Pytorch integration with terramechanics (#5684)
* Added sparse map reprsentation * Added pytorch for terramechanics modules * Added saving loading particles in independent thread * Added blank space at the EOF * Added texture creation lambda * Moving function to component * Added input/output architecture for neural network * Filling heightmap with particles data. Adding Logging to debug * Updating Texture data at realtime * Connected 3 stages, using MPC Position to Update and Texture * Added square particle sampling. Added second model input/output scheme. Fixed start up crash. * Added new flags and fixes * Position to update not updating in material but yes in MPC * Fixed coordinate frame issues and crashes * Prepared to follow position in the 1st vehicle in map * Fixed height map alignment * Fixed large map and terrain tiles alignment * Fixed inputs for new model * Added scale factor * Fixed slow read write operations * Bug fixes * Removed debug output * Removed nvidia profinling marks * Preparing merge debug code removed, runtime working by rounding the loading data properly * Made pytorch optional module * Added TRACE_CPUPROFILER_EVENT_SCOPE to Update and UpdateTexture * Added optional pytorch conditions and macros * Removed static Path * Fixed #ifdef clause. Added missing include. * Deformation on vehicle working. Ready to start optimisation * First optimsation done. Heightmap per Tile * Updated tiles'heightmap to make their size relative to texture and tilesize * Fixed slow frames. Added functionality * Removed unecessary library links * Fixed pytorch link * Limited search to relevant tiles * Added multithreaded particle search. Fixed cuda architectures compilation * Deformation plane added * Added missing resources * Updated particle movement update methods * Spawn on runtime deformation plane * Added cachemap lock when initializing a region * Added UHeightMapDataAsset to hold heightmap data * Fixing some settings Co-authored-by: Aaron <samaniegoaaron112@gmail.com> Co-authored-by: bernatx <bernatx@gmail.com>
This commit is contained in:
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@ -2357,12 +2357,6 @@ Turns on or off lane changing behaviour for a vehicle.
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - The vehicle whose settings are changed.
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- `enable` (_bool_) - __True__ is default and enables lane changes. __False__ will disable them.
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- <a name="carla.TrafficManager.auto_update_lights"></a>**<font color="#7fb800">auto_update_lights</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**do_update**</font>)
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Sets if the Traffic Manager is responsible of updating the vehicle lights, or not.
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Default is __False__. The traffic manager will not change the vehicle light status of a vehicle, unless its auto_update_status is st to __True__.
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - Vehicle whose lights status is being changed.
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- `do_update` (_bool_) - If __True__ the traffic manager will manage the vehicle lights for the specified vehicle.
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- <a name="carla.TrafficManager.collision_detection"></a>**<font color="#7fb800">collision_detection</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**reference_actor**</font>, <font color="#00a6ed">**other_actor**</font>, <font color="#00a6ed">**detect_collision**</font>)
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Tunes on/off collisions between a vehicle and another specific actor. In order to ignore all other vehicles, traffic lights or walkers, use the specific __ignore__ methods described in this same section.
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- **Parameters:**
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@ -2404,6 +2398,17 @@ During the collision detection stage, which runs every frame, this method sets a
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - The vehicle that is going to ignore walkers on scene.
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- `perc` (_float_) - Between 0 and 100. Amount of times collisions will be ignored.
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- <a name="carla.TrafficManager.keep_right_rule_percentage"></a>**<font color="#7fb800">keep_right_rule_percentage</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**perc**</font>)
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During the localization stage, this method sets a percent chance that vehicle will follow the *keep right* rule, and stay in the right lane.
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - Vehicle whose behaviour is being changed.
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- `perc` (_float_) - Between 0 and 100. Amount of times the vehicle will follow the keep right rule.
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- <a name="carla.TrafficManager.update_vehicle_lights"></a>**<font color="#7fb800">update_vehicle_lights</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**do_update**</font>)
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Sets if the Traffic Manager is responsible of updating the vehicle lights, or not.
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Default is __False__. The traffic manager will not change the vehicle light status of a vehicle, unless its auto_update_status is st to __True__.
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - Vehicle whose lights status is being changed.
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- `do_update` (_bool_) - If __True__ the traffic manager will manage the vehicle lights for the specified vehicle.
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- <a name="carla.TrafficManager.vehicle_percentage_speed_difference"></a>**<font color="#7fb800">vehicle_percentage_speed_difference</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**percentage**</font>)
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Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value.
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Default is 30. Exceeding a speed limit can be done using negative percentages.
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@ -2444,12 +2449,7 @@ With hybrid physics on, changes the radius of the area of influence where physic
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- <a name="carla.TrafficManager.set_osm_mode"></a>**<font color="#7fb800">set_osm_mode</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**mode_switch**=True</font>)
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Enables or disables the OSM mode. This mode allows the user to run TM in a map created with the [OSM feature](tuto_G_openstreetmap.md). These maps allow having dead-end streets. Normally, if vehicles cannot find the next waypoint, TM crashes. If OSM mode is enabled, it will show a warning, and destroy vehicles when necessary.
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- **Parameters:**
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- `mode_switch` (_bool_) – If __True__, the OSM mode is enabled.
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- <a name="carla.TrafficManager.keep_right_rule_percentage"></a>**<font color="#7fb800">keep_right_rule_percentage</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**perc**</font>)
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During the localization stage, this method sets a percent chance that vehicle will follow the *keep right* rule, and stay in the right lane.
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- **Parameters:**
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- `actor` (_[carla.Actor](#carla.Actor)_) - Vehicle whose behaviour is being changed.
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- `perc` (_float_) - Between 0 and 100. Amount of times the vehicle will follow the keep right rule.
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- `mode_switch` (_bool_) - If __True__, the OSM mode is enabled.
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- <a name="carla.TrafficManager.set_random_device_seed"></a>**<font color="#7fb800">set_random_device_seed</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**value**</font>)
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Sets a specific random seed for the Traffic Manager, thereby setting it to be deterministic.
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- **Parameters:**
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@ -3152,7 +3152,7 @@ Rain intensity values range from 0 to 100, being 0 none at all and 100 a heavy r
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- <a name="carla.WeatherParameters.precipitation_deposits"></a>**<font color="#f8805a">precipitation_deposits</font>** (_float_)
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Determines the creation of puddles. Values range from 0 to 100, being 0 none at all and 100 a road completely capped with water. Puddles are created with static noise, meaning that they will always appear at the same locations.
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- <a name="carla.WeatherParameters.wind_intensity"></a>**<font color="#f8805a">wind_intensity</font>** (_float_)
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Controls the strength of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues.
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Controls the strenght of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues.
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- <a name="carla.WeatherParameters.sun_azimuth_angle"></a>**<font color="#f8805a">sun_azimuth_angle</font>** (_float<small> - degrees</small>_)
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The azimuth angle of the sun. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine.
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- <a name="carla.WeatherParameters.sun_altitude_angle"></a>**<font color="#f8805a">sun_altitude_angle</font>** (_float<small> - degrees</small>_)
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@ -3191,8 +3191,7 @@ Method to initialize an object defining weather conditions. This class has some
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- `scattering_intensity` (_float_) - Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution.
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- `mie_scattering_scale` (_float_) - Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution.
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- `rayleigh_scattering_scale` (_float_) - Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening.
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- `dust_storm` (_float_) - 0 is no dust at all, 100 a heavy dust/sand storm.
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- **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset, DustStorm.
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- **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset.
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_</font>
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##### Dunder methods
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@ -3931,6 +3930,223 @@ document.getElementById("snipets-container").innerHTML = null;
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}
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</script>
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<div id ="carla.Sensor.listen-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Sensor.listen
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</p>
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<div id="carla.Sensor.listen-code" class="SnipetContent">
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```py
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# This recipe applies a color conversion to the image taken by a camera sensor,
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# so it is converted to a semantic segmentation image.
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# ...
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camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
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# ...
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cc = carla.ColorConverter.CityScapesPalette
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camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
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# ...
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```
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<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>
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</div>
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<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Vehicle.set_wheel_steer_direction
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</p>
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<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
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```py
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# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
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vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
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vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
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```
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<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>
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||||
</div>
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<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.DebugHelper.draw_string
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</p>
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<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
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```py
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# This recipe is a modification of lane_explorer.py example.
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# It draws the path of an actor through the world, printing information at each waypoint.
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# ...
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current_w = map.get_waypoint(vehicle.get_location())
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while True:
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next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
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# Check if the vehicle is moving
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if next_w.id != current_w.id:
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vector = vehicle.get_velocity()
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# Check if the vehicle is on a sidewalk
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if current_w.lane_type == carla.LaneType.Sidewalk:
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draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
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else:
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draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
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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)
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draw_transform(debug, current_w.transform, white, 60)
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# Update the current waypoint and sleep for some time
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current_w = next_w
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time.sleep(args.tick_time)
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# ...
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```
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<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>
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</div>
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<div id ="carla.World.spawn_actor-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.spawn_actor
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</p>
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<div id="carla.World.spawn_actor-code" class="SnipetContent">
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```py
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# This recipe attaches different camera / sensors to a vehicle with different attachments.
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# ...
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camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
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# Default attachment: Attachment.Rigid
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gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
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collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
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lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
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# ...
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```
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<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>
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</div>
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<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.enable_environment_objects
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</p>
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<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
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```py
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# This recipe turn visibility off and on for two specifc buildings on the map
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# Get the buildings in the world
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world = client.get_world()
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env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
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# Access individual building IDs and save in a set
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building_01 = env_objs[0]
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building_02 = env_objs[1]
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objects_to_toggle = {building_01.id, building_02.id}
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# Toggle buildings off
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world.enable_environment_objects(objects_to_toggle, False)
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# Toggle buildings on
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world.enable_environment_objects(objects_to_toggle, True)
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```
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<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>
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</div>
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<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.TrafficLight.set_state
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</p>
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<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
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```py
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# This recipe changes from red to green the traffic light that affects the vehicle.
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# This is done by detecting if the vehicle actor is at a traffic light.
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# ...
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world = client.get_world()
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spectator = world.get_spectator()
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vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
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transform = random.choice(world.get_map().get_spawn_points())
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vehicle = world.try_spawn_actor(vehicle_bp, transform)
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# Wait for world to get the vehicle actor
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world.tick()
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world_snapshot = world.wait_for_tick()
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actor_snapshot = world_snapshot.find(vehicle.id)
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# Set spectator at given transform (vehicle transform)
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spectator.set_transform(actor_snapshot.get_transform())
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# ...# ...
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if vehicle_actor.is_at_traffic_light():
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traffic_light = vehicle_actor.get_traffic_light()
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if traffic_light.get_state() == carla.TrafficLightState.Red:
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# world.hud.notification("Traffic light changed! Good to go!")
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traffic_light.set_state(carla.TrafficLightState.Green)
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# ...
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```
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<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>
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<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
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</div>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Map.get_waypoint
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</p>
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<div id="carla.Map.get_waypoint-code" class="SnipetContent">
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```py
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# This recipe shows the current traffic rules affecting the vehicle.
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# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
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# ...
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waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
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print("Current lane type: " + str(waypoint.lane_type))
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# Check current lane change allowed
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print("Current Lane change: " + str(waypoint.lane_change))
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# Left and Right lane markings
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print("L lane marking type: " + str(waypoint.left_lane_marking.type))
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print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
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print("R lane marking type: " + str(waypoint.right_lane_marking.type))
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print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
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# ...
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```
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<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>
|
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<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
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</div>
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<div id ="carla.World.load_map_layer-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.load_map_layer
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@ -3959,40 +4175,6 @@ world.load_map_layer(carla.MapLayer.ParkedVehicles)
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</div>
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<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.ActorBlueprint.set_attribute
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</p>
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<div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent">
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```py
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# This recipe changes attributes of different type of blueprint actors.
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# ...
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walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
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walker_bp.set_attribute('is_invincible', True)
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# ...
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# Changes attribute randomly by the recommended value
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vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
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color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
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vehicle_bp.set_attribute('color', color)
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# ...
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||||
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
|
||||
camera_bp.set_attribute('image_size_x', 600)
|
||||
camera_bp.set_attribute('image_size_y', 600)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.apply_batch_sync
|
||||
|
|
@ -4066,148 +4248,6 @@ for i in range(0, len(all_actors), 2):
|
|||
|
||||
</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_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.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.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
|
|
@ -4234,37 +4274,6 @@ world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
|||
|
||||
</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.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
|
|
@ -4310,102 +4319,27 @@ Snippet for carla.Client.__init__
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Vehicle.set_wheel_steer_direction
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</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.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
<div id="carla.WalkerAIController.stop-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.
|
||||
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
|
||||
|
||||
# ...
|
||||
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))
|
||||
# ...
|
||||
# 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.Sensor.listen-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.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>
|
||||
<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>
|
||||
|
||||
|
|
@ -4444,6 +4378,71 @@ spectator.set_transform(actor_snapshot.get_transform())
|
|||
|
||||
</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.ActorBlueprint.set_attribute-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.ActorBlueprint.set_attribute
|
||||
</p>
|
||||
<div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe changes attributes of different type of blueprint actors.
|
||||
|
||||
# ...
|
||||
walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
|
||||
walker_bp.set_attribute('is_invincible', True)
|
||||
|
||||
# ...
|
||||
# Changes attribute randomly by the recommended value
|
||||
vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
|
||||
color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
|
||||
vehicle_bp.set_attribute('color', color)
|
||||
|
||||
# ...
|
||||
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
|
||||
camera_bp.set_attribute('image_size_x', 600)
|
||||
camera_bp.set_attribute('image_size_y', 600)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -23,11 +23,13 @@ if (CMAKE_BUILD_TYPE STREQUAL "Client")
|
|||
add_subdirectory("client")
|
||||
elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
|
||||
add_subdirectory("server")
|
||||
elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
|
||||
add_subdirectory("pytorch")
|
||||
else ()
|
||||
message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
|
||||
endif ()
|
||||
|
||||
# GTest is not compiled on Windows.
|
||||
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32))
|
||||
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")))
|
||||
add_subdirectory("test")
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,62 @@
|
|||
cmake_minimum_required(VERSION 3.5.1)
|
||||
project(libcarla-pytorch)
|
||||
|
||||
# Install headers.
|
||||
|
||||
file(GLOB libcarla_carla_pytorch_headers "${libcarla_source_path}/carla/pytorch/*.h")
|
||||
install(FILES ${libcarla_carla_pytorch_headers} DESTINATION include/carla/pytorch)
|
||||
|
||||
# carla_pytorch library.
|
||||
|
||||
file(GLOB libcarla_pytorch_sources
|
||||
"${libcarla_source_path}/carla/pytorch/*.h"
|
||||
"${libcarla_source_path}/carla/pytorch/*.cpp")
|
||||
|
||||
set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
|
||||
find_package(Torch REQUIRED)
|
||||
find_package(TorchScatter REQUIRED)
|
||||
find_package(TorchCluster REQUIRED)
|
||||
find_package(Python3 REQUIRED)
|
||||
|
||||
# @todo These flags need to be compatible with setup.py compilation.
|
||||
set(CMAKE_CXX_FLAGS_RELEASE "-DDEBUG -std=c++14 -O2 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0" CACHE STRING "" FORCE)
|
||||
|
||||
# ==============================================================================
|
||||
# Create targets for debug and release in the same build type.
|
||||
# ==============================================================================
|
||||
|
||||
if (LIBCARLA_BUILD_RELEASE)
|
||||
|
||||
add_library(carla_pytorch STATIC ${libcarla_pytorch_sources})
|
||||
|
||||
target_include_directories(carla_pytorch SYSTEM PRIVATE
|
||||
"${BOOST_INCLUDE_PATH}"
|
||||
"${RPCLIB_INCLUDE_PATH}")
|
||||
|
||||
target_include_directories(carla_pytorch PRIVATE SYSTEM "${TORCH_INCLUDE_DIRS}")
|
||||
target_include_directories(carla_pytorch PRIVATE SYSTEM "${TorchScatter_INCLUDE_DIR}")
|
||||
target_include_directories(carla_pytorch PRIVATE SYSTEM "${TorchCluster_INCLUDE_DIR}")
|
||||
target_include_directories(carla_pytorch PRIVATE SYSTEM "${TorchSparse_INCLUDE_DIR}")
|
||||
target_include_directories(carla_pytorch PRIVATE SYSTEM "${Python3_INCLUDE_DIRS}")
|
||||
target_link_libraries(carla_pytorch "${TORCH_LIBRARIES}")
|
||||
|
||||
install(TARGETS carla_pytorch DESTINATION lib OPTIONAL)
|
||||
|
||||
set_target_properties(carla_pytorch PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
|
||||
|
||||
endif()
|
||||
|
||||
if (LIBCARLA_BUILD_DEBUG)
|
||||
|
||||
add_library(carla_pytorch_debug STATIC ${libcarla_pytorch_sources})
|
||||
|
||||
target_include_directories(carla_pytorch_debug SYSTEM PRIVATE
|
||||
"${BOOST_INCLUDE_PATH}"
|
||||
"${RPCLIB_INCLUDE_PATH}")
|
||||
|
||||
install(TARGETS carla_pytorch_debug DESTINATION lib OPTIONAL)
|
||||
|
||||
set_target_properties(carla_pytorch_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
|
||||
target_compile_definitions(carla_pytorch_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
|
||||
|
||||
endif()
|
||||
|
|
@ -0,0 +1,300 @@
|
|||
// 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>.
|
||||
|
||||
#define _GLIBCXX_USE_CXX11_ABI 0
|
||||
|
||||
#include "pytorch.h"
|
||||
|
||||
#include <torch/torch.h>
|
||||
#include <torch/script.h>
|
||||
#include <torchscatter/scatter.h>
|
||||
#include <torchcluster/cluster.h>
|
||||
#include <torch/csrc/jit/passes/tensorexpr_fuser.h>
|
||||
#include <c10/cuda/CUDACachingAllocator.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <ostream>
|
||||
#include <sstream>
|
||||
|
||||
void add_mark(const std::string &text) {
|
||||
|
||||
}
|
||||
|
||||
namespace carla {
|
||||
namespace learning {
|
||||
|
||||
void test_learning()
|
||||
{
|
||||
std::ostringstream ss;
|
||||
std::cout << "cuda version " << cluster::cuda_version() << std::endl;
|
||||
std::cout << "cuda version " << scatter::cuda_version() << std::endl;
|
||||
// torch::Tensor tensor = torch::eye(3);
|
||||
// std::cout << tensor << std::endl;
|
||||
}
|
||||
|
||||
torch::jit::IValue GetWheelTensorInputs(WheelInput& wheel) {
|
||||
at::Tensor particles_position_tensor =
|
||||
torch::from_blob(wheel.particles_positions,
|
||||
{wheel.num_particles, 3}, torch::kFloat32);
|
||||
|
||||
at::Tensor particles_velocity_tensor =
|
||||
torch::from_blob(wheel.particles_velocities,
|
||||
{wheel.num_particles, 3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_positions_tensor =
|
||||
torch::from_blob(wheel.wheel_positions,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_oritentation_tensor =
|
||||
torch::from_blob(wheel.wheel_oritentation,
|
||||
{4}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_linear_velocity_tensor =
|
||||
torch::from_blob(wheel.wheel_linear_velocity,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_angular_velocity_tensor =
|
||||
torch::from_blob(wheel.wheel_angular_velocity,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
std::vector<torch::jit::IValue> Tuple
|
||||
{particles_position_tensor, particles_velocity_tensor, wheel_positions_tensor,
|
||||
wheel_oritentation_tensor, wheel_linear_velocity_tensor, wheel_angular_velocity_tensor};
|
||||
return torch::ivalue::Tuple::create(Tuple);
|
||||
}
|
||||
|
||||
WheelOutput GetWheelTensorOutput(
|
||||
const at::Tensor &particle_forces,
|
||||
const at::Tensor &wheel_forces) {
|
||||
std::ostringstream oss;
|
||||
std::cout << oss.str() << std::endl;
|
||||
WheelOutput result;
|
||||
const float* wheel_forces_data = wheel_forces.data_ptr<float>();
|
||||
result.wheel_forces_x = wheel_forces_data[0];
|
||||
result.wheel_forces_y = wheel_forces_data[1];
|
||||
result.wheel_forces_z = wheel_forces_data[2];
|
||||
result.wheel_torque_x = wheel_forces_data[3];
|
||||
result.wheel_torque_y = wheel_forces_data[4];
|
||||
result.wheel_torque_z = wheel_forces_data[5];
|
||||
const float* particle_forces_data = particle_forces.data_ptr<float>();
|
||||
int num_dimensions = 3;
|
||||
int num_particles = particle_forces.sizes()[0];
|
||||
result._particle_forces.reserve(num_particles*num_dimensions);
|
||||
for (int i = 0; i < num_particles; i++) {
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 0]);
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 1]);
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 2]);
|
||||
}
|
||||
if(num_particles > 0)
|
||||
{
|
||||
std::cout << particle_forces_data[0] << " " << particle_forces_data[1] << " " << particle_forces_data[0] << std::endl;
|
||||
}
|
||||
std::cout << "Output: " << result._particle_forces.size()/3 << " particles" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
WheelOutput GetWheelTensorOutputDynamic(
|
||||
const at::Tensor &particle_forces,
|
||||
const at::Tensor &wheel_forces) {
|
||||
WheelOutput result;
|
||||
const float* wheel_forces_data = wheel_forces.data_ptr<float>();
|
||||
result.wheel_forces_x = wheel_forces_data[0];
|
||||
result.wheel_forces_y = wheel_forces_data[1];
|
||||
result.wheel_forces_z = wheel_forces_data[2];
|
||||
const float* particle_forces_data = particle_forces.data_ptr<float>();
|
||||
int num_dimensions = 3;
|
||||
int num_particles = particle_forces.sizes()[0];
|
||||
result._particle_forces.reserve(num_particles*num_dimensions);
|
||||
for (int i = 0; i < num_particles; i++) {
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 0]);
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 1]);
|
||||
result._particle_forces.emplace_back(
|
||||
particle_forces_data[i*num_dimensions + 2]);
|
||||
}
|
||||
if(num_particles > 0)
|
||||
{
|
||||
std::cout << particle_forces_data[0] << " " << particle_forces_data[1] << " " << particle_forces_data[0] << std::endl;
|
||||
}
|
||||
// std::cout << "Output: " << result._particle_forces.size()/3 << " particles" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
// holds the neural network
|
||||
struct NeuralModelImpl
|
||||
{
|
||||
NeuralModelImpl(){
|
||||
// std::cout << "Creating model" << std::endl;
|
||||
}
|
||||
torch::jit::script::Module module;
|
||||
~NeuralModelImpl(){
|
||||
// std::cout << "Destroying model" << std::endl;
|
||||
}
|
||||
std::vector<at::Tensor> particles_position_tensors;
|
||||
std::vector<at::Tensor> particles_velocity_tensors;
|
||||
torch::jit::IValue GetWheelTensorInputsCUDA(WheelInput& wheel, int wheel_idx);
|
||||
};
|
||||
torch::jit::IValue NeuralModelImpl::GetWheelTensorInputsCUDA(WheelInput& wheel, int wheel_idx)
|
||||
{
|
||||
at::Tensor particles_position_tensor =
|
||||
torch::from_blob(wheel.particles_positions,
|
||||
{wheel.num_particles, 3}, torch::kFloat32);
|
||||
|
||||
at::Tensor particles_velocity_tensor =
|
||||
torch::from_blob(wheel.particles_velocities,
|
||||
{wheel.num_particles, 3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_positions_tensor =
|
||||
torch::from_blob(wheel.wheel_positions,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_oritentation_tensor =
|
||||
torch::from_blob(wheel.wheel_oritentation,
|
||||
{4}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_linear_velocity_tensor =
|
||||
torch::from_blob(wheel.wheel_linear_velocity,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
at::Tensor wheel_angular_velocity_tensor =
|
||||
torch::from_blob(wheel.wheel_angular_velocity,
|
||||
{3}, torch::kFloat32);
|
||||
|
||||
std::vector<torch::jit::IValue> Tuple
|
||||
{particles_position_tensor.cuda(), particles_velocity_tensor.cuda(), wheel_positions_tensor.cuda(),
|
||||
wheel_oritentation_tensor.cuda(), wheel_linear_velocity_tensor.cuda(), wheel_angular_velocity_tensor.cuda(),
|
||||
wheel.num_particles};
|
||||
return torch::ivalue::Tuple::create(Tuple);
|
||||
}
|
||||
|
||||
NeuralModel::NeuralModel() {
|
||||
Model = std::make_unique<NeuralModelImpl>();
|
||||
}
|
||||
void NeuralModel::LoadModel(char* filename, int device) {
|
||||
torch::jit::setTensorExprFuserEnabled(false);
|
||||
std::string filename_str(filename);
|
||||
std::cout << "loading " << filename_str << std::endl;
|
||||
try {
|
||||
Model->module = torch::jit::load(filename_str);
|
||||
std::string cuda_str = "cuda:" + std::to_string(device);
|
||||
std::cout << "Using CUDA device " << cuda_str << std::endl;
|
||||
Model->module.to(at::Device(cuda_str));
|
||||
} catch (const c10::Error& e) {
|
||||
std::cout << "Error loading model: " << e.msg() << std::endl;
|
||||
}
|
||||
std::cout << "loaded " << filename_str << std::endl;
|
||||
}
|
||||
|
||||
void NeuralModel::SetInputs(Inputs input) {
|
||||
_input = input;
|
||||
}
|
||||
|
||||
|
||||
void NeuralModel::Forward() {
|
||||
std::vector<torch::jit::IValue> TorchInputs;
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel0));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel1));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel2));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel3));
|
||||
auto drv_inputs = torch::tensor(
|
||||
{_input.steering, _input.throttle, _input.braking}, torch::kFloat32); //steer, throtle, brake
|
||||
TorchInputs.push_back(drv_inputs);
|
||||
TorchInputs.push_back(_input.verbose);
|
||||
|
||||
torch::jit::IValue Output;
|
||||
try {
|
||||
Output = Model->module.forward(TorchInputs);
|
||||
} catch (const c10::Error& e) {
|
||||
std::cout << "Error running model: " << e.msg() << std::endl;
|
||||
}
|
||||
|
||||
std::vector<torch::jit::IValue> Tensors = Output.toTuple()->elements();
|
||||
_output.wheel0 = GetWheelTensorOutput(
|
||||
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu());
|
||||
_output.wheel1 = GetWheelTensorOutput(
|
||||
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu());
|
||||
_output.wheel2 = GetWheelTensorOutput(
|
||||
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu());
|
||||
_output.wheel3 = GetWheelTensorOutput(
|
||||
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu());
|
||||
|
||||
}
|
||||
void NeuralModel::ForwardDynamic() {
|
||||
{
|
||||
|
||||
std::vector<torch::jit::IValue> TorchInputs;
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel0));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel1));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel2));
|
||||
TorchInputs.push_back(GetWheelTensorInputs(_input.wheel3));
|
||||
auto drv_inputs = torch::tensor(
|
||||
{_input.steering, _input.throttle, _input.braking}, torch::kFloat32); //steer, throtle, brake
|
||||
TorchInputs.push_back(drv_inputs);
|
||||
TorchInputs.push_back(_input.verbose);
|
||||
|
||||
torch::jit::IValue Output;
|
||||
try {
|
||||
Output = Model->module.forward(TorchInputs);
|
||||
} catch (const c10::Error& e) {
|
||||
std::cout << "Error running model: " << e.msg() << std::endl;
|
||||
}
|
||||
|
||||
std::vector<torch::jit::IValue> Tensors = Output.toTuple()->elements();
|
||||
_output.wheel0 = GetWheelTensorOutputDynamic(
|
||||
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu());
|
||||
_output.wheel1 = GetWheelTensorOutputDynamic(
|
||||
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu());
|
||||
_output.wheel2 = GetWheelTensorOutputDynamic(
|
||||
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu());
|
||||
_output.wheel3 = GetWheelTensorOutputDynamic(
|
||||
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu());
|
||||
|
||||
}
|
||||
|
||||
c10::cuda::CUDACachingAllocator::emptyCache();
|
||||
|
||||
}
|
||||
|
||||
void NeuralModel::ForwardCUDATensors()
|
||||
{
|
||||
std::vector<torch::jit::IValue> TorchInputs;
|
||||
TorchInputs.push_back(Model->GetWheelTensorInputsCUDA(_input.wheel0, 0));
|
||||
TorchInputs.push_back(Model->GetWheelTensorInputsCUDA(_input.wheel1, 1));
|
||||
TorchInputs.push_back(Model->GetWheelTensorInputsCUDA(_input.wheel2, 2));
|
||||
TorchInputs.push_back(Model->GetWheelTensorInputsCUDA(_input.wheel3, 3));
|
||||
auto drv_inputs = torch::tensor(
|
||||
{_input.steering, _input.throttle, _input.braking}, torch::kFloat32); //steer, throtle, brake
|
||||
TorchInputs.push_back(drv_inputs.cuda());
|
||||
TorchInputs.push_back(_input.verbose);
|
||||
|
||||
torch::jit::IValue Output;
|
||||
try {
|
||||
Output = Model->module.forward(TorchInputs);
|
||||
} catch (const c10::Error& e) {
|
||||
std::cout << "Error running model: " << e.msg() << std::endl;
|
||||
}
|
||||
|
||||
std::vector<torch::jit::IValue> Tensors = Output.toTuple()->elements();
|
||||
_output.wheel0 = GetWheelTensorOutput(
|
||||
Tensors[0].toTensor().cpu(), Tensors[4].toTensor().cpu());
|
||||
_output.wheel1 = GetWheelTensorOutput(
|
||||
Tensors[1].toTensor().cpu(), Tensors[5].toTensor().cpu());
|
||||
_output.wheel2 = GetWheelTensorOutput(
|
||||
Tensors[2].toTensor().cpu(), Tensors[6].toTensor().cpu());
|
||||
_output.wheel3 = GetWheelTensorOutput(
|
||||
Tensors[3].toTensor().cpu(), Tensors[7].toTensor().cpu());
|
||||
}
|
||||
|
||||
Outputs& NeuralModel::GetOutputs() {
|
||||
return _output;
|
||||
}
|
||||
|
||||
NeuralModel::~NeuralModel() {}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
// 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
|
||||
#define _GLIBCXX_USE_CXX11_ABI 0
|
||||
|
||||
#include <memory>
|
||||
#include <vector>
|
||||
|
||||
namespace carla {
|
||||
namespace learning {
|
||||
|
||||
void test_learning();
|
||||
|
||||
struct NeuralModelImpl;
|
||||
|
||||
struct WheelInput {
|
||||
public:
|
||||
int num_particles = 0;
|
||||
float* particles_positions;
|
||||
float* particles_velocities;
|
||||
float* wheel_positions;
|
||||
float* wheel_oritentation;
|
||||
float* wheel_linear_velocity;
|
||||
float* wheel_angular_velocity;
|
||||
int terrain_type = 0;
|
||||
};
|
||||
|
||||
struct Inputs {
|
||||
public:
|
||||
WheelInput wheel0;
|
||||
WheelInput wheel1;
|
||||
WheelInput wheel2;
|
||||
WheelInput wheel3;
|
||||
float steering = 0;
|
||||
float throttle = 0;
|
||||
float braking = 0;
|
||||
bool verbose = false;
|
||||
};
|
||||
|
||||
struct WheelOutput {
|
||||
public:
|
||||
float wheel_forces_x = 0;
|
||||
float wheel_forces_y = 0;
|
||||
float wheel_forces_z = 0;
|
||||
float wheel_torque_x = 0;
|
||||
float wheel_torque_y = 0;
|
||||
float wheel_torque_z = 0;
|
||||
std::vector<float> _particle_forces;
|
||||
};
|
||||
struct Outputs {
|
||||
public:
|
||||
WheelOutput wheel0;
|
||||
WheelOutput wheel1;
|
||||
WheelOutput wheel2;
|
||||
WheelOutput wheel3;
|
||||
};
|
||||
|
||||
// Interface with the torch implementation
|
||||
class NeuralModel {
|
||||
public:
|
||||
|
||||
NeuralModel();
|
||||
void LoadModel(char* filename, int device);
|
||||
|
||||
void SetInputs(Inputs input);
|
||||
void Forward();
|
||||
void ForwardDynamic();
|
||||
void ForwardCUDATensors();
|
||||
Outputs& GetOutputs();
|
||||
|
||||
~NeuralModel();
|
||||
|
||||
private:
|
||||
std::unique_ptr<NeuralModelImpl> Model;
|
||||
Inputs _input;
|
||||
Outputs _output;
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1239,7 +1239,7 @@ def game_loop(args):
|
|||
|
||||
try:
|
||||
client = carla.Client(args.host, args.port)
|
||||
client.set_timeout(20.0)
|
||||
client.set_timeout(2000.0)
|
||||
|
||||
sim_world = client.get_world()
|
||||
if args.sync:
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -8,6 +8,7 @@ public class Carla : ModuleRules
|
|||
{
|
||||
bool UsingCarSim = false;
|
||||
bool UsingChrono = false;
|
||||
bool UsingPytorch = false;
|
||||
private bool IsWindows(ReadOnlyTargetRules Target)
|
||||
{
|
||||
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
|
||||
|
|
@ -43,6 +44,13 @@ public class Carla : ModuleRules
|
|||
PublicDefinitions.Add("WITH_CHRONO");
|
||||
PrivateDefinitions.Add("WITH_CHRONO");
|
||||
}
|
||||
if (line.Contains("Pytorch ON"))
|
||||
{
|
||||
Console.WriteLine("Enabling pytorch");
|
||||
UsingPytorch = true;
|
||||
PublicDefinitions.Add("WITH_PYTORCH");
|
||||
PrivateDefinitions.Add("WITH_PYTORCH");
|
||||
}
|
||||
}
|
||||
|
||||
PublicIncludePaths.AddRange(
|
||||
|
|
@ -219,6 +227,81 @@ public class Carla : ModuleRules
|
|||
bUseRTTI = true;
|
||||
bEnableExceptions = true;
|
||||
}
|
||||
|
||||
if (UsingPytorch)
|
||||
{
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
|
||||
|
||||
string LibTorchPath = LibCarlaInstallPath;
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx_proto.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfbgemm.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libXNNPACK.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf-lite.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libasmjit.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo_internals.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libclog.a"));
|
||||
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad_common.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpytorch_qnnpack.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_cuda.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack_reference_layers.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libdnnl.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpthreadpool.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libqnnpack.a"));
|
||||
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libkineto.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotoc.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock_main.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest_main.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark_main.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfmt.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_uv.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfoxi_loader.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo_cuda.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcaffe2_protos.a"));
|
||||
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx.a"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libnnapi_backend.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libbackend_with_compiler.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libcaffe2_nvrtc.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cpp.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10_cuda.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchbind_test.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libjitbackend_test.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_global_deps.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cpu.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libshm.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cu.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchscatter.so"));
|
||||
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchcluster.so"));
|
||||
// AddDynamicLibrary("/usr/local/cuda/lib64/stubs/libcuda.so");
|
||||
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvrtc.so");
|
||||
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvToolsExt.so");
|
||||
// AddDynamicLibrary("/usr/local/cuda/lib64/libcudart.so");
|
||||
// AddDynamicLibrary("/usr/lib/llvm-10/lib/libgomp.so");
|
||||
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/stubs/libcuda.so");
|
||||
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvrtc.so");
|
||||
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvToolsExt.so");
|
||||
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libcudart.so");
|
||||
PublicAdditionalLibraries.Add("/usr/lib/llvm-10/lib/libgomp.so");
|
||||
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libcudart-a7b20f20.so.11.0"));
|
||||
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libgomp-a34b3233.so.1"));
|
||||
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-builtins-4730a239.so.11.3"));
|
||||
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-1ea278b5.so.11.2"));
|
||||
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvToolsExt-24de1d56.so.1"));
|
||||
PublicAdditionalLibraries.Add("stdc++");
|
||||
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Include path.
|
||||
|
|
|
|||
|
|
@ -567,6 +567,12 @@ FCarlaMapTile* ALargeMapManager::GetCarlaMapTile(FIntVector TileVectorID)
|
|||
return Tile;
|
||||
}
|
||||
|
||||
FCarlaMapTile* ALargeMapManager::GetCarlaMapTile(TileID TileID)
|
||||
{
|
||||
FCarlaMapTile* Tile = MapTiles.Find(TileID);
|
||||
return Tile;
|
||||
}
|
||||
|
||||
FCarlaMapTile& ALargeMapManager::LoadCarlaMapTile(FString TileMapPath, TileID TileId) {
|
||||
TRACE_CPUPROFILER_EVENT_SCOPE(ALargeMapManager::LoadCarlaMapTile);
|
||||
// Need to generate a new Tile
|
||||
|
|
|
|||
|
|
@ -164,8 +164,6 @@ public:
|
|||
|
||||
float GetActorStreamingDistance() const;
|
||||
|
||||
protected:
|
||||
|
||||
FIntVector GetTileVectorID(FVector TileLocation) const;
|
||||
|
||||
FIntVector GetTileVectorID(FDVector TileLocation) const;
|
||||
|
|
@ -193,8 +191,12 @@ protected:
|
|||
|
||||
FCarlaMapTile* GetCarlaMapTile(FIntVector TileVectorID);
|
||||
|
||||
FCarlaMapTile* GetCarlaMapTile(TileID TileID);
|
||||
|
||||
FCarlaMapTile& LoadCarlaMapTile(FString TileMapPath, TileID TileId);
|
||||
|
||||
protected:
|
||||
|
||||
void UpdateTilesState();
|
||||
|
||||
void RemovePendingActorsToRemove();
|
||||
|
|
|
|||
|
|
@ -79,6 +79,14 @@ struct FDVector
|
|||
return FDVector(X + V.X, Y + V.Y, Z + V.Z);
|
||||
}
|
||||
|
||||
FDVector& operator+=(float Scalar)
|
||||
{
|
||||
this->X += Scalar;
|
||||
this->Y += Scalar;
|
||||
this->Z += Scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
FDVector operator-(const FDVector& V) const
|
||||
{
|
||||
return FDVector(X - V.X, Y - V.Y, Z - V.Z);
|
||||
|
|
@ -108,4 +116,19 @@ struct FDVector
|
|||
return FDVector(X * Scale, Y * Scale, Z * Scale);
|
||||
}
|
||||
|
||||
FDVector operator*=(float Scale)
|
||||
{
|
||||
this->X *= Scale;
|
||||
this->Y *= Scale;
|
||||
this->Z *= Scale;
|
||||
return *this;
|
||||
}
|
||||
|
||||
FDVector operator*=(double Scale)
|
||||
{
|
||||
this->X *= Scale;
|
||||
this->Y *= Scale;
|
||||
this->Z *= Scale;
|
||||
return *this;
|
||||
}
|
||||
};
|
||||
|
|
@ -8,6 +8,7 @@
|
|||
|
||||
#include "Components/ActorComponent.h"
|
||||
#include "Components/SkeletalMeshComponent.h"
|
||||
#include <vector>
|
||||
|
||||
// disable warnings for eigen 3.1.0
|
||||
#if defined(__clang__)
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -12,29 +12,54 @@
|
|||
|
||||
#include "Carla/Math/DVector.h"
|
||||
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
|
||||
#include "Engine/TextureRenderTarget2D.h"
|
||||
#include "Carla/MapGen/LargeMapManager.h"
|
||||
#include "Engine/DataAsset.h"
|
||||
#ifdef WITH_PYTORCH
|
||||
THIRD_PARTY_INCLUDES_START
|
||||
#include <carla/pytorch/pytorch.h>
|
||||
THIRD_PARTY_INCLUDES_END
|
||||
#endif
|
||||
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
#include "Misc/ScopeLock.h"
|
||||
#include <string>
|
||||
|
||||
#include "CustomTerrainPhysicsComponent.generated.h"
|
||||
|
||||
UCLASS(BlueprintType)
|
||||
class UHeightMapDataAsset : public UPrimaryDataAsset
|
||||
{
|
||||
GENERATED_BODY()
|
||||
public:
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = HeightMapDataAsset)
|
||||
int SizeX = 0;
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = HeightMapDataAsset)
|
||||
int SizeY = 0;
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = HeightMapDataAsset)
|
||||
TArray<float> HeightValues;
|
||||
};
|
||||
|
||||
struct FParticle
|
||||
{
|
||||
// It formats particle data to "XValue YValue ZValue RadiusValue \n"
|
||||
std::string ToString() const;
|
||||
|
||||
// String received must have format "XValue YValue ZValue RadiusValue \n"
|
||||
void ModifyDataFromString(const std::string& BaseString);
|
||||
|
||||
FDVector Position; // position in m
|
||||
FVector Velocity;
|
||||
float Radius = 0.02f;
|
||||
|
||||
};
|
||||
|
||||
struct FHeightMapData
|
||||
{
|
||||
void InitializeHeightmap(UTexture2D* Texture, FDVector Size, FDVector Origin);
|
||||
void InitializeHeightmap(
|
||||
UTexture2D* Texture, FDVector Size, FDVector Origin,
|
||||
float MinHeight, float MaxHeight, FDVector Tile0, float ScaleZ);
|
||||
void InitializeHeightmapFloat(
|
||||
UTexture2D* Texture, FDVector Size, FDVector Origin,
|
||||
float MinHeight, float MaxHeight, FDVector Tile0, float ScaleZ);
|
||||
void InitializeHeightmap(
|
||||
UHeightMapDataAsset* DataAsset, FDVector Size, FDVector Origin,
|
||||
FDVector Tile0, float ScaleZ);
|
||||
float GetHeight(FDVector Position) const; // get height at a given global 2d position
|
||||
void Clear();
|
||||
// private:
|
||||
|
|
@ -42,35 +67,65 @@ struct FHeightMapData
|
|||
FDVector Offset;
|
||||
uint32_t Size_X;
|
||||
uint32_t Size_Y;
|
||||
float MinHeight = 0.0f;
|
||||
float MaxHeight = 10.0f;
|
||||
float Scale_Z = 1;
|
||||
FDVector Tile0Position;
|
||||
std::vector<float> Pixels;
|
||||
};
|
||||
|
||||
struct FDenseTile
|
||||
{
|
||||
void InitializeTile(float ParticleSize, float Depth,
|
||||
FDenseTile();
|
||||
~FDenseTile();
|
||||
FDenseTile(const FDenseTile& Origin);
|
||||
FDenseTile(FDenseTile&& Origin);
|
||||
FDenseTile& operator=(FDenseTile&& Origin);
|
||||
|
||||
void InitializeTile(uint32_t TextureSize, float AffectedRadius, float ParticleSize, float Depth,
|
||||
FDVector TileOrigin, FDVector TileEnd, const FString& SavePath, const FHeightMapData &HeightMap);
|
||||
std::vector<FParticle*> GetParticlesInRadius(FDVector Position, float Radius);
|
||||
void GetParticlesInRadius(FDVector Position, float Radius, std::vector<FParticle*> &ParticlesInRadius);
|
||||
void GetParticlesInBox(const FOrientedBox& OBox, std::vector<FParticle*> &ParticlesInRadius);
|
||||
void GetAllParticles(std::vector<FParticle*> &ParticlesInRadius);
|
||||
|
||||
// Format DenseTile to "PosX PosY PosZ\n Particles"
|
||||
// WARNING LookAt ParticlesFormat
|
||||
std::string ToString() const;
|
||||
|
||||
// String received must have format "PosX PosY PosZ\n ParticlesList"
|
||||
void ModifyDataFromString(const std::string& BaseString);
|
||||
|
||||
void UpdateLocalHeightmap();
|
||||
std::vector<FParticle> Particles;
|
||||
std::vector<float> ParticlesHeightMap;
|
||||
//std::vector<std::vector<float>> ParticlesZOrdered;
|
||||
std::vector<std::multiset<float,std::greater<float>>> ParticlesZOrdered;
|
||||
FDVector TilePosition;
|
||||
|
||||
FString SavePath;
|
||||
bool bHeightmapNeedToUpdate = false;
|
||||
};
|
||||
|
||||
class FSparseHighDetailMap
|
||||
{
|
||||
public:
|
||||
friend struct FTilesWorker;
|
||||
|
||||
FSparseHighDetailMap(float ParticleDiameter = 0.02f, float Depth = 0.4f)
|
||||
: ParticleSize(ParticleDiameter), TerrainDepth(Depth) {};
|
||||
|
||||
void Init( uint32 NewTextureSize, float NewAffectedRadius, float ParticleDiameter, float Depth)
|
||||
{
|
||||
ParticleSize = ParticleDiameter;
|
||||
TerrainDepth = Depth;
|
||||
TextureSize = NewTextureSize;
|
||||
AffectedRadius = NewAffectedRadius;
|
||||
UE_LOG(LogCarla, Warning,
|
||||
TEXT("ParticleSize %f"), ParticleSize);
|
||||
}
|
||||
|
||||
inline float GetTileSize() const {
|
||||
return TileSize;
|
||||
}
|
||||
|
||||
std::vector<FParticle*> GetParticlesInRadius(FDVector Position, float Radius);
|
||||
std::vector<FParticle*> GetParticlesInTileRadius(FDVector Position, float Radius);
|
||||
std::vector<FParticle*> GetParticlesInBox(const FOrientedBox& OBox);
|
||||
std::vector<uint64_t> GetIntersectingTiles(const FOrientedBox& OBox);
|
||||
std::vector<float> GetParticlesHeightMapInTileRadius(FDVector Position, float Radius);
|
||||
|
||||
FDenseTile& GetTile(uint32_t Tile_X, uint32_t Tile_Y);
|
||||
FDenseTile& GetTile(FDVector Position);
|
||||
|
|
@ -78,17 +133,34 @@ public:
|
|||
|
||||
FDenseTile& InitializeRegion(uint32_t Tile_X, uint32_t Tile_Y);
|
||||
FDenseTile& InitializeRegion(uint64_t TileId);
|
||||
FDenseTile& InitializeRegionInCache(uint64_t TileId);
|
||||
|
||||
uint64_t GetTileId(uint32_t Tile_X, uint32_t Tile_Y);
|
||||
uint64_t GetTileId(uint64_t TileId);
|
||||
uint64_t GetTileId(FDVector Position);
|
||||
FIntVector GetVectorTileId(FDVector Position);
|
||||
FDVector GetTilePosition(uint64_t TileId);
|
||||
FDVector GetTilePosition(uint32_t Tile_X, uint32_t Tile_Y);
|
||||
|
||||
void InitializeMap(UTexture2D* HeightMapTexture,
|
||||
FDVector Origin, FDVector MapSize, float Size = 1.f);
|
||||
float GetHeight(FDVector Position) {
|
||||
return Heightmap.GetHeight(Position);
|
||||
}
|
||||
|
||||
void LoadTilesAtPosition(FDVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
void InitializeMap(UTexture2D* HeightMapTexture,
|
||||
FDVector Origin, FDVector MapSize, float Size, float MinHeight, float MaxHeight,
|
||||
float ScaleZ);
|
||||
void InitializeMap(UHeightMapDataAsset* DataAsset,
|
||||
FDVector Origin, FDVector MapSize, float Size, float ScaleZ);
|
||||
|
||||
void UpdateHeightMap(UTexture2D* HeightMapTexture,
|
||||
FDVector Origin, FDVector MapSize, float Size, float MinHeight, float MaxHeight,
|
||||
float ScaleZ);
|
||||
void UpdateHeightMap(UHeightMapDataAsset* DataAsset,
|
||||
FDVector Origin, FDVector MapSize, float Size, float ScaleZ);
|
||||
|
||||
void LoadTilesAtPositionFromCache(FDVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
void UnLoadTilesAtPositionToCache(FDVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
void ReloadCache(FDVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
|
||||
void Update(FVector Position, float RadiusX, float RadiusY);
|
||||
|
||||
|
|
@ -96,16 +168,32 @@ public:
|
|||
|
||||
void Clear();
|
||||
|
||||
void LockMutex()
|
||||
{
|
||||
Lock_Map.Lock();
|
||||
}
|
||||
|
||||
void UnLockMutex()
|
||||
{
|
||||
Lock_Map.Unlock();
|
||||
}
|
||||
|
||||
std::unordered_map<uint64_t, FDenseTile> Map;
|
||||
std::unordered_map<uint64_t, FDenseTile> CacheMap;
|
||||
FString SavePath;
|
||||
private:
|
||||
std::unordered_map<uint64_t, FDenseTile> Map;
|
||||
std::unordered_map<uint64_t, FDenseTile> TilesToWrite;
|
||||
FDVector Tile0Position;
|
||||
FDVector Extension;
|
||||
float TileSize = 1.f; // 1m per tile
|
||||
FHeightMapData Heightmap;
|
||||
float ParticleSize = 0.02f;
|
||||
float TerrainDepth = 0.4f;
|
||||
uint32 TextureSize = 0;
|
||||
float AffectedRadius = 0.0f;
|
||||
FVector PositionToUpdate;
|
||||
FCriticalSection Lock_Map; // UE4 Mutex
|
||||
FCriticalSection Lock_CacheMap; // UE4 Mutex
|
||||
FCriticalSection Lock_Position; // UE4 Mutex
|
||||
|
||||
};
|
||||
|
|
@ -121,15 +209,13 @@ struct FForceAtLocation
|
|||
FVector Location;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
|
||||
class UCustomTerrainPhysicsComponent : public UActorComponent
|
||||
{
|
||||
GENERATED_BODY()
|
||||
|
||||
friend struct FTilesWorker;
|
||||
public:
|
||||
|
||||
UCustomTerrainPhysicsComponent();
|
||||
|
||||
virtual void BeginPlay() override;
|
||||
|
|
@ -144,27 +230,118 @@ public:
|
|||
UFUNCTION(BlueprintCallable)
|
||||
void AddForces(const TArray<FForceAtLocation> &Forces);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
TArray<float> BuildLandscapeHeightMap(ALandscapeProxy* Landscape, int Resolution);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
static void BuildLandscapeHeightMapTexture(ALandscapeProxy* Landscape,
|
||||
int Resolution, FVector MapSize, FString TexturePath, FString TextureName);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
static void BuildLandscapeHeightMapDataAasset(ALandscapeProxy* Landscape,
|
||||
int Resolution, FVector MapSize, FString AssetPath, FString AssetName);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
float GetHeightAtLocation(ALandscapeProxy * Landscape, FVector Location);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
TArray<FVector> GetParticlesInRadius(FVector Position, float Radius);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
TArray<FVector> GetParticlesInTileRadius(FVector Position, float Radius);
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
FVector GetTileCenter(FVector Position);
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Tiles")
|
||||
void LoadTilesAtPosition(FVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Tiles")
|
||||
void UnloadTilesAtPosition(FVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Tiles")
|
||||
void ReloadCache(FVector Position, float RadiusX = 100.0f, float RadiusY = 100.0f);
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Texture")
|
||||
void InitTexture();
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Texture")
|
||||
void UpdateTexture();
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category="Texture")
|
||||
void UpdateTextureData();
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite)
|
||||
UHeightMapDataAsset* DataAsset;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite)
|
||||
UTexture2D *HeightMap;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="MaterialParameters")
|
||||
UTexture2D* TextureToUpdate;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite, Category="MaterialParameters")
|
||||
UMaterialParameterCollection* MPC;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite)
|
||||
FString NeuralModelFile = "";
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite)
|
||||
FVector NextPositionToUpdate = FVector(0,0,0);
|
||||
|
||||
FVector LastUpdatedPosition;
|
||||
|
||||
FString SavePath;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadWrite)
|
||||
float ForceMulFactor = 1.0;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool NNVerbose = false;
|
||||
|
||||
private:
|
||||
|
||||
void RunNNPhysicsSimulation(
|
||||
ACarlaWheeledVehicle *Vehicle, float DeltaTime);
|
||||
// TArray<FParticle*> GetParticlesInRange(...);
|
||||
void SetUpParticleArrays(std::vector<FParticle*>& ParticlesIn,
|
||||
TArray<float>& ParticlePosOut,
|
||||
TArray<float>& ParticleVelOut);
|
||||
void SetUpWheelArrays(ACarlaWheeledVehicle *Vehicle, int WheelIdx,
|
||||
TArray<float>& WheelPos,
|
||||
TArray<float>& WheelOrientation,
|
||||
TArray<float>& WheelLinearVelocity,
|
||||
TArray<float>& WheelAngularVelocity);
|
||||
void UpdateParticles(
|
||||
std::vector<FParticle*> Particles, std::vector<float> Forces,
|
||||
float DeltaTime);
|
||||
void ApplyForcesToVehicle(
|
||||
ACarlaWheeledVehicle *Vehicle,
|
||||
FVector ForceWheel0, FVector ForceWheel1, FVector ForceWheel2, FVector ForceWheel3,
|
||||
FVector TorqueWheel0, FVector TorqueWheel1, FVector TorqueWheel2, FVector TorqueWheel3);
|
||||
void ApplyMeanAccelerationToVehicle(
|
||||
ACarlaWheeledVehicle *Vehicle,
|
||||
FVector ForceWheel0, FVector ForceWheel1, FVector ForceWheel2, FVector ForceWheel3);
|
||||
void ApplyAccelerationToVehicle(
|
||||
ACarlaWheeledVehicle *Vehicle,
|
||||
FVector ForceWheel0, FVector ForceWheel1, FVector ForceWheel2, FVector ForceWheel3);
|
||||
|
||||
void ApplyForces();
|
||||
void LimitParticlesPerWheel(std::vector<FParticle*> &Particles);
|
||||
void DrawParticles(UWorld* World, std::vector<FParticle*>& Particles);
|
||||
void DrawOrientedBox(UWorld* World, const TArray<FOrientedBox>& Boxes);
|
||||
void DrawTiles(UWorld* World, const std::vector<uint64_t>& TilesIds, float Height = 0);
|
||||
void GenerateBenchmarkParticles(std::vector<FParticle>& BenchParticles,
|
||||
std::vector<FParticle*> &ParticlesWheel0, std::vector<FParticle*> &ParticlesWheel1,
|
||||
std::vector<FParticle*> &ParticlesWheel2, std::vector<FParticle*> &ParticlesWheel3,
|
||||
FOrientedBox &BboxWheel0, FOrientedBox &BboxWheel1,
|
||||
FOrientedBox &BboxWheel2, FOrientedBox &BboxWheel3);
|
||||
|
||||
void UpdateParticlesDebug(std::vector<FParticle*> Particles);
|
||||
|
||||
void UpdateTilesHeightMaps( const std::vector<FParticle*>& Particles);
|
||||
void RemoveParticlesFromOrderedContainer(const std::vector<FParticle*>& Particles);
|
||||
void AddParticlesToOrderedContainer(const std::vector<FParticle*>& Particles);
|
||||
void UpdateTilesHeightMapsInRadius(FDVector Position, uint32 Rad );
|
||||
|
||||
UPROPERTY(EditAnywhere)
|
||||
TArray<FForceAtLocation> ForcesToApply;
|
||||
|
|
@ -173,13 +350,121 @@ private:
|
|||
UPROPERTY(EditAnywhere)
|
||||
float RayCastRange = 10.0f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector WorldSize = FVector(1000,1000,1000);
|
||||
FVector WorldSize = FVector(200000,200000,0);
|
||||
|
||||
// Radius of the data loaded in memory
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
FVector TileRadius = FVector( 5, 5, 0 );
|
||||
// Radius of the data loaded in memory
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
FVector CacheRadius = FVector( 50, 50, 0 );
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
int32 TileSize = 1;
|
||||
// TimeToTriggerCacheReload In seconds
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
float TimeToTriggerCacheReload = 20.0f;
|
||||
// TimeToTriggerLoadTiles in MS
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
float TimeToTriggerLoadTiles = 1.0f;
|
||||
UPROPERTY(EditAnywhere, Category="Tiles")
|
||||
float TimeToTriggerUnLoadTiles = 5.0f;
|
||||
// Radius of the data collected by the texture in METERS
|
||||
UPROPERTY(EditAnywhere, Category="MaterialParameters")
|
||||
float TextureRadius = 4.0f;
|
||||
// Scalar Factor of deformation effect applied in the landscape
|
||||
UPROPERTY(EditAnywhere, Category="MaterialParameters")
|
||||
float EffectMultiplayer = 10.0f;
|
||||
|
||||
UPROPERTY(EditAnywhere, Category="DeformationMesh")
|
||||
UStaticMesh* DeformationPlaneMesh = nullptr;
|
||||
UPROPERTY(EditAnywhere, Category="DeformationMesh")
|
||||
UMaterialInstance* DeformationPlaneMaterial = nullptr;
|
||||
UPROPERTY(VisibleAnywhere, Category="DeformationMesh")
|
||||
AStaticMeshActor* DeformationPlaneActor = nullptr;
|
||||
|
||||
UPROPERTY()
|
||||
UMaterialParameterCollectionInstance* MPCInstance;
|
||||
|
||||
|
||||
|
||||
UPROPERTY(EditAnywhere)
|
||||
float SearchRadius = 100;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float ParticleDiameter = 2;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float TerrainDepth = 40;
|
||||
UPROPERTY(EditAnywhere)
|
||||
AActor *FloorActor = nullptr;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bUpdateParticles = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bUseDynamicModel = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bUseCUDAModel = false;
|
||||
|
||||
UPROPERTY(EditAnywhere)
|
||||
float TireRadius = 33.0229f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float TireWidth = 21.21f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float BoxSearchForwardDistance = 114.39f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float BoxSearchLateralDistance = 31.815f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float BoxSearchDepthDistance = 20.f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bDisableVehicleGravity = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float MaxForceMagnitude = 1000000.f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float FloorHeight = 0.f;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bUseImpulse = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool DrawDebugInfo = true;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bUseMeanAcceleration = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bShowForces = true;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float MinHeight = 0;
|
||||
UPROPERTY(EditAnywhere)
|
||||
float MaxHeight = 10;
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector Tile0Origin;
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bDrawHeightMap = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector DrawStart = FVector(0);
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector DrawEnd = FVector(1000, 1000, 0);
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector DrawInterval = FVector(100,100,0);
|
||||
UPROPERTY(EditAnywhere)
|
||||
int CUDADevice = 0;
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector HeightMapScaleFactor = FVector(1, 1, 1);
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector HeightMapOffset = FVector(0, 0, 0);
|
||||
UPROPERTY(EditAnywhere)
|
||||
bool bBenchMark = false;
|
||||
UPROPERTY(EditAnywhere)
|
||||
int MaxParticlesPerWheel = 6000;
|
||||
|
||||
UPROPERTY(EditAnywhere)
|
||||
FVector Radius = FVector(10,10,10);
|
||||
|
||||
UPROPERTY(VisibleAnywhere)
|
||||
FIntVector CurrentLargeMapTileId = FIntVector(-1,-1,0);
|
||||
UPROPERTY(VisibleAnywhere)
|
||||
ALargeMapManager* LargeMapManager = nullptr;
|
||||
|
||||
FSparseHighDetailMap SparseMap;
|
||||
TArray<ACarlaWheeledVehicle*> Vehicles;
|
||||
FSparseHighDetailMap SparseMap;
|
||||
TArray<uint8> Data;
|
||||
#ifdef WITH_PYTORCH
|
||||
carla::learning::NeuralModel TerramechanicsModel;
|
||||
#endif
|
||||
|
||||
class FRunnableThread* Thread;
|
||||
struct FTilesWorker* TilesWorker;
|
||||
|
|
@ -195,7 +480,9 @@ struct FTilesWorker : public FRunnable
|
|||
|
||||
class UCustomTerrainPhysicsComponent* CustomTerrainComp;
|
||||
FVector Position;
|
||||
float RadiusX;
|
||||
float RadiusY;
|
||||
|
||||
double RadiusX;
|
||||
double RadiusY;
|
||||
|
||||
bool bShouldContinue = true;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -14,12 +14,13 @@ BUILD_CARLAUE4=false
|
|||
LAUNCH_UE4_EDITOR=false
|
||||
USE_CARSIM=false
|
||||
USE_CHRONO=false
|
||||
USE_PYTORCH=false
|
||||
EDITOR_FLAGS=""
|
||||
|
||||
GDB=
|
||||
RHI="-vulkan"
|
||||
|
||||
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim,chrono,editor-flags: -n 'parse-options' -- "$@"`
|
||||
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim,pytorch,chrono,editor-flags: -n 'parse-options' -- "$@"`
|
||||
|
||||
eval set -- "$OPTS"
|
||||
|
||||
|
|
@ -57,6 +58,9 @@ while [[ $# -gt 0 ]]; do
|
|||
--chrono )
|
||||
USE_CHRONO=true
|
||||
shift ;;
|
||||
--pytorch )
|
||||
USE_PYTORCH=true;
|
||||
shift ;;
|
||||
-h | --help )
|
||||
echo "$DOC_STRING"
|
||||
echo "$USAGE_STRING"
|
||||
|
|
@ -138,6 +142,11 @@ if ${BUILD_CARLAUE4} ; then
|
|||
else
|
||||
OPTIONAL_MODULES_TEXT="Chrono OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
|
||||
fi
|
||||
if ${USE_PYTORCH} ; then
|
||||
OPTIONAL_MODULES_TEXT="Pytorch ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
|
||||
else
|
||||
OPTIONAL_MODULES_TEXT="Pytorch OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
|
||||
fi
|
||||
echo ${OPTIONAL_MODULES_TEXT} > ${PWD}/Config/OptionalModules.ini
|
||||
|
||||
if [ ! -f Makefile ]; then
|
||||
|
|
|
|||
|
|
@ -33,8 +33,9 @@ BUILD_OPTION_DEBUG=false
|
|||
BUILD_OPTION_RELEASE=false
|
||||
BUILD_OPTION_DUMMY=false
|
||||
BUILD_RSS_VARIANT=false
|
||||
USE_PYTORCH=false
|
||||
|
||||
OPTS=`getopt -o h --long help,rebuild,server,client,clean,debug,release,rss,carsim -n 'parse-options' -- "$@"`
|
||||
OPTS=`getopt -o h --long help,rebuild,server,client,clean,debug,release,rss,pytorch,carsim -n 'parse-options' -- "$@"`
|
||||
|
||||
eval set -- "$OPTS"
|
||||
|
||||
|
|
@ -63,6 +64,9 @@ while [[ $# -gt 0 ]]; do
|
|||
--release )
|
||||
BUILD_OPTION_RELEASE=true;
|
||||
shift ;;
|
||||
--pytorch )
|
||||
USE_PYTORCH=true;
|
||||
shift ;;
|
||||
--rss )
|
||||
BUILD_RSS_VARIANT=true;
|
||||
shift ;;
|
||||
|
|
@ -100,6 +104,7 @@ if ${REMOVE_INTERMEDIATE} ; then
|
|||
log "Cleaning intermediate files and folders."
|
||||
|
||||
rm -Rf ${LIBCARLA_BUILD_SERVER_FOLDER}* ${LIBCARLA_BUILD_CLIENT_FOLDER}*
|
||||
rm -Rf ${LIBCARLA_BUILD_PYTORCH_FOLDER}* ${LIBCARLA_BUILD_PYTORCH_FOLDER}*
|
||||
rm -Rf ${LIBCARLA_INSTALL_SERVER_FOLDER} ${LIBCARLA_INSTALL_CLIENT_FOLDER}
|
||||
|
||||
fi
|
||||
|
|
@ -124,6 +129,10 @@ function build_libcarla {
|
|||
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
|
||||
M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
|
||||
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
|
||||
elif [ $1 == Pytorch ] ; then
|
||||
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
|
||||
M_BUILD_FOLDER=${LIBCARLA_BUILD_PYTORCH_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
|
||||
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
|
||||
elif [ $1 == ClientRSS ] ; then
|
||||
BUILD_TYPE='Client'
|
||||
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
|
||||
|
|
@ -197,6 +206,9 @@ fi
|
|||
if { ${BUILD_SERVER} && ${BUILD_OPTION_RELEASE}; }; then
|
||||
|
||||
build_libcarla Server Release
|
||||
if ${USE_PYTORCH} ; then
|
||||
build_libcarla Pytorch Release
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
|
|
|
|||
|
|
@ -113,15 +113,15 @@ LibCarla.release: LibCarla.server.release LibCarla.client.release
|
|||
|
||||
LibCarla.server: LibCarla.server.debug LibCarla.server.release
|
||||
LibCarla.server.debug: setup
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --debug
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --debug $(ARGS)
|
||||
LibCarla.server.release: setup
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --release
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --release $(ARGS)
|
||||
|
||||
LibCarla.client: LibCarla.client.debug LibCarla.client.release
|
||||
LibCarla.client.debug: setup
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --debug
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --debug $(ARGS)
|
||||
LibCarla.client.release: setup
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --release
|
||||
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --client --release $(ARGS)
|
||||
|
||||
LibCarla.client.rss: LibCarla.client.rss.debug LibCarla.client.rss.release
|
||||
LibCarla.client.rss.debug: setup ad-rss
|
||||
|
|
|
|||
|
|
@ -8,12 +8,13 @@ DOC_STRING="Download and install the required libraries for carla."
|
|||
|
||||
USAGE_STRING="Usage: $0 [--python-version=VERSION]"
|
||||
|
||||
OPTS=`getopt -o h --long help,chrono,python-version: -n 'parse-options' -- "$@"`
|
||||
OPTS=`getopt -o h --long help,chrono,pytorch,python-version: -n 'parse-options' -- "$@"`
|
||||
|
||||
eval set -- "$OPTS"
|
||||
|
||||
PY_VERSION_LIST=3
|
||||
USE_CHRONO=false
|
||||
USE_PYTORCH=false
|
||||
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case "$1" in
|
||||
|
|
@ -23,6 +24,9 @@ while [[ $# -gt 0 ]]; do
|
|||
--chrono )
|
||||
USE_CHRONO=true;
|
||||
shift ;;
|
||||
--pytorch )
|
||||
USE_PYTORCH=true;
|
||||
shift ;;
|
||||
-h | --help )
|
||||
echo "$DOC_STRING"
|
||||
echo "$USAGE_STRING"
|
||||
|
|
@ -586,7 +590,6 @@ if ${USE_CHRONO} ; then
|
|||
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
|
||||
cp -p ${CHRONO_INSTALL_DIR}/lib/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
cp -p -r ${CHRONO_INSTALL_DIR}/include/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
|
||||
|
||||
fi
|
||||
|
||||
# ==============================================================================
|
||||
|
|
@ -723,6 +726,85 @@ fi
|
|||
mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/bin/
|
||||
cp ${PATCHELF_EXE} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/bin/
|
||||
|
||||
# ==============================================================================
|
||||
# -- Download libtorch and dependencies --------------------------------------------------
|
||||
# ==============================================================================
|
||||
|
||||
if ${USE_PYTORCH} ; then
|
||||
|
||||
LIBTORCH_BASENAME=libtorch
|
||||
|
||||
LIBTORCH_PATH=${PWD}/${LIBTORCH_BASENAME}
|
||||
LIBTORCH_INCLUDE=${LIBTORCH_PATH}/include
|
||||
LIBTORCH_LIB=${LIBTORCH_PATH}/lib
|
||||
LIBTORCH_ZIPFILE=libtorch-shared-with-deps-1.11.0+cu113.zip
|
||||
LIBTORCH_REPO=https://download.pytorch.org/libtorch/cu113/libtorch-shared-with-deps-1.11.0%2Bcu113.zip
|
||||
if [[ ! -d ${LIBTORCH_PATH} ]] ; then
|
||||
wget ${LIBTORCH_REPO}
|
||||
unzip ${LIBTORCH_ZIPFILE}
|
||||
fi
|
||||
|
||||
function build_torch_extension {
|
||||
|
||||
LIB_SOURCE=$1
|
||||
LIB_INSTALL=$2
|
||||
LIB_REPO=$3
|
||||
if [[ ! -d ${LIB_INSTALL} ]] ; then
|
||||
if [[ ! -d ${LIB_SOURCE} ]] ; then
|
||||
mkdir -p ${LIB_SOURCE}
|
||||
log "${LIB_REPO}"
|
||||
git clone ${LIB_REPO} ${LIB_SOURCE}
|
||||
mkdir -p ${LIB_SOURCE}/build
|
||||
fi
|
||||
pushd ${LIB_SOURCE}/build >/dev/null
|
||||
|
||||
cmake -DCMAKE_PREFIX_PATH="${LIBTORCH_PATH}" \
|
||||
-DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" \
|
||||
-DCMAKE_INSTALL_PREFIX="${LIB_INSTALL}" \
|
||||
-DCMAKE_CUDA_FLAGS="-gencode=arch=compute_35,code=sm_35 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_52,code=sm_52 -gencode=arch=compute_53,code=sm_53 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_70,code=sm_70 -gencode=arch=compute_72,code=sm_72 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_80,code=sm_80 -gencode=arch=compute_86,code=sm_86 -gencode=arch=compute_87,code=sm_87 -Wno-deprecated-gpu-targets" \
|
||||
-DWITH_CUDA=ON \
|
||||
..
|
||||
make
|
||||
make install
|
||||
popd >/dev/null
|
||||
fi
|
||||
|
||||
}
|
||||
|
||||
log "Build libtorch scatter"
|
||||
#LibtorchScatter
|
||||
LIBTORCHSCATTER_BASENAME=libtorchscatter
|
||||
LIBTORCHSCATTER_SOURCE_DIR=${PWD}/${LIBTORCHSCATTER_BASENAME}-source
|
||||
LIBTORCHSCATTER_INSTALL_DIR=${PWD}/${LIBTORCHSCATTER_BASENAME}-install
|
||||
LIBTORCHSCATTER_INCLUDE=${LIBTORCHSCATTER_INSTALL_DIR}/include
|
||||
LIBTORCHSCATTER_LIB=${LIBTORCHSCATTER_INSTALL_DIR}/lib
|
||||
LIBTORCHSCATTER_REPO="https://github.com/rusty1s/pytorch_scatter.git"
|
||||
|
||||
build_torch_extension ${LIBTORCHSCATTER_SOURCE_DIR} ${LIBTORCHSCATTER_INSTALL_DIR} "${LIBTORCHSCATTER_REPO}"
|
||||
|
||||
log "Build libtorch cluster"
|
||||
LIBTORCHCLUSTER_BASENAME=libtorchcluster
|
||||
LIBTORCHCLUSTER_SOURCE_DIR=${PWD}/${LIBTORCHCLUSTER_BASENAME}-source
|
||||
LIBTORCHCLUSTER_INSTALL_DIR=${PWD}/${LIBTORCHCLUSTER_BASENAME}-install
|
||||
LIBTORCHCLUSTER_INCLUDE=${LIBTORCHCLUSTER_INSTALL_DIR}/include
|
||||
LIBTORCHCLUSTER_LIB=${LIBTORCHCLUSTER_INSTALL_DIR}/lib
|
||||
LIBTORCHCLUSTER_REPO="https://github.com/rusty1s/pytorch_cluster.git"
|
||||
|
||||
build_torch_extension ${LIBTORCHCLUSTER_SOURCE_DIR} ${LIBTORCHCLUSTER_INSTALL_DIR} "${LIBTORCHCLUSTER_REPO}"
|
||||
|
||||
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
cp -p ${LIBTORCH_LIB}/*.a ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
cp -p ${LIBTORCH_LIB}/*.so* ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
cp -p ${LIBTORCHSCATTER_LIB}/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
cp -p ${LIBTORCHCLUSTER_LIB}/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
|
||||
|
||||
mkdir -p ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
|
||||
cp -p ${LIBTORCH_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
|
||||
cp -p ${LIBTORCHSCATTER_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
|
||||
cp -p ${LIBTORCHCLUSTER_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
|
||||
fi
|
||||
|
||||
|
||||
# ==============================================================================
|
||||
# -- Generate Version.h --------------------------------------------------------
|
||||
# ==============================================================================
|
||||
|
|
@ -810,6 +892,11 @@ if (CMAKE_BUILD_TYPE STREQUAL "Server")
|
|||
set(RPCLIB_LIB_PATH "${RPCLIB_LIBCXX_LIBPATH}")
|
||||
set(GTEST_INCLUDE_PATH "${GTEST_LIBCXX_INCLUDE}")
|
||||
set(GTEST_LIB_PATH "${GTEST_LIBCXX_LIBPATH}")
|
||||
elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
|
||||
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCH_PATH}")
|
||||
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHSCATTER_INSTALL_DIR}")
|
||||
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHCLUSTER_INSTALL_DIR}")
|
||||
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHSPARSE_INSTALL_DIR}")
|
||||
elseif (CMAKE_BUILD_TYPE STREQUAL "Client")
|
||||
# Here libraries linking libstdc++.
|
||||
set(RPCLIB_INCLUDE_PATH "${RPCLIB_LIBSTDCXX_INCLUDE}")
|
||||
|
|
|
|||
|
|
@ -15,6 +15,7 @@ CARLA_PYTHONAPI_SOURCE_FOLDER=${CARLA_PYTHONAPI_ROOT_FOLDER}/carla
|
|||
|
||||
LIBCARLA_ROOT_FOLDER=${CURDIR}/LibCarla
|
||||
LIBCARLA_BUILD_SERVER_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-server-build
|
||||
LIBCARLA_BUILD_PYTORCH_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-pytorch-build
|
||||
LIBCARLA_BUILD_CLIENT_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-client-build
|
||||
LIBCARLA_INSTALL_SERVER_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
|
||||
LIBCARLA_INSTALL_CLIENT_FOLDER=${CARLA_PYTHONAPI_SOURCE_FOLDER}/dependencies
|
||||
|
|
|
|||
Loading…
Reference in New Issue