||
else:
|
||||
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
|
||||
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
|
||||
draw_transform(debug, current_w.transform, white, 60)
|
||||
|
||||
# Update the current waypoint and sleep for some time
|
||||
current_w = next_w
|
||||
time.sleep(args.tick_time)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Map.get_waypoint
|
||||
</p>
|
||||
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows the current traffic rules affecting the vehicle.
|
||||
# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
|
||||
|
||||
# ...
|
||||
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
|
||||
print("Current lane type: " + str(waypoint.lane_type))
|
||||
# Check current lane change allowed
|
||||
print("Current Lane change: " + str(waypoint.lane_change))
|
||||
# Left and Right lane markings
|
||||
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
|
||||
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
|
||||
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
|
||||
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.TrafficLight.set_state
|
||||
</p>
|
||||
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe changes from red to green the traffic light that affects the vehicle.
|
||||
# This is done by detecting if the vehicle actor is at a traffic light.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...# ...
|
||||
if vehicle_actor.is_at_traffic_light():
|
||||
traffic_light = vehicle_actor.get_traffic_light()
|
||||
if traffic_light.get_state() == carla.TrafficLightState.Red:
|
||||
# world.hud.notification("Traffic light changed! Good to go!")
|
||||
traffic_light.set_state(carla.TrafficLightState.Green)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Vehicle.set_wheel_steer_direction
|
||||
</p>
|
||||
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
|
||||
|
||||
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
|
||||
vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</p>
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
|
||||
|
||||
# stop pedestrians (list is [controller, actor, controller, actor ...])
|
||||
for i in range(0, len(all_id), 2):
|
||||
all_actors[i].stop()
|
||||
|
||||
# destroy pedestrian (actor and controller)
|
||||
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.enable_environment_objects
|
||||
</p>
|
||||
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe turn visibility off and on for two specifc buildings on the map
|
||||
|
||||
# Get the buildings in the world
|
||||
world = client.get_world()
|
||||
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
|
||||
|
||||
# Access individual building IDs and save in a set
|
||||
building_01 = env_objs[0]
|
||||
building_02 = env_objs[1]
|
||||
objects_to_toggle = {building_01.id, building_02.id}
|
||||
|
||||
# Toggle buildings off
|
||||
world.enable_environment_objects(objects_to_toggle, False)
|
||||
# Toggle buildings on
|
||||
world.enable_environment_objects(objects_to_toggle, True)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.get_spectator
|
||||
</p>
|
||||
<div id="carla.World.get_spectator-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe spawns an actor and the spectator camera at the actor's location.
|
||||
|
||||
# ...
|
||||
world = client.get_world()
|
||||
spectator = world.get_spectator()
|
||||
|
||||
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
|
||||
transform = random.choice(world.get_map().get_spawn_points())
|
||||
vehicle = world.try_spawn_actor(vehicle_bp, transform)
|
||||
|
||||
# Wait for world to get the vehicle actor
|
||||
world.tick()
|
||||
|
||||
world_snapshot = world.wait_for_tick()
|
||||
actor_snapshot = world_snapshot.find(vehicle.id)
|
||||
|
||||
# Set spectator at given transform (vehicle transform)
|
||||
spectator.set_transform(actor_snapshot.get_transform())
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.load_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.load_map_layer
|
||||
|
|
@ -4490,6 +4499,57 @@ world.load_map_layer(carla.MapLayer.ParkedVehicles)
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
</p>
|
||||
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe toggles off several layers in our "_Opt" maps
|
||||
|
||||
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
# as well as buildings and parked vehicles
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
|
||||
|
||||
# Toggle all buildings off
|
||||
world.unload_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all parked vehicles off
|
||||
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -24,6 +24,10 @@ namespace client {
|
|||
if (IsListening() && GetEpisode().IsValid()) {
|
||||
try {
|
||||
Stop();
|
||||
for (uint32_t i = 1; i != 16; ++i) {
|
||||
if (listening_mask.test(i))
|
||||
StopGBuffer(i);
|
||||
}
|
||||
} catch (const std::exception &e) {
|
||||
log_error("exception trying to stop sensor:", GetDisplayId(), ':', e.what());
|
||||
}
|
||||
|
|
@ -34,26 +38,48 @@ namespace client {
|
|||
log_debug("calling sensor Listen() ", GetDisplayId());
|
||||
log_debug(GetDisplayId(), ": subscribing to stream");
|
||||
GetEpisode().Lock()->SubscribeToSensor(*this, std::move(callback));
|
||||
_is_listening = true;
|
||||
listening_mask.set(0);
|
||||
}
|
||||
|
||||
void ServerSideSensor::Stop() {
|
||||
log_debug("calling sensor Stop() ", GetDisplayId());
|
||||
if (!_is_listening) {
|
||||
if (!IsListening()) {
|
||||
log_warning(
|
||||
"attempting to unsubscribe from stream but sensor wasn't listening:",
|
||||
GetDisplayId());
|
||||
return;
|
||||
}
|
||||
GetEpisode().Lock()->UnSubscribeFromSensor(*this);
|
||||
_is_listening = false;
|
||||
listening_mask.reset(0);
|
||||
}
|
||||
|
||||
void ServerSideSensor::ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback) {
|
||||
log_debug(GetDisplayId(), ": subscribing to gbuffer stream");
|
||||
GetEpisode().Lock()->SubscribeToGBuffer(*this, GBufferId, std::move(callback));
|
||||
listening_mask.set(0);
|
||||
listening_mask.set(GBufferId + 1);
|
||||
}
|
||||
|
||||
void ServerSideSensor::StopGBuffer(uint32_t GBufferId) {
|
||||
log_debug(GetDisplayId(), ": unsubscribing from gbuffer stream");
|
||||
GetEpisode().Lock()->UnSubscribeFromGBuffer(*this, GBufferId);
|
||||
listening_mask.reset(GBufferId + 1);
|
||||
if (listening_mask.count() == 1) {
|
||||
listening_mask.reset(0);
|
||||
}
|
||||
}
|
||||
|
||||
bool ServerSideSensor::Destroy() {
|
||||
log_debug("calling sensor Destroy() ", GetDisplayId());
|
||||
if (IsListening()) {
|
||||
for (uint32_t i = 1; i != 16; ++i) {
|
||||
if (listening_mask.test(i)) {
|
||||
StopGBuffer(i);
|
||||
}
|
||||
}
|
||||
Stop();
|
||||
}
|
||||
listening_mask = {};
|
||||
return Actor::Destroy();
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -7,6 +7,7 @@
|
|||
#pragma once
|
||||
|
||||
#include "carla/client/Sensor.h"
|
||||
#include <bitset>
|
||||
|
||||
namespace carla {
|
||||
namespace client {
|
||||
|
|
@ -33,7 +34,17 @@ namespace client {
|
|||
/// Return whether this Sensor instance is currently listening to the
|
||||
/// associated sensor in the simulator.
|
||||
bool IsListening() const override {
|
||||
return _is_listening;
|
||||
return listening_mask.test(0);
|
||||
}
|
||||
|
||||
/// Listen fr
|
||||
void ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback);
|
||||
|
||||
/// Stop listening for a specific gbuffer stream.
|
||||
void StopGBuffer(uint32_t GBufferId);
|
||||
|
||||
inline bool IsListeningGBuffer(uint32_t id) const {
|
||||
return listening_mask.test(id + 1);
|
||||
}
|
||||
|
||||
/// @copydoc Actor::Destroy()
|
||||
|
|
@ -43,7 +54,8 @@ namespace client {
|
|||
|
||||
private:
|
||||
|
||||
bool _is_listening = false;
|
||||
std::bitset<32> listening_mask;
|
||||
|
||||
};
|
||||
|
||||
} // namespace client
|
||||
|
|
|
|||
|
|
@ -586,6 +586,27 @@ namespace detail {
|
|||
_pimpl->streaming_client.UnSubscribe(token);
|
||||
}
|
||||
|
||||
void Client::SubscribeToGBuffer(
|
||||
rpc::ActorId ActorId,
|
||||
uint32_t GBufferId,
|
||||
std::function<void(Buffer)> callback)
|
||||
{
|
||||
std::vector<unsigned char> token_data = _pimpl->CallAndWait<std::vector<unsigned char>>("get_gbuffer_token", ActorId, GBufferId);
|
||||
streaming::Token token;
|
||||
std::memcpy(&token.data[0u], token_data.data(), token_data.size());
|
||||
_pimpl->streaming_client.Subscribe(token, std::move(callback));
|
||||
}
|
||||
|
||||
void Client::UnSubscribeFromGBuffer(
|
||||
rpc::ActorId ActorId,
|
||||
uint32_t GBufferId)
|
||||
{
|
||||
std::vector<unsigned char> token_data = _pimpl->CallAndWait<std::vector<unsigned char>>("get_gbuffer_token", ActorId, GBufferId);
|
||||
streaming::Token token;
|
||||
std::memcpy(&token.data[0u], token_data.data(), token_data.size());
|
||||
_pimpl->streaming_client.UnSubscribe(token);
|
||||
}
|
||||
|
||||
void Client::DrawDebugShape(const rpc::DebugShape &shape) {
|
||||
_pimpl->AsyncCall("draw_debug_shape", shape);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -368,8 +368,17 @@ namespace detail {
|
|||
const streaming::Token &token,
|
||||
std::function<void(Buffer)> callback);
|
||||
|
||||
void SubscribeToGBuffer(
|
||||
rpc::ActorId ActorId,
|
||||
uint32_t GBufferId,
|
||||
std::function<void(Buffer)> callback);
|
||||
|
||||
void UnSubscribeFromStream(const streaming::Token &token);
|
||||
|
||||
void UnSubscribeFromGBuffer(
|
||||
rpc::ActorId ActorId,
|
||||
uint32_t GBufferId);
|
||||
|
||||
void DrawDebugShape(const rpc::DebugShape &shape);
|
||||
|
||||
void ApplyBatch(
|
||||
|
|
|
|||
|
|
@ -390,8 +390,25 @@ namespace detail {
|
|||
});
|
||||
}
|
||||
|
||||
void Simulator::UnSubscribeFromSensor(const Sensor &sensor) {
|
||||
void Simulator::UnSubscribeFromSensor(Actor &sensor) {
|
||||
_client.UnSubscribeFromStream(sensor.GetActorDescription().GetStreamToken());
|
||||
// If in the future we need to unsubscribe from each gbuffer individually, it should be done here.
|
||||
}
|
||||
|
||||
void Simulator::SubscribeToGBuffer(
|
||||
Actor &actor,
|
||||
uint32_t gbuffer_id,
|
||||
std::function<void(SharedPtr<sensor::SensorData>)> callback) {
|
||||
_client.SubscribeToGBuffer(actor.GetId(), gbuffer_id,
|
||||
[cb=std::move(callback), ep=WeakEpisodeProxy{shared_from_this()}](auto buffer) {
|
||||
auto data = sensor::Deserializer::Deserialize(std::move(buffer));
|
||||
data->_episode = ep.TryLock();
|
||||
cb(std::move(data));
|
||||
});
|
||||
}
|
||||
|
||||
void Simulator::UnSubscribeFromGBuffer(Actor &actor, uint32_t gbuffer_id) {
|
||||
_client.UnSubscribeFromGBuffer(actor.GetId(), gbuffer_id);
|
||||
}
|
||||
|
||||
void Simulator::FreezeAllTrafficLights(bool frozen) {
|
||||
|
|
|
|||
|
|
@ -590,7 +590,16 @@ namespace detail {
|
|||
const Sensor &sensor,
|
||||
std::function<void(SharedPtr<sensor::SensorData>)> callback);
|
||||
|
||||
void UnSubscribeFromSensor(const Sensor &sensor);
|
||||
void UnSubscribeFromSensor(Actor &sensor);
|
||||
|
||||
void SubscribeToGBuffer(
|
||||
Actor & sensor,
|
||||
uint32_t gbuffer_id,
|
||||
std::function<void(SharedPtr<sensor::SensorData>)> callback);
|
||||
|
||||
void UnSubscribeFromGBuffer(
|
||||
Actor & sensor,
|
||||
uint32_t gbuffer_id);
|
||||
|
||||
/// @}
|
||||
// =========================================================================
|
||||
|
|
|
|||
|
|
@ -27,6 +27,8 @@
|
|||
#include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
|
||||
#include "carla/sensor/s11n/RadarSerializer.h"
|
||||
#include "carla/sensor/s11n/SemanticLidarSerializer.h"
|
||||
#include "carla/sensor/s11n/GBufferUint8Serializer.h"
|
||||
#include "carla/sensor/s11n/GBufferFloatSerializer.h"
|
||||
|
||||
// 2. Add a forward-declaration of the sensor here.
|
||||
class ACollisionSensor;
|
||||
|
|
@ -46,6 +48,8 @@ class ASemanticSegmentationCamera;
|
|||
class AInstanceSegmentationCamera;
|
||||
class ARssSensor;
|
||||
class FWorldObserver;
|
||||
struct FCameraGBufferUint8;
|
||||
struct FCameraGBufferFloat;
|
||||
|
||||
namespace carla {
|
||||
namespace sensor {
|
||||
|
|
@ -74,7 +78,9 @@ namespace sensor {
|
|||
std::pair<ASceneCaptureCamera *, s11n::ImageSerializer>,
|
||||
std::pair<ASemanticSegmentationCamera *, s11n::ImageSerializer>,
|
||||
std::pair<AInstanceSegmentationCamera *, s11n::ImageSerializer>,
|
||||
std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>
|
||||
std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>,
|
||||
std::pair<FCameraGBufferUint8 *, s11n::GBufferUint8Serializer>,
|
||||
std::pair<FCameraGBufferFloat *, s11n::GBufferFloatSerializer>
|
||||
>;
|
||||
|
||||
} // namespace sensor
|
||||
|
|
|
|||
|
|
@ -16,6 +16,9 @@ namespace data {
|
|||
/// An image of 32-bit BGRA colors (8-bit channels, 4 bytes)
|
||||
using Image = ImageTmpl<Color>;
|
||||
|
||||
/// An image of float BGRA colors (32-bit channels)
|
||||
using FloatImage = ImageTmpl<rpc::FloatColor>;
|
||||
|
||||
/// An image of 64-bit BGRA colors (16-bit channels, 2 floats)
|
||||
using OpticalFlowImage = ImageTmpl<OpticalFlowPixel>;
|
||||
|
||||
|
|
|
|||
|
|
@ -10,6 +10,8 @@
|
|||
#include "carla/sensor/data/Array.h"
|
||||
#include "carla/sensor/s11n/ImageSerializer.h"
|
||||
#include "carla/sensor/s11n/OpticalFlowImageSerializer.h"
|
||||
#include "carla/sensor/s11n/GBufferUint8Serializer.h"
|
||||
#include "carla/sensor/s11n/GBufferFloatSerializer.h"
|
||||
#include "carla/sensor/s11n/NormalsImageSerializer.h"
|
||||
|
||||
namespace carla {
|
||||
|
|
@ -28,6 +30,8 @@ namespace data {
|
|||
|
||||
friend Serializer;
|
||||
friend SerializerOpticalFlow;
|
||||
friend s11n::GBufferUint8Serializer;
|
||||
friend s11n::GBufferFloatSerializer;
|
||||
friend SerializerNormals;
|
||||
|
||||
explicit ImageTmpl(RawData &&data)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,22 @@
|
|||
// Copyright (c) 2022 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/sensor/s11n/GBufferFloatSerializer.h"
|
||||
|
||||
#include "carla/sensor/data/Image.h"
|
||||
|
||||
namespace carla {
|
||||
namespace sensor {
|
||||
namespace s11n {
|
||||
|
||||
SharedPtr<SensorData> GBufferFloatSerializer::Deserialize(RawData &&data) {
|
||||
auto image = SharedPtr<data::FloatImage>(new data::FloatImage{std::move(data)});
|
||||
return image;
|
||||
}
|
||||
|
||||
} // namespace s11n
|
||||
} // namespace sensor
|
||||
} // namespace carla
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
// Copyright (c) 2022 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/Memory.h"
|
||||
#include "carla/sensor/RawData.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
|
||||
namespace carla {
|
||||
namespace sensor {
|
||||
|
||||
class SensorData;
|
||||
|
||||
namespace s11n {
|
||||
|
||||
/// Serializes image buffers generated by camera sensors.
|
||||
class GBufferFloatSerializer {
|
||||
public:
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct ImageHeader {
|
||||
uint32_t width;
|
||||
uint32_t height;
|
||||
float fov_angle;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
constexpr static auto header_offset = sizeof(ImageHeader);
|
||||
|
||||
static const ImageHeader &DeserializeHeader(const RawData &data) {
|
||||
return *reinterpret_cast<const ImageHeader *>(data.begin());
|
||||
}
|
||||
|
||||
template <typename Sensor>
|
||||
static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap,
|
||||
uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle);
|
||||
|
||||
static SharedPtr<SensorData> Deserialize(RawData &&data);
|
||||
};
|
||||
|
||||
template <typename Sensor>
|
||||
inline Buffer GBufferFloatSerializer::Serialize(const Sensor &/*sensor*/, Buffer &&bitmap,
|
||||
uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle) {
|
||||
DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
|
||||
ImageHeader header = {
|
||||
ImageWidth,
|
||||
ImageHeight,
|
||||
FovAngle
|
||||
};
|
||||
std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
|
||||
return std::move(bitmap);
|
||||
}
|
||||
|
||||
} // namespace s11n
|
||||
} // namespace sensor
|
||||
} // namespace carla
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
// Copyright (c) 2022 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/sensor/s11n/GBufferUint8Serializer.h"
|
||||
|
||||
#include "carla/sensor/data/Image.h"
|
||||
|
||||
namespace carla {
|
||||
namespace sensor {
|
||||
namespace s11n {
|
||||
|
||||
SharedPtr<SensorData> GBufferUint8Serializer::Deserialize(RawData &&data) {
|
||||
auto image = SharedPtr<data::Image>(new data::Image{std::move(data)});
|
||||
return image;
|
||||
}
|
||||
|
||||
} // namespace s11n
|
||||
} // namespace sensor
|
||||
} // namespace carla
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
// Copyright (c) 2022 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/Memory.h"
|
||||
#include "carla/sensor/RawData.h"
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
|
||||
namespace carla {
|
||||
namespace sensor {
|
||||
|
||||
class SensorData;
|
||||
|
||||
namespace s11n {
|
||||
|
||||
/// Serializes image buffers generated by camera sensors.
|
||||
class GBufferUint8Serializer {
|
||||
public:
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct ImageHeader {
|
||||
uint32_t width;
|
||||
uint32_t height;
|
||||
float fov_angle;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
constexpr static auto header_offset = sizeof(ImageHeader);
|
||||
|
||||
static const ImageHeader &DeserializeHeader(const RawData &data) {
|
||||
return *reinterpret_cast<const ImageHeader *>(data.begin());
|
||||
}
|
||||
|
||||
template <typename Sensor>
|
||||
static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap,
|
||||
uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle);
|
||||
|
||||
static SharedPtr<SensorData> Deserialize(RawData &&data);
|
||||
};
|
||||
|
||||
template <typename Sensor>
|
||||
inline Buffer GBufferUint8Serializer::Serialize(const Sensor &/*sensor*/, Buffer &&bitmap,
|
||||
uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle) {
|
||||
DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
|
||||
ImageHeader header = {
|
||||
ImageWidth,
|
||||
ImageHeight,
|
||||
FovAngle
|
||||
};
|
||||
std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
|
||||
return std::move(bitmap);
|
||||
}
|
||||
|
||||
} // namespace s11n
|
||||
} // namespace sensor
|
||||
} // namespace carla
|
||||
|
|
@ -14,6 +14,13 @@ static void SubscribeToStream(carla::client::Sensor &self, boost::python::object
|
|||
self.Listen(MakeCallback(std::move(callback)));
|
||||
}
|
||||
|
||||
static void SubscribeToGBuffer(
|
||||
carla::client::ServerSideSensor &self,
|
||||
uint32_t GBufferId,
|
||||
boost::python::object callback) {
|
||||
self.ListenToGBuffer(GBufferId, MakeCallback(std::move(callback)));
|
||||
}
|
||||
|
||||
void export_sensor() {
|
||||
using namespace boost::python;
|
||||
namespace cc = carla::client;
|
||||
|
|
@ -27,6 +34,8 @@ void export_sensor() {
|
|||
|
||||
class_<cc::ServerSideSensor, bases<cc::Sensor>, boost::noncopyable, boost::shared_ptr<cc::ServerSideSensor>>
|
||||
("ServerSideSensor", no_init)
|
||||
.def("listen_to_gbuffer", &SubscribeToGBuffer, (arg("gbuffer_id"), arg("callback")))
|
||||
.def("stop_gbuffer", &cc::ServerSideSensor::StopGBuffer, (arg("gbuffer_id")))
|
||||
.def(self_ns::str(self_ns::self))
|
||||
;
|
||||
|
||||
|
|
|
|||
|
|
@ -387,6 +387,24 @@ void export_sensor_data() {
|
|||
.value("CityScapesPalette", EColorConverter::CityScapesPalette)
|
||||
;
|
||||
|
||||
// The values here should match the ones in the enum EGBufferTextureID,
|
||||
// from the CARLA fork of Unreal Engine (Renderer/Public/GBufferView.h).
|
||||
enum_<int>("GBufferTextureID")
|
||||
.value("SceneColor", 0)
|
||||
.value("SceneDepth", 1)
|
||||
.value("SceneStencil", 2)
|
||||
.value("GBufferA", 3)
|
||||
.value("GBufferB", 4)
|
||||
.value("GBufferC", 5)
|
||||
.value("GBufferD", 6)
|
||||
.value("GBufferE", 7)
|
||||
.value("GBufferF", 8)
|
||||
.value("Velocity", 9)
|
||||
.value("SSAO", 10)
|
||||
.value("CustomDepth", 11)
|
||||
.value("CustomStencil", 12)
|
||||
;
|
||||
|
||||
class_<csd::Image, bases<cs::SensorData>, boost::noncopyable, boost::shared_ptr<csd::Image>>("Image", no_init)
|
||||
.add_property("width", &csd::Image::GetWidth)
|
||||
.add_property("height", &csd::Image::GetHeight)
|
||||
|
|
|
|||
|
|
@ -45,6 +45,29 @@
|
|||
doc: >
|
||||
Commands the sensor to stop listening for data.
|
||||
# --------------------------------------
|
||||
- def_name: listen_to_gbuffer
|
||||
params:
|
||||
- param_name: gbuffer_id
|
||||
type: carla.GBufferTextureID
|
||||
doc: >
|
||||
The ID of the desired Unreal Engine GBuffer texture.
|
||||
- param_name: callback
|
||||
type: function
|
||||
doc: >
|
||||
The called function with one argument containing the received GBuffer texture.
|
||||
doc: >
|
||||
The function the sensor will be calling to every time the desired GBuffer texture is received.<br>
|
||||
This function needs for an argument containing an object type carla.SensorData to work with.
|
||||
# --------------------------------------
|
||||
- def_name: stop_gbuffer
|
||||
params:
|
||||
- param_name: gbuffer_id
|
||||
type: carla.GBufferTextureID
|
||||
doc: >
|
||||
The ID of the Unreal Engine GBuffer texture.
|
||||
doc: >
|
||||
Commands the sensor to stop listening for the specified GBuffer texture.
|
||||
# --------------------------------------
|
||||
- def_name: __str__
|
||||
# --------------------------------------
|
||||
|
||||
|
|
|
|||
|
|
@ -863,4 +863,71 @@
|
|||
# --------------------------------------
|
||||
- def_name: __str__
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: GBufferTextureID
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Defines the identifiers of each GBuffer texture (See the method `carla.Sensor.listen_to_gbuffer`).
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: SceneColor
|
||||
doc: >
|
||||
The texture "SceneColor" contains the final color of the image.
|
||||
- var_name: SceneDepth
|
||||
doc: >
|
||||
The texture "SceneDepth" contains the depth buffer - linear in world units.
|
||||
- var_name: SceneStencil
|
||||
doc: >
|
||||
The texture "SceneStencil" contains the stencil buffer.
|
||||
- var_name: GBufferA
|
||||
doc: >
|
||||
The texture "GBufferA" contains the world-space normal vectors in the RGB channels. The alpha channel contains "per-object data".
|
||||
- var_name: GBufferB
|
||||
doc: >
|
||||
The texture "GBufferB" contains the metallic, specular and roughness in the RGB channels, respectively. The alpha channel contains a mask where the lower 4 bits indicate the shading model and the upper 4 bits contain the selective output mask.
|
||||
- var_name: GBufferC
|
||||
doc: >
|
||||
The texture "GBufferC" contains the diffuse color in the RGB channels, with the indirect irradiance in the alpha channel.<br>
|
||||
If static lightning is not allowed, the alpha channel will contain the ambient occlusion instead.
|
||||
- var_name: GBufferD
|
||||
doc: >
|
||||
The contents of the "GBufferD" varies depending on the rendered object's material shading model (GBufferB):<br>
|
||||
- MSM_Subsurface (2), MSM_PreintegratedSkin (3), MSM_TwoSidedFoliage (6):<br>
|
||||
RGB: Subsurface color.<br>
|
||||
A: Opacity.<br>
|
||||
- MSM_ClearCoat (4):<br>
|
||||
R: Clear coat.<br>
|
||||
G: Roughness.<br>
|
||||
- MSM_SubsurfaceProfile (5):<br>
|
||||
RGB: Subsurface profile.<br>
|
||||
- MSM_Hair (7):<br>
|
||||
RG: World normal.<br>
|
||||
B: Backlit value.<br>
|
||||
- MSM_Cloth (8):<br>
|
||||
RGB: Subsurface color.<br>
|
||||
A: Cloth value.<br>
|
||||
- MSM_Eye (9):<br>
|
||||
RG: Eye tangent.<br>
|
||||
B: Iris mask.<br>
|
||||
A: Iris distance.
|
||||
- var_name: GBufferE
|
||||
doc: >
|
||||
The texture "GBufferE" contains the precomputed shadow factors in the RGBA channels. This texture is unavailable if the selective output mask (GBufferB) does not have its 4th bit set.
|
||||
- var_name: GBufferF
|
||||
doc: >
|
||||
The texture "GBufferF" contains the world-space tangent in the RGB channels and the anisotropy in the alpha channel. This texture is unavailable if the selective output mask (GBufferB) does not have its 5th bit set.
|
||||
- var_name: Velocity
|
||||
doc: >
|
||||
The texture "Velocity" contains the screen-space velocity of the scene objects.
|
||||
- var_name: SSAO
|
||||
doc: >
|
||||
The texture "SSAO" contains the screen-space ambient occlusion texture.
|
||||
- var_name: CustomDepth
|
||||
doc: >
|
||||
The texture "CustomDepth" contains the Unreal Engine custom depth data.
|
||||
- var_name: CustomStencil
|
||||
doc: >
|
||||
The texture "CustomStencil" contains the Unreal Engine custom stencil data.
|
||||
# --------------------------------------
|
||||
|
||||
...
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,127 @@
|
|||
#!/usr/bin/env python
|
||||
|
||||
# Copyright (c) 2019 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
|
||||
|
||||
try:
|
||||
sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
|
||||
sys.version_info.major,
|
||||
sys.version_info.minor,
|
||||
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
|
||||
except IndexError:
|
||||
pass
|
||||
|
||||
import carla
|
||||
|
||||
import random
|
||||
import time
|
||||
|
||||
|
||||
|
||||
def main():
|
||||
actor_list = []
|
||||
|
||||
# In this tutorial script, we are going to add a vehicle to the simulation
|
||||
# and let it drive in autopilot. We will also create a camera attached to
|
||||
# that vehicle, and save all the images generated by the camera to disk.
|
||||
# Additionally, we will save all of the gbuffer textures for each frame.
|
||||
|
||||
try:
|
||||
# First of all, we need to create the client that will send the requests
|
||||
# to the simulator. Here we'll assume the simulator is accepting
|
||||
# requests in the localhost at port 2000.
|
||||
client = carla.Client('127.0.0.1', 2000)
|
||||
client.set_timeout(2.0)
|
||||
|
||||
# Once we have a client we can retrieve the world that is currently
|
||||
# running.
|
||||
world = client.get_world()
|
||||
|
||||
# The world contains the list blueprints that we can use for adding new
|
||||
# actors into the simulation.
|
||||
blueprint_library = world.get_blueprint_library()
|
||||
|
||||
# Now let's filter all the blueprints of type 'vehicle' and choose one
|
||||
# at random.
|
||||
bp = random.choice(blueprint_library.filter('vehicle'))
|
||||
|
||||
# A blueprint contains the list of attributes that define a vehicle's
|
||||
# instance, we can read them and modify some of them. For instance,
|
||||
# let's randomize its color.
|
||||
if bp.has_attribute('color'):
|
||||
color = random.choice(bp.get_attribute('color').recommended_values)
|
||||
bp.set_attribute('color', color)
|
||||
|
||||
# Now we need to give an initial transform to the vehicle. We choose a
|
||||
# random transform from the list of recommended spawn points of the map.
|
||||
transform = world.get_map().get_spawn_points()[0]
|
||||
|
||||
# So let's tell the world to spawn the vehicle.
|
||||
vehicle = world.spawn_actor(bp, transform)
|
||||
|
||||
# It is important to note that the actors we create won't be destroyed
|
||||
# unless we call their "destroy" function. If we fail to call "destroy"
|
||||
# they will stay in the simulation even after we quit the Python script.
|
||||
# For that reason, we are storing all the actors we create so we can
|
||||
# destroy them afterwards.
|
||||
actor_list.append(vehicle)
|
||||
print('created %s' % vehicle.type_id)
|
||||
|
||||
# Let's put the vehicle to drive around.
|
||||
vehicle.set_autopilot(True)
|
||||
|
||||
# Let's add now a "rgb" camera attached to the vehicle. Note that the
|
||||
# transform we give here is now relative to the vehicle.
|
||||
camera_bp = blueprint_library.find('sensor.camera.rgb')
|
||||
camera_bp.set_attribute('image_size_x', '1920')
|
||||
camera_bp.set_attribute('image_size_y', '1080')
|
||||
camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
|
||||
camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
|
||||
actor_list.append(camera)
|
||||
print('created %s' % camera.type_id)
|
||||
|
||||
# Register a callback for whenever a new frame is available. This step is
|
||||
# currently required to correctly receive the gbuffer textures, as it is
|
||||
# used to determine whether the sensor is active.
|
||||
camera.listen(lambda image: image.save_to_disk('_out/FinalColor-%06d.png' % image.frame))
|
||||
|
||||
# Here we will register the callbacks for each gbuffer texture.
|
||||
# The function "listen_to_gbuffer" behaves like the regular listen function,
|
||||
# but you must first pass it the ID of the desired gbuffer texture.
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.SceneColor, lambda image: image.save_to_disk('_out/SceneColor-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.SceneDepth, lambda image: image.save_to_disk('_out/SceneDepth-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.SceneStencil, lambda image: image.save_to_disk('_out/SceneStencil-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferA, lambda image: image.save_to_disk('_out/GBufferA-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferB, lambda image: image.save_to_disk('_out/GBufferB-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferC, lambda image: image.save_to_disk('_out/GBufferC-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferD, lambda image: image.save_to_disk('_out/GBufferD-%06d.png' % image.frame))
|
||||
# Note that some gbuffer textures may not be available for a particular scene.
|
||||
# For example, the textures E and F are likely unavailable in this example,
|
||||
# which will result in them being sent as black images.
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferE, lambda image: image.save_to_disk('_out/GBufferE-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferF, lambda image: image.save_to_disk('_out/GBufferF-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.Velocity, lambda image: image.save_to_disk('_out/Velocity-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.SSAO, lambda image: image.save_to_disk('_out/SSAO-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.CustomDepth, lambda image: image.save_to_disk('_out/CustomDepth-%06d.png' % image.frame))
|
||||
camera.listen_to_gbuffer(carla.GBufferTextureID.CustomStencil, lambda image: image.save_to_disk('_out/CustomStencil-%06d.png' % image.frame))
|
||||
|
||||
time.sleep(10)
|
||||
|
||||
finally:
|
||||
|
||||
print('destroying actors')
|
||||
camera.destroy()
|
||||
client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
|
||||
print('done.')
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
main()
|
||||
|
|
@ -0,0 +1 @@
|
|||
OptionalModules.ini
|
||||
|
|
@ -71,6 +71,7 @@ public class Carla : ModuleRules
|
|||
"Core",
|
||||
"RenderCore",
|
||||
"RHI",
|
||||
"Renderer",
|
||||
"ProceduralMeshComponent"
|
||||
// ... add other public dependencies that you statically link with here ...
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,146 @@
|
|||
// Copyright (c) 2022 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/Sensor/ImageUtil.h"
|
||||
#include "Runtime/RHI/Public/RHISurfaceDataConversion.h"
|
||||
|
||||
|
||||
|
||||
namespace ImageUtil
|
||||
{
|
||||
void DecodePixelsByFormat(
|
||||
void* PixelData,
|
||||
int32 SourcePitch,
|
||||
FIntPoint SourceExtent,
|
||||
FIntPoint DestinationExtent,
|
||||
EPixelFormat Format,
|
||||
FReadSurfaceDataFlags Flags,
|
||||
TArrayView<FLinearColor> Out)
|
||||
{
|
||||
SourcePitch *= GPixelFormats[Format].BlockBytes;
|
||||
auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
|
||||
switch (Format)
|
||||
{
|
||||
case PF_G16:
|
||||
case PF_R16_UINT:
|
||||
case PF_R16_SINT:
|
||||
// Shadow maps
|
||||
ConvertRawR16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_R8G8B8A8:
|
||||
ConvertRawR8G8B8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_B8G8R8A8:
|
||||
ConvertRawB8G8R8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_A2B10G10R10:
|
||||
ConvertRawA2B10G10R10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_FloatRGBA:
|
||||
case PF_R16G16B16A16_UNORM:
|
||||
case PF_R16G16B16A16_SNORM:
|
||||
ConvertRawR16G16B16A16FDataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_FloatR11G11B10:
|
||||
ConvertRawRR11G11B10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_A32B32G32R32F:
|
||||
ConvertRawR32G32B32A32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_A16B16G16R16:
|
||||
ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_G16R16:
|
||||
ConvertRawR16G16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_DepthStencil: // Depth / Stencil
|
||||
ConvertRawD32S8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_X24_G8: // Depth Stencil
|
||||
ConvertRawR24G8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_R32_FLOAT: // Depth Stencil
|
||||
ConvertRawR32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_R16G16B16A16_UINT:
|
||||
case PF_R16G16B16A16_SINT:
|
||||
ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
default:
|
||||
UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
|
||||
check(false);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void DecodePixelsByFormat(
|
||||
void* PixelData,
|
||||
int32 SourcePitch,
|
||||
FIntPoint SourceExtent,
|
||||
FIntPoint DestinationExtent,
|
||||
EPixelFormat Format,
|
||||
FReadSurfaceDataFlags Flags,
|
||||
TArrayView<FColor> Out)
|
||||
{
|
||||
SourcePitch *= GPixelFormats[Format].BlockBytes;
|
||||
auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
|
||||
switch (Format)
|
||||
{
|
||||
case PF_G16:
|
||||
case PF_R16_UINT:
|
||||
case PF_R16_SINT:
|
||||
// Shadow maps
|
||||
ConvertRawR16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_R8G8B8A8:
|
||||
ConvertRawR8G8B8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_B8G8R8A8:
|
||||
ConvertRawB8G8R8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_A2B10G10R10:
|
||||
ConvertRawR10G10B10A2DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_FloatRGBA:
|
||||
case PF_R16G16B16A16_UNORM:
|
||||
case PF_R16G16B16A16_SNORM:
|
||||
ConvertRawR16G16B16A16FDataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
|
||||
break;
|
||||
case PF_FloatR11G11B10:
|
||||
ConvertRawR11G11B10DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
|
||||
break;
|
||||
case PF_A32B32G32R32F:
|
||||
ConvertRawR32G32B32A32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
|
||||
break;
|
||||
case PF_A16B16G16R16:
|
||||
ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_G16R16:
|
||||
ConvertRawR16G16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_DepthStencil: // Depth / Stencil
|
||||
ConvertRawD32S8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_X24_G8: // Depth / Stencil
|
||||
ConvertRawR24G8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_R32_FLOAT: // Depth
|
||||
ConvertRawR32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
|
||||
break;
|
||||
case PF_R16G16B16A16_UINT:
|
||||
case PF_R16G16B16A16_SINT:
|
||||
ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
case PF_G8:
|
||||
ConvertRawR8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
|
||||
break;
|
||||
default:
|
||||
UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
|
||||
check(false);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
// Copyright (c) 2022 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 "CoreMinimal.h"
|
||||
|
||||
|
||||
|
||||
class FRHIGPUTextureReadback;
|
||||
|
||||
namespace ImageUtil
|
||||
{
|
||||
void DecodePixelsByFormat(
|
||||
void* PixelData,
|
||||
int32 SourcePitch,
|
||||
FIntPoint SourceExtent,
|
||||
FIntPoint DestinationExtent,
|
||||
EPixelFormat Format,
|
||||
FReadSurfaceDataFlags Flags,
|
||||
TArrayView<FColor> Out);
|
||||
|
||||
void DecodePixelsByFormat(
|
||||
void* PixelData,
|
||||
int32 SourcePitch,
|
||||
FIntPoint SourceExtent,
|
||||
FIntPoint DestinationExtent,
|
||||
EPixelFormat Format,
|
||||
FReadSurfaceDataFlags Flags,
|
||||
TArrayView<FLinearColor> Out);
|
||||
}
|
||||
|
|
@ -69,8 +69,6 @@ public:
|
|||
template <typename TSensor, typename TPixel>
|
||||
static void SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat = false, std::function<TArray<TPixel>(void *, uint32)> Conversor = {});
|
||||
|
||||
private:
|
||||
|
||||
/// Copy the pixels in @a RenderTarget into @a Buffer.
|
||||
///
|
||||
/// @pre To be called from render-thread.
|
||||
|
|
|
|||
|
|
@ -13,17 +13,17 @@
|
|||
|
||||
FActorDefinition ASceneCaptureCamera::GetSensorDefinition()
|
||||
{
|
||||
constexpr bool bEnableModifyingPostProcessEffects = true;
|
||||
return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
|
||||
TEXT("rgb"),
|
||||
bEnableModifyingPostProcessEffects);
|
||||
constexpr bool bEnableModifyingPostProcessEffects = true;
|
||||
return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
|
||||
TEXT("rgb"),
|
||||
bEnableModifyingPostProcessEffects);
|
||||
}
|
||||
|
||||
ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer &ObjectInitializer)
|
||||
: Super(ObjectInitializer)
|
||||
ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitializer)
|
||||
: Super(ObjectInitializer)
|
||||
{
|
||||
AddPostProcessingMaterial(
|
||||
TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
|
||||
AddPostProcessingMaterial(
|
||||
TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
|
||||
}
|
||||
|
||||
void ASceneCaptureCamera::BeginPlay()
|
||||
|
|
@ -62,3 +62,8 @@ void ASceneCaptureCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float
|
|||
);
|
||||
FPixelReader::SendPixelsInRenderThread<ASceneCaptureCamera, FColor>(*this);
|
||||
}
|
||||
|
||||
void ASceneCaptureCamera::SendGBufferTextures(FGBufferRequest& GBuffer)
|
||||
{
|
||||
SendGBufferTexturesInternal(*this, GBuffer);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,6 +27,8 @@ public:
|
|||
|
||||
protected:
|
||||
|
||||
virtual void SendGBufferTextures(FGBufferRequest& GBuffer) override;
|
||||
|
||||
|
||||
void BeginPlay() override;
|
||||
void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
|
||||
|
|
|
|||
|
|
@ -6,20 +6,11 @@
|
|||
|
||||
#include "Carla.h"
|
||||
#include "Carla/Sensor/SceneCaptureSensor.h"
|
||||
|
||||
#include "Carla/Game/CarlaStatics.h"
|
||||
|
||||
#include "Async/Async.h"
|
||||
#include "Components/DrawFrustumComponent.h"
|
||||
#include "Components/SceneCaptureComponent2D.h"
|
||||
#include "Components/StaticMeshComponent.h"
|
||||
#include "ContentStreaming.h"
|
||||
#include "Engine/Classes/Engine/Scene.h"
|
||||
#include "Engine/TextureRenderTarget2D.h"
|
||||
#include "HAL/UnrealMemory.h"
|
||||
#include "HighResScreenshot.h"
|
||||
#include "Misc/CoreDelegates.h"
|
||||
#include "RHICommandList.h"
|
||||
#include <mutex>
|
||||
#include <atomic>
|
||||
#include <thread>
|
||||
|
||||
static auto SCENE_CAPTURE_COUNTER = 0u;
|
||||
|
||||
|
|
@ -62,11 +53,12 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer &ObjectInitial
|
|||
CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
|
||||
CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
|
||||
|
||||
CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(
|
||||
FName(*FString::Printf(TEXT("SceneCaptureComponent2D_%d"), SCENE_CAPTURE_COUNTER)));
|
||||
CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D_CARLA>(
|
||||
FName(*FString::Printf(TEXT("USceneCaptureComponent2D_CARLA_%d"), SCENE_CAPTURE_COUNTER)));
|
||||
check(CaptureComponent2D != nullptr);
|
||||
CaptureComponent2D->ViewActor = this;
|
||||
CaptureComponent2D->SetupAttachment(RootComponent);
|
||||
CaptureComponent2D->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_RenderScenePrimitives;
|
||||
|
||||
CaptureComponent2D->bCaptureOnMovement = false;
|
||||
CaptureComponent2D->bCaptureEveryFrame = false;
|
||||
CaptureComponent2D->bAlwaysPersistRenderingState = true;
|
||||
|
|
@ -456,8 +448,96 @@ float ASceneCaptureSensor::GetChromAberrOffset() const
|
|||
|
||||
void ASceneCaptureSensor::EnqueueRenderSceneImmediate() {
|
||||
TRACE_CPUPROFILER_EVENT_SCOPE(ASceneCaptureSensor::EnqueueRenderSceneImmediate);
|
||||
// Creates an snapshot of the scene, requieres bCaptureEveryFrame = false.
|
||||
GetCaptureComponent2D()->CaptureScene();
|
||||
// Equivalent to "CaptureComponent2D->CaptureScene" + (optional) GBuffer extraction.
|
||||
CaptureSceneExtended();
|
||||
}
|
||||
|
||||
constexpr const TCHAR* GBufferNames[] =
|
||||
{
|
||||
TEXT("SceneColor"),
|
||||
TEXT("SceneDepth"),
|
||||
TEXT("SceneStencil"),
|
||||
TEXT("GBufferA"),
|
||||
TEXT("GBufferB"),
|
||||
TEXT("GBufferC"),
|
||||
TEXT("GBufferD"),
|
||||
TEXT("GBufferE"),
|
||||
TEXT("GBufferF"),
|
||||
TEXT("Velocity"),
|
||||
TEXT("SSAO"),
|
||||
TEXT("CustomDepth"),
|
||||
TEXT("CustomStencil"),
|
||||
};
|
||||
|
||||
template <EGBufferTextureID ID, typename T>
|
||||
static void CheckGBufferStream(T& GBufferStream, FGBufferRequest& GBuffer)
|
||||
{
|
||||
GBufferStream.bIsUsed = GBufferStream.Stream.AreClientsListening();
|
||||
if (GBufferStream.bIsUsed)
|
||||
GBuffer.MarkAsRequested(ID);
|
||||
}
|
||||
|
||||
static uint64 Prior = 0;
|
||||
|
||||
void ASceneCaptureSensor::CaptureSceneExtended()
|
||||
{
|
||||
auto GBufferPtr = MakeUnique<FGBufferRequest>();
|
||||
auto& GBuffer = *GBufferPtr;
|
||||
|
||||
CheckGBufferStream<EGBufferTextureID::SceneColor>(CameraGBuffers.SceneColor, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::SceneDepth>(CameraGBuffers.SceneDepth, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::SceneStencil>(CameraGBuffers.SceneStencil, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferA>(CameraGBuffers.GBufferA, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferB>(CameraGBuffers.GBufferB, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferC>(CameraGBuffers.GBufferC, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferD>(CameraGBuffers.GBufferD, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferE>(CameraGBuffers.GBufferE, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::GBufferF>(CameraGBuffers.GBufferF, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::Velocity>(CameraGBuffers.Velocity, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::SSAO>(CameraGBuffers.SSAO, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::CustomDepth>(CameraGBuffers.CustomDepth, GBuffer);
|
||||
CheckGBufferStream<EGBufferTextureID::CustomStencil>(CameraGBuffers.CustomStencil, GBuffer);
|
||||
|
||||
if (GBufferPtr->DesiredTexturesMask == 0)
|
||||
{
|
||||
// Creates an snapshot of the scene, requieres bCaptureEveryFrame = false.
|
||||
CaptureComponent2D->CaptureScene();
|
||||
return;
|
||||
}
|
||||
|
||||
if (Prior != GBufferPtr->DesiredTexturesMask)
|
||||
UE_LOG(LogCarla, Verbose, TEXT("GBuffer selection changed (%llu)."), GBufferPtr->DesiredTexturesMask);
|
||||
|
||||
Prior = GBufferPtr->DesiredTexturesMask;
|
||||
GBufferPtr->OwningActor = CaptureComponent2D->GetViewOwner();
|
||||
|
||||
#define CARLA_GBUFFER_DISABLE_TAA // Temporarily disable TAA to avoid jitter.
|
||||
|
||||
#ifdef CARLA_GBUFFER_DISABLE_TAA
|
||||
bool bTAA = CaptureComponent2D->ShowFlags.TemporalAA;
|
||||
if (bTAA) {
|
||||
CaptureComponent2D->ShowFlags.TemporalAA = false;
|
||||
}
|
||||
#endif
|
||||
|
||||
CaptureComponent2D->CaptureSceneWithGBuffer(GBuffer);
|
||||
|
||||
#ifdef CARLA_GBUFFER_DISABLE_TAA
|
||||
if (bTAA) {
|
||||
CaptureComponent2D->ShowFlags.TemporalAA = true;
|
||||
}
|
||||
#undef CARLA_GBUFFER_DISABLE_TAA
|
||||
#endif
|
||||
|
||||
AsyncTask(ENamedThreads::AnyHiPriThreadNormalTask, [this, GBuffer = MoveTemp(GBufferPtr)]() mutable
|
||||
{
|
||||
SendGBufferTextures(*GBuffer);
|
||||
});
|
||||
}
|
||||
|
||||
void ASceneCaptureSensor::SendGBufferTextures(FGBufferRequest& GBuffer)
|
||||
{
|
||||
SendGBufferTexturesInternal(*this, GBuffer);
|
||||
}
|
||||
|
||||
void ASceneCaptureSensor::BeginPlay()
|
||||
|
|
|
|||
|
|
@ -8,15 +8,112 @@
|
|||
|
||||
#include "Carla/Sensor/PixelReader.h"
|
||||
#include "Carla/Sensor/Sensor.h"
|
||||
#include "Carla/Sensor/UE4_Overridden/SceneCaptureComponent2D_CARLA.h"
|
||||
#include "Carla/Sensor/ImageUtil.h"
|
||||
|
||||
#include "Async/Async.h"
|
||||
#include "Renderer/Public/GBufferView.h"
|
||||
|
||||
#include <type_traits>
|
||||
|
||||
#include "Runtime/RenderCore/Public/RenderCommandFence.h"
|
||||
#include "SceneCaptureSensor.generated.h"
|
||||
|
||||
|
||||
|
||||
class UDrawFrustumComponent;
|
||||
class USceneCaptureComponent2D;
|
||||
class UStaticMeshComponent;
|
||||
class UTextureRenderTarget2D;
|
||||
|
||||
|
||||
|
||||
struct FCameraGBufferUint8
|
||||
{
|
||||
/// Prevent this sensor to be spawned by users.
|
||||
using not_spawnable = void;
|
||||
|
||||
void SetDataStream(FDataStream InStream)
|
||||
{
|
||||
Stream = std::move(InStream);
|
||||
}
|
||||
|
||||
/// Replace the Stream associated with this sensor.
|
||||
void SetStream(FDataMultiStream InStream)
|
||||
{
|
||||
Stream = std::move(InStream);
|
||||
}
|
||||
/// Return the token that allows subscribing to this sensor's stream.
|
||||
auto GetToken() const
|
||||
{
|
||||
bIsUsed = true;
|
||||
return Stream.GetToken();
|
||||
}
|
||||
|
||||
/// Dummy. Required for compatibility with other sensors only.
|
||||
FTransform GetActorTransform() const
|
||||
{
|
||||
return {};
|
||||
}
|
||||
/// Return the FDataStream associated with this sensor.
|
||||
///
|
||||
/// You need to provide a reference to self, this is necessary for template
|
||||
/// deduction.
|
||||
template <typename SensorT>
|
||||
FAsyncDataStream GetDataStream(const SensorT &Self)
|
||||
{
|
||||
return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
|
||||
}
|
||||
|
||||
mutable bool bIsUsed = false;
|
||||
FDataStream Stream;
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct FCameraGBufferFloat
|
||||
{
|
||||
/// Prevent this sensor to be spawned by users.
|
||||
using not_spawnable = void;
|
||||
|
||||
void SetDataStream(FDataStream InStream)
|
||||
{
|
||||
Stream = std::move(InStream);
|
||||
}
|
||||
|
||||
/// Replace the Stream associated with this sensor.
|
||||
void SetStream(FDataMultiStream InStream)
|
||||
{
|
||||
Stream = std::move(InStream);
|
||||
}
|
||||
/// Return the token that allows subscribing to this sensor's stream.
|
||||
auto GetToken() const
|
||||
{
|
||||
bIsUsed = true;
|
||||
return Stream.GetToken();
|
||||
}
|
||||
/// Dummy. Required for compatibility with other sensors only.
|
||||
FTransform GetActorTransform() const
|
||||
{
|
||||
return {};
|
||||
}
|
||||
/// Return the FDataStream associated with this sensor.
|
||||
///
|
||||
/// You need to provide a reference to self, this is necessary for template
|
||||
/// deduction.
|
||||
template <typename SensorT>
|
||||
FAsyncDataStream GetDataStream(const SensorT &Self)
|
||||
{
|
||||
return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
|
||||
}
|
||||
|
||||
mutable bool bIsUsed = false;
|
||||
FDataStream Stream;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/// Base class for sensors using a USceneCaptureComponent2D for rendering the
|
||||
/// scene. This class does not capture data, use
|
||||
/// `FPixelReader::SendPixelsInRenderThread(*this)` in derived classes.
|
||||
|
|
@ -32,6 +129,7 @@ class CARLA_API ASceneCaptureSensor : public ASensor
|
|||
|
||||
friend class ACarlaGameModeBase;
|
||||
friend class FPixelReader;
|
||||
friend class FPixelReader2;
|
||||
|
||||
public:
|
||||
|
||||
|
|
@ -304,8 +402,29 @@ public:
|
|||
// FlushRenderingCommands();
|
||||
}
|
||||
|
||||
struct
|
||||
{
|
||||
FCameraGBufferUint8 SceneColor;
|
||||
FCameraGBufferUint8 SceneDepth;
|
||||
FCameraGBufferUint8 SceneStencil;
|
||||
FCameraGBufferUint8 GBufferA;
|
||||
FCameraGBufferUint8 GBufferB;
|
||||
FCameraGBufferUint8 GBufferC;
|
||||
FCameraGBufferUint8 GBufferD;
|
||||
FCameraGBufferUint8 GBufferE;
|
||||
FCameraGBufferUint8 GBufferF;
|
||||
FCameraGBufferUint8 Velocity;
|
||||
FCameraGBufferUint8 SSAO;
|
||||
FCameraGBufferUint8 CustomDepth;
|
||||
FCameraGBufferUint8 CustomStencil;
|
||||
} CameraGBuffers;
|
||||
|
||||
protected:
|
||||
|
||||
void CaptureSceneExtended();
|
||||
|
||||
virtual void SendGBufferTextures(FGBufferRequest& GBuffer);
|
||||
|
||||
virtual void BeginPlay() override;
|
||||
|
||||
virtual void PrePhysTick(float DeltaSeconds) override;
|
||||
|
|
@ -321,7 +440,7 @@ protected:
|
|||
|
||||
/// Scene capture component.
|
||||
UPROPERTY(EditAnywhere)
|
||||
USceneCaptureComponent2D *CaptureComponent2D = nullptr;
|
||||
USceneCaptureComponent2D_CARLA *CaptureComponent2D = nullptr;
|
||||
|
||||
UPROPERTY(EditAnywhere)
|
||||
float TargetGamma = 2.4f;
|
||||
|
|
@ -342,6 +461,109 @@ protected:
|
|||
UPROPERTY(EditAnywhere)
|
||||
bool bEnable16BitFormat = false;
|
||||
|
||||
FRenderCommandFence RenderFence;
|
||||
private:
|
||||
|
||||
template <
|
||||
typename SensorT,
|
||||
typename CameraGBufferT>
|
||||
static void SendGBuffer(
|
||||
SensorT& Self,
|
||||
CameraGBufferT& CameraGBuffer,
|
||||
FGBufferRequest& GBufferData,
|
||||
EGBufferTextureID TextureID)
|
||||
{
|
||||
using PixelType = typename std::conditional<
|
||||
std::is_same<std::remove_reference_t<CameraGBufferT>, FCameraGBufferUint8>::value,
|
||||
FColor,
|
||||
FLinearColor>::type;
|
||||
FIntPoint ViewSize = {};
|
||||
TArray<PixelType> Pixels;
|
||||
if (GBufferData.WaitForTextureTransfer(TextureID))
|
||||
{
|
||||
TRACE_CPUPROFILER_EVENT_SCOPE_STR("GBuffer Decode");
|
||||
void* PixelData;
|
||||
int32 SourcePitch;
|
||||
FIntPoint SourceExtent;
|
||||
GBufferData.MapTextureData(TextureID, PixelData, SourcePitch, SourceExtent);
|
||||
ViewSize = GBufferData.ViewRect.Size();
|
||||
auto Format = GBufferData.Readbacks[(size_t)TextureID]->GetFormat();
|
||||
Pixels.AddUninitialized(ViewSize.X * ViewSize.Y);
|
||||
FReadSurfaceDataFlags Flags = {};
|
||||
Flags.SetLinearToGamma(true);
|
||||
ImageUtil::DecodePixelsByFormat(PixelData, SourcePitch, SourceExtent, ViewSize, Format, Flags, Pixels);
|
||||
GBufferData.UnmapTextureData(TextureID);
|
||||
}
|
||||
auto GBufferStream = CameraGBuffer.GetDataStream(Self);
|
||||
auto Buffer = GBufferStream.PopBufferFromPool();
|
||||
Buffer.copy_from(carla::sensor::SensorRegistry::get<CameraGBufferT*>::type::header_offset, Pixels);
|
||||
if (Buffer.empty()) {
|
||||
return;
|
||||
}
|
||||
SCOPE_CYCLE_COUNTER(STAT_CarlaSensorStreamSend);
|
||||
TRACE_CPUPROFILER_EVENT_SCOPE_STR("Stream Send");
|
||||
GBufferStream.Send(
|
||||
CameraGBuffer, std::move(Buffer),
|
||||
ViewSize.X, ViewSize.Y,
|
||||
Self.GetFOVAngle());
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
template <typename T>
|
||||
void SendGBufferTexturesInternal(T& Self, FGBufferRequest& GBufferData)
|
||||
{
|
||||
for (size_t i = 0; i != FGBufferRequest::TextureCount; ++i)
|
||||
{
|
||||
if ((GBufferData.DesiredTexturesMask & (UINT64_C(1) << i)) == 0) {
|
||||
continue;
|
||||
}
|
||||
auto& C = CameraGBuffers;
|
||||
EGBufferTextureID ID = (EGBufferTextureID)i;
|
||||
switch (ID)
|
||||
{
|
||||
case EGBufferTextureID::SceneColor:
|
||||
SendGBuffer(Self, C.SceneColor, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::SceneDepth:
|
||||
SendGBuffer(Self, C.SceneDepth, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::SceneStencil:
|
||||
SendGBuffer(Self, C.SceneStencil, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferA:
|
||||
SendGBuffer(Self, C.GBufferA, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferB:
|
||||
SendGBuffer(Self, C.GBufferB, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferC:
|
||||
SendGBuffer(Self, C.GBufferC, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferD:
|
||||
SendGBuffer(Self, C.GBufferD, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferE:
|
||||
SendGBuffer(Self, C.GBufferE, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::GBufferF:
|
||||
SendGBuffer(Self, C.GBufferF, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::Velocity:
|
||||
SendGBuffer(Self, C.Velocity, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::SSAO:
|
||||
SendGBuffer(Self, C.SSAO, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::CustomDepth:
|
||||
SendGBuffer(Self, C.CustomDepth, GBufferData, ID);
|
||||
break;
|
||||
case EGBufferTextureID::CustomStencil:
|
||||
SendGBuffer(Self, C.CustomStencil, GBufferData, ID);
|
||||
break;
|
||||
default:
|
||||
abort();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
|
|
|||
|
|
@ -81,18 +81,18 @@ public:
|
|||
UFUNCTION(BlueprintCallable)
|
||||
void SetSeed(int32 InSeed);
|
||||
|
||||
protected:
|
||||
|
||||
void PostActorCreated() override;
|
||||
|
||||
void EndPlay(EEndPlayReason::Type EndPlayReason) override;
|
||||
|
||||
const UCarlaEpisode &GetEpisode() const
|
||||
{
|
||||
check(Episode != nullptr);
|
||||
return *Episode;
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
void PostActorCreated() override;
|
||||
|
||||
void EndPlay(EEndPlayReason::Type EndPlayReason) override;
|
||||
|
||||
/// Return the FDataStream associated with this sensor.
|
||||
///
|
||||
/// You need to provide a reference to self, this is necessary for template
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#include "Carla/Game/CarlaGameInstance.h"
|
||||
#include "Carla/Game/CarlaStatics.h"
|
||||
#include "Carla/Sensor/Sensor.h"
|
||||
#include "Carla/Sensor/SceneCaptureSensor.h"
|
||||
|
||||
#include <compiler/disable-ue4-macros.h>
|
||||
#include <carla/sensor/SensorRegistry.h>
|
||||
|
|
@ -137,6 +138,23 @@ FActorSpawnResult ASensorFactory::SpawnActor(
|
|||
Sensor->SetEpisode(*Episode);
|
||||
Sensor->Set(Description);
|
||||
Sensor->SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
ASceneCaptureSensor * SceneCaptureSensor = Cast<ASceneCaptureSensor>(Sensor);
|
||||
if(SceneCaptureSensor)
|
||||
{
|
||||
SceneCaptureSensor->CameraGBuffers.SceneColor.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.SceneDepth.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.SceneStencil.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferA.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferB.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferC.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferD.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferE.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.GBufferF.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.Velocity.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.SSAO.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.CustomDepth.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
SceneCaptureSensor->CameraGBuffers.CustomStencil.SetDataStream(GameInstance->GetServer().OpenStream());
|
||||
}
|
||||
}
|
||||
UGameplayStatics::FinishSpawningActor(Sensor, Transform);
|
||||
return FActorSpawnResult{Sensor};
|
||||
|
|
|
|||
|
|
@ -0,0 +1,19 @@
|
|||
// Copyright (c) 2022 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 "SceneCaptureComponent2D_CARLA.h"
|
||||
|
||||
|
||||
|
||||
USceneCaptureComponent2D_CARLA::USceneCaptureComponent2D_CARLA(const FObjectInitializer& ObjectInitializer) :
|
||||
Super(ObjectInitializer)
|
||||
{
|
||||
}
|
||||
|
||||
const AActor* USceneCaptureComponent2D_CARLA::GetViewOwner() const
|
||||
{
|
||||
return ViewActor;
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
// Copyright (c) 2022 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 "CoreMinimal.h"
|
||||
#include "Components/SceneCaptureComponent2D.h"
|
||||
|
||||
#include "SceneCaptureComponent2D_CARLA.generated.h"
|
||||
|
||||
|
||||
|
||||
UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
|
||||
class CARLA_API USceneCaptureComponent2D_CARLA : public USceneCaptureComponent2D
|
||||
{
|
||||
GENERATED_BODY()
|
||||
public:
|
||||
|
||||
USceneCaptureComponent2D_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
|
||||
|
||||
const AActor* ViewActor;
|
||||
|
||||
virtual const AActor* GetViewOwner() const override;
|
||||
};
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
// Copyright (c) 2022 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 "SceneCaptureComponentCube_CARLA.h"
|
||||
|
||||
|
||||
|
||||
USceneCaptureComponentCube_CARLA::USceneCaptureComponentCube_CARLA(const FObjectInitializer& ObjectInitializer) :
|
||||
Super(ObjectInitializer)
|
||||
{
|
||||
}
|
||||
|
||||
const AActor* USceneCaptureComponentCube_CARLA::GetViewOwner() const
|
||||
{
|
||||
return ViewActor;
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
// Copyright (c) 2022 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 "CoreMinimal.h"
|
||||
#include "Components/SceneCaptureComponentCube.h"
|
||||
|
||||
#include "SceneCaptureComponentCube_CARLA.generated.h"
|
||||
|
||||
|
||||
|
||||
UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
|
||||
class CARLA_API USceneCaptureComponentCube_CARLA : public USceneCaptureComponentCube
|
||||
{
|
||||
GENERATED_BODY()
|
||||
public:
|
||||
|
||||
USceneCaptureComponentCube_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
|
||||
|
||||
const AActor* ViewActor;
|
||||
|
||||
virtual const AActor* GetViewOwner() const override;
|
||||
};
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
// Copyright (c) 2022 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 "SceneCaptureComponent_CARLA.h"
|
||||
|
||||
|
||||
|
||||
USceneCaptureComponent_CARLA::USceneCaptureComponent_CARLA(const FObjectInitializer& ObjectInitializer) :
|
||||
Super(ObjectInitializer)
|
||||
{
|
||||
}
|
||||
|
||||
const AActor* USceneCaptureComponent_CARLA::GetViewOwner() const
|
||||
{
|
||||
return ViewActor;
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
// Copyright (c) 2022 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 "CoreMinimal.h"
|
||||
#include "Components/SceneCaptureComponent.h"
|
||||
|
||||
#include "SceneCaptureComponent_CARLA.generated.h"
|
||||
|
||||
|
||||
|
||||
UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
|
||||
class CARLA_API USceneCaptureComponent_CARLA : public USceneCaptureComponent
|
||||
{
|
||||
GENERATED_BODY()
|
||||
public:
|
||||
|
||||
USceneCaptureComponent_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
|
||||
|
||||
const AActor* ViewActor;
|
||||
|
||||
virtual const AActor* GetViewOwner() const override;
|
||||
};
|
||||
|
|
@ -2001,7 +2001,7 @@ void FCarlaServer::FPimpl::BindActions()
|
|||
{
|
||||
REQUIRE_CARLA_EPISODE();
|
||||
FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
|
||||
if (CarlaActor)
|
||||
if (!CarlaActor)
|
||||
{
|
||||
return RespondError(
|
||||
"get_light_boxes",
|
||||
|
|
@ -2034,6 +2034,107 @@ void FCarlaServer::FPimpl::BindActions()
|
|||
}
|
||||
};
|
||||
|
||||
// ~~ GBuffer tokens ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
||||
BIND_SYNC(get_gbuffer_token) << [this](const cr::ActorId ActorId, uint32_t GBufferId) -> R<std::vector<unsigned char>>
|
||||
{
|
||||
REQUIRE_CARLA_EPISODE();
|
||||
FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
|
||||
if(!CarlaActor)
|
||||
{
|
||||
return RespondError(
|
||||
"get_gbuffer_token",
|
||||
ECarlaServerResponse::ActorNotFound,
|
||||
" Actor Id: " + FString::FromInt(ActorId));
|
||||
}
|
||||
if (CarlaActor->IsDormant())
|
||||
{
|
||||
return RespondError(
|
||||
"get_gbuffer_token",
|
||||
ECarlaServerResponse::FunctionNotAvailiableWhenDormant,
|
||||
" Actor Id: " + FString::FromInt(ActorId));
|
||||
}
|
||||
ASceneCaptureSensor* Sensor = Cast<ASceneCaptureSensor>(CarlaActor->GetActor());
|
||||
if (!Sensor)
|
||||
{
|
||||
return RespondError(
|
||||
"get_gbuffer_token",
|
||||
ECarlaServerResponse::ActorTypeMismatch,
|
||||
" Actor Id: " + FString::FromInt(ActorId));
|
||||
}
|
||||
|
||||
switch (GBufferId)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.SceneColor.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.SceneDepth.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
const auto& Token = Sensor->CameraGBuffers.SceneStencil.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 3:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferA.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 4:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferB.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 5:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferC.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 6:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferD.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 7:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferE.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 8:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.GBufferF.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 9:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.Velocity.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 10:
|
||||
{
|
||||
const auto &Token = Sensor->CameraGBuffers.SSAO.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 11:
|
||||
{
|
||||
const auto& Token = Sensor->CameraGBuffers.CustomDepth.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
case 12:
|
||||
{
|
||||
const auto& Token = Sensor->CameraGBuffers.CustomStencil.GetToken();
|
||||
return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
|
||||
}
|
||||
default:
|
||||
UE_LOG(LogCarla, Error, TEXT("Requested invalid GBuffer ID %u"), GBufferId);
|
||||
return {};
|
||||
}
|
||||
};
|
||||
|
||||
// ~~ Logging and playback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
BIND_SYNC(start_recorder) << [this](std::string name, bool AdditionalData) -> R<std::string>
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#include "YieldSignComponent.h"
|
||||
#include "SpeedLimitComponent.h"
|
||||
#include "Components/BoxComponent.h"
|
||||
#include "Runtime/CoreUObject/Public/UObject/ConstructorHelpers.h"
|
||||
|
||||
#include "UObject/ConstructorHelpers.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#include "TrafficLightGroup.h"
|
||||
#include "TrafficSignBase.h"
|
||||
#include "Carla/OpenDrive/OpenDrive.h"
|
||||
|
||||
#include "TrafficLightManager.generated.h"
|
||||
|
||||
/// Class In charge of creating and assigning traffic
|
||||
|
|
|
|||
Loading…
Reference in New Issue