p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Added filter by type

This commit is contained in:
doterop 2020-11-17 12:16:32 +01:00 committed by bernat
parent b58f86382d
commit a95d3d74a8
10 changed files with 36 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
LibCarla/source/carla/client/World.cpp
View File

@ -174,8 +174,8 @@ namespace client {
return _episode.Lock()->GetLevelBBs(queried_tag);
}
std::vector<rpc::EnvironmentObject> World::GetEnvironmentObjects() const {
return _episode.Lock()->GetEnvironmentObjects();
std::vector<rpc::EnvironmentObject> World::GetEnvironmentObjects(uint8_t queried_tag) const {
return _episode.Lock()->GetEnvironmentObjects(queried_tag);
}
void World::EnableEnvironmentObjects(

2
LibCarla/source/carla/client/World.h
View File

@ -162,7 +162,7 @@ namespace client {
/// Returns all the BBs of all the elements of the level
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects(uint8_t queried_tag) const;
void EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,

4
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -460,9 +460,9 @@ namespace detail {
return _pimpl->CallAndWait<return_t>("get_all_level_BBs", queried_tag);
}
std::vector<rpc::EnvironmentObject> Client::GetEnvironmentObjects() const {
std::vector<rpc::EnvironmentObject> Client::GetEnvironmentObjects(uint8_t queried_tag) const {
using return_t = std::vector<rpc::EnvironmentObject>;
return _pimpl->CallAndWait<return_t>("get_environment_objects");
return _pimpl->CallAndWait<return_t>("get_environment_objects", queried_tag);
}
void Client::EnableEnvironmentObjects(

2
LibCarla/source/carla/client/detail/Client.h
View File

@ -298,7 +298,7 @@ namespace detail {
/// Returns all the BBs of all the elements of the level
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects(uint8_t queried_tag) const;
void EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,

4
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -240,8 +240,8 @@ namespace detail {
return _client.GetLevelBBs(queried_tag);
}
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const {
return _client.GetEnvironmentObjects();
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects(uint8_t queried_tag) const {
return _client.GetEnvironmentObjects(queried_tag);
}
void EnableEnvironmentObjects(

8
PythonAPI/carla/source/libcarla/World.cpp
View File

@ -88,9 +88,9 @@ static auto GetLevelBBs(const carla::client::World &self, uint8_t queried_tag) {
return result;
}
static auto GetEnvironmentObjects(const carla::client::World &self) {
static auto GetEnvironmentObjects(const carla::client::World &self, uint8_t queried_tag) {
boost::python::list result;
for (const auto &object : self.GetEnvironmentObjects()) {
for (const auto &object : self.GetEnvironmentObjects(queried_tag)) {
result.append(object);
}
return result;
@ -270,8 +270,8 @@ void export_world() {
.def("reset_all_traffic_lights", &cc::World::ResetAllTrafficLights)
.def("get_lightmanager", CONST_CALL_WITHOUT_GIL(cc::World, GetLightManager))
.def("freeze_all_traffic_lights", &cc::World::FreezeAllTrafficLights, (arg("frozen")))
.def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
.def("get_environment_objects", &GetEnvironmentObjects)
.def("get_level_bbs", &GetLevelBBs, (arg("bb_type")=cr::CityObjectLabel::None))
.def("get_environment_objects", &GetEnvironmentObjects, (arg("object_type")=cr::CityObjectLabel::None))
.def("enable_environment_objects", &EnableEnvironmentObjects, (arg("env_objects_ids"), arg("enable")))
.def("cast_ray", CALL_RETURNING_LIST_2(cc::World, CastRay, cg::Location, cg::Location), (arg("initial_location"), arg("final_location")))
.def("project_point", CALL_RETURNING_OPTIONAL_3(cc::World, ProjectPoint, cg::Location, cg::Vector3D, float), (arg("location"), arg("direction"), arg("search_distance")=10000.f))

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
View File

@ -57,9 +57,9 @@ public:
TArray<FBoundingBox> GetAllBBsOfLevel(uint8 TagQueried = 0);
UFUNCTION(Category = "Carla Game Mode", BlueprintCallable, CallInEditor, Exec)
const TArray<FEnvironmentObject>& GetEnvironmentObjects() const
TArray<FEnvironmentObject> GetEnvironmentObjects(uint8 QueriedTag = 0) const
{
return ObjectRegister->GetEnvironmentObjects();
return ObjectRegister->GetEnvironmentObjects(QueriedTag);
}
void EnableEnvironmentObjects(const TSet<uint64>& EnvObjectIds, bool Enable);

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -369,7 +369,7 @@ void FCarlaServer::FPimpl::BindActions()
return MakeVectorFromTArray<cg::BoundingBox>(Result);
};
BIND_SYNC(get_environment_objects) << [this]() -> R<std::vector<cr::EnvironmentObject>>
BIND_SYNC(get_environment_objects) << [this](uint8 QueriedTag) -> R<std::vector<cr::EnvironmentObject>>
{
REQUIRE_CARLA_EPISODE();
ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
@ -377,7 +377,7 @@ void FCarlaServer::FPimpl::BindActions()
{
RESPOND_ERROR("unable to find CARLA game mode");
}
TArray<FEnvironmentObject> Result = GameMode->GetEnvironmentObjects();
TArray<FEnvironmentObject> Result = GameMode->GetEnvironmentObjects(QueriedTag);
return MakeVectorFromTArray<cr::EnvironmentObject>(Result);
};

18
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ObjectRegister.cpp
View File

@ -16,6 +16,24 @@
namespace crp = carla::rpc;
TArray<FEnvironmentObject> UObjectRegister::GetEnvironmentObjects(uint8 InTagQueried) const
{
TArray<FEnvironmentObject> Result;
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
for(const FEnvironmentObject& It : EnvironmentObjects)
{
if(!FilterByTagEnabled || (It.ObjectLabel == TagQueried))
{
Result.Emplace(It);
}
}
return Result;
}
void UObjectRegister::RegisterObjects(TArray<AActor*> Actors)
{
// Empties the array but doesn't change memory allocations

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ObjectRegister.h
View File

@ -25,11 +25,8 @@ public:
UObjectRegister() {}
~UObjectRegister() {}
UFUNCTION(Category = "Carla Object Register", BlueprintCallable, CallInEditor, Exec)
const TArray<FEnvironmentObject>& GetEnvironmentObjects() const
{
return EnvironmentObjects;
}
UFUNCTION(Category = "Carla Object Register", BlueprintCallable, CallInEditor)
TArray<FEnvironmentObject> GetEnvironmentObjects(uint8 InTagQueried = 0) const;
UFUNCTION(Category = "Carla Object Register")
void RegisterObjects(TArray<AActor*> Actors);