From 5f27d8b7be57c35d2869154a7178649a361e8fe4 Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Tue, 28 Nov 2017 18:08:05 +0300
Subject: [PATCH 001/108] working on adding lidar

---
 .../Source/Carla/Game/CapturedLidarSegment.h  | 31 ++++++
 .../Source/Carla/Game/CarlaGameModeBase.cpp   |  4 +
 .../Carla/Game/CarlaVehicleController.cpp     | 17 ++++
 .../Carla/Game/CarlaVehicleController.h       |  8 ++
 .../Plugins/Carla/Source/Carla/Lidar.cpp      | 96 +++++++++++++++++++
 .../Plugins/Carla/Source/Carla/Lidar.h        | 69 +++++++++++++
 .../Plugins/Carla/Source/Carla/LidarLaser.cpp | 54 +++++++++++
 .../Plugins/Carla/Source/Carla/LidarLaser.h   | 29 ++++++
 .../Source/Carla/Settings/CarlaSettings.cpp   | 54 +++++++++++
 .../Source/Carla/Settings/CarlaSettings.h     |  7 ++
 .../Source/Carla/Settings/LidarDescription.h  | 70 ++++++++++++++
 11 files changed, 439 insertions(+)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
new file mode 100644
index 000000000..6f62d9f7a
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
@@ -0,0 +1,31 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CapturedLidarSegment.generated.h"
+
+///
+/// Lidar segment captured by tick
+///
+USTRUCT()
+struct FCapturedLidarSegment
+{
+  GENERATED_USTRUCT_BODY()
+
+  UPROPERTY(VisibleAnywhere)
+  float horizontal = 0u;
+
+
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 SizeX = 0u;
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 SizeY = 0u;
+
+  UPROPERTY(VisibleAnywhere)
+  EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
+
+  UPROPERTY(VisibleAnywhere)
+  TArray<FColor> BitMap;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index 3352bafe8..bb8f4c966 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -224,6 +224,10 @@ void ACarlaGameModeBase::AttachCaptureCamerasToPlayer()
   for (const auto &Item : Settings.CameraDescriptions) {
     PlayerController->AddSceneCaptureCamera(Item.Value, OverridePostProcessParameters);
   }
+
+  for (const auto &Item : Settings.LidarDescriptions) {
+    PlayerController->AddSceneCaptureLidar(Item.Value);
+  }
 }
 
 void ACarlaGameModeBase::TagActorsForSemanticSegmentation()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
index e1f7aa497..afb20bd41 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
@@ -8,6 +8,7 @@
 #include "CarlaVehicleController.h"
 
 #include "SceneCaptureCamera.h"
+#include "Lidar.h"
 
 #include "Components/BoxComponent.h"
 #include "EngineUtils.h"
@@ -134,6 +135,22 @@ void ACarlaVehicleController::AddSceneCaptureCamera(
       *PostProcessEffect::ToString(Camera->GetPostProcessEffect()));
 }
 
+void ACarlaVehicleController::AddSceneCaptureLidar(
+    const FLidarDescription &Description)
+{
+  auto Lidar = GetWorld()->SpawnActor<ALidar>(Description.Position, Description.Rotation);
+  Lidar->Set(Description);
+  Lidar->AttachToActor(GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
+  Lidar->SetOwner(GetPawn());
+  AddTickPrerequisiteActor(Lidar);
+  SceneCaptureLidars.Add(Lidar);
+  UE_LOG(
+      LogCarla,
+      Log,
+      TEXT("Created lidar %d"),
+      SceneCaptureLidars.Num() - 1);
+}
+
 // =============================================================================
 // -- Events -------------------------------------------------------------------
 // =============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
index a0ea4cf03..89aaa23cf 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
@@ -12,7 +12,9 @@
 class ACarlaHUD;
 class ACarlaPlayerState;
 class ASceneCaptureCamera;
+class ALidar;
 struct FCameraDescription;
+struct FLidarDescription;
 
 /// The CARLA player controller.
 UCLASS()
@@ -85,6 +87,9 @@ public:
       const FCameraDescription &CameraDescription,
       const FCameraPostProcessParameters *OverridePostProcessParameters);
 
+  void AddSceneCaptureLidar(
+      const FLidarDescription &LidarDescription);
+
   /// @}
   // ===========================================================================
   /// @name Events
@@ -117,6 +122,9 @@ private:
   UPROPERTY()
   TArray<ASceneCaptureCamera *> SceneCaptureCameras;
 
+  UPROPERTY()
+  TArray<ALidar *> SceneCaptureLidars;
+
   // Cast for quick access to the custom player state.
   UPROPERTY()
   ACarlaPlayerState *CarlaPlayerState;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
new file mode 100644
index 000000000..98fbcd9cd
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
@@ -0,0 +1,96 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "Carla.h"
+#include "Lidar.h"
+#include "StaticMeshResources.h"
+
+// Sets default values
+ALidar::ALidar()
+{
+ 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+	PrimaryActorTick.bCanEverTick = true;
+
+  auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
+  MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
+  MeshComp->bHiddenInGame = true;
+  MeshComp->CastShadow = false;
+  MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
+  RootComponent = MeshComp;
+
+  CreateLasers();
+}
+
+void ALidar::Set(const FLidarDescription &LidarDescription)
+{
+  // UE_LOG(LogCarla, Log, TEXT("--- Lidar settings --------------------------"));
+  // UE_LOG(LogCarla, Log, TEXT("pos x %f"), LidarDescription.Position.X);
+  // UE_LOG(LogCarla, Log, TEXT("pos y %f"), LidarDescription.Position.Y);
+  // UE_LOG(LogCarla, Log, TEXT("pos z %f"), LidarDescription.Position.Z);
+  // UE_LOG(LogCarla, Log, TEXT("rot p %f"), LidarDescription.Rotation.Pitch);
+  // UE_LOG(LogCarla, Log, TEXT("rot r %f"), LidarDescription.Rotation.Roll);
+  // UE_LOG(LogCarla, Log, TEXT("rot y %f"), LidarDescription.Rotation.Yaw);
+  //
+  // UE_LOG(LogCarla, Log, TEXT("ch %d"), LidarDescription.Channels);
+  // UE_LOG(LogCarla, Log, TEXT("r %f"), LidarDescription.Range);
+  // UE_LOG(LogCarla, Log, TEXT("pts %f"), LidarDescription.PointsPerSecond);
+  // UE_LOG(LogCarla, Log, TEXT("freq %f"), LidarDescription.RotationFrequency);
+  // UE_LOG(LogCarla, Log, TEXT("upper l %f"), LidarDescription.UpperFovLimit);
+  // UE_LOG(LogCarla, Log, TEXT("lower l %f"), LidarDescription.LowerFovLimit);
+  // UE_LOG(LogCarla, Log, TEXT("d %d"), LidarDescription.ShowDebugPoints?1:0);
+
+  Channels = LidarDescription.Channels;
+	Range = LidarDescription.Range;
+	PointsPerSecond = LidarDescription.PointsPerSecond;
+	RotationFrequency = LidarDescription.RotationFrequency;
+	UpperFovLimit = LidarDescription.UpperFovLimit;
+	LowerFovLimit = LidarDescription.LowerFovLimit;
+	ShowDebugPoints = LidarDescription.ShowDebugPoints;
+  CreateLasers();
+}
+
+void ALidar::CreateLasers()
+{
+  float dAngle = (UpperFovLimit - LowerFovLimit) / (Channels - 1);
+
+  Lasers.Empty();
+	for(int i=0; i<Channels; i++)
+	{
+		Lasers.Emplace(i, UpperFovLimit - i * dAngle);
+	}
+}
+
+// Called when the game starts or when spawned
+void ALidar::BeginPlay()
+{
+	Super::BeginPlay();
+}
+
+// Called every frame
+void ALidar::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+
+  // UE_LOG(LogCarla, Log, TEXT("--- Lidar tick %d"), ShowDebugPoints?1:0);
+  // FVector LidarBodyLoc = RootComponent->GetComponentLocation();
+  // UE_LOG(LogCarla, Log, TEXT("--- location: %f %f %f"), lidar_body_loc.X, lidar_body_loc.Y, lidar_body_loc.Z);
+
+	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
+	// float HorizontalAngle = CurrentHorizontalAngle;
+
+	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
+	// PrintString(FString::Printf(TEXT("tick %f %f %d"), DeltaTime, angle_distance_of_tick, points_to_scan_with_one_laser));
+	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
+
+	for (auto& Laser : Lasers)
+	{
+		for (int i=0; i<PointsToScanWithOneLaser; i++)
+		{
+			float Distance = Laser.Measure(this, CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i, ShowDebugPoints);
+		}
+	}
+
+	// lidar_body_->AddLocalRotation(FRotator(0, angle_distance_of_tick, 0), false);
+	CurrentHorizontalAngle += AngleDistanceOfTick;
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
new file mode 100644
index 000000000..7c0f02dfc
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
@@ -0,0 +1,69 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "LidarLaser.h"
+#include "Settings/LidarDescription.h"
+#include "Lidar.generated.h"
+
+UCLASS()
+class CARLA_API ALidar : public AActor
+{
+	GENERATED_BODY()
+
+public:
+	// Sets default values for this actor's properties
+	ALidar();
+
+  void Set(const FLidarDescription &LidarDescription);
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override;
+
+	TArray<LidarLaser> Lasers;
+	float CurrentHorizontalAngle = 0;
+
+  void CreateLasers();
+
+public:
+	// Called every frame
+	virtual void Tick(float DeltaTime) override;
+
+  /** Number of lasers */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	int Channels = 32;
+
+  /** Measure distance */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float Range = 5000;
+
+  /** Points generated by all lasers per second */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float PointsPerSecond = 56000;
+
+  /** Lidar rotation frequency */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float RotationFrequency = 10;
+
+  /**
+    Upper laser angle, counts from horizontal,
+    positive values means above horizontal line
+  */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float UpperFovLimit = 10;
+
+  /**
+    Lower laser angle, counts from horizontal,
+    negative values means under horizontal line
+  */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float LowerFovLimit = -30;
+
+  /** wether to show debug points of laser hits in simulator */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	bool ShowDebugPoints = false;
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
new file mode 100644
index 000000000..8a0bf52a3
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
@@ -0,0 +1,54 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#include "Carla.h"
+#include "LidarLaser.h"
+#include "Lidar.h"
+#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
+#include "DrawDebugHelpers.h"
+
+int LidarLaser::GetId()
+{
+	return Id;
+}
+
+float LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, bool Debug)
+{
+	FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
+	TraceParams.bTraceComplex = true;
+	TraceParams.bReturnPhysicalMaterial = false;
+
+	FHitResult HitInfo(ForceInit);
+
+	FVector LidarBodyLoc = Lidar->GetActorLocation();
+  FRotator LidarBodyRot = Lidar->GetActorRotation();
+	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);
+	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(LidarBodyRot + LaserRot) + LidarBodyLoc;
+
+	Lidar->GetWorld()->LineTraceSingleByChannel(
+		HitInfo,
+		LidarBodyLoc,
+		EndTrace,
+		ECC_Visibility,
+		TraceParams,
+		FCollisionResponseParams::DefaultResponseParam
+	);
+
+	if (HitInfo.bBlockingHit)
+	{
+    if (Debug)
+    {
+  		DrawDebugPoint(
+  			Lidar->GetWorld(),
+  			HitInfo.ImpactPoint,
+  			10,  //size
+  			FColor(255,0,255),
+  			false,  //persistent (never goes away)
+  			0.1  //point leaves a trail on moving object
+  		);
+    }
+
+		return (LidarBodyLoc - HitInfo.ImpactPoint).Size();
+	} else {
+		return -1;
+	}
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
new file mode 100644
index 000000000..c304bd6b9
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
@@ -0,0 +1,29 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+
+class ALidar;
+
+/**
+ *
+ */
+class CARLA_API LidarLaser
+{
+public:
+
+	LidarLaser(int Id, float VerticalAngle) :
+		Id(Id),
+		VerticalAngle(VerticalAngle)
+	{}
+
+	int GetId();
+	float Measure(ALidar* Lidar, float HorizontalAngle, bool Debug = false);
+
+private:
+
+	int Id;
+	float VerticalAngle;
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 881d5f1d5..5d0fc3523 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -82,6 +82,27 @@ static bool RequestedSemanticSegmentation(const FCameraDescription &Camera)
   return (Camera.PostProcessEffect == EPostProcessEffect::SemanticSegmentation);
 }
 
+static void GetLidarDescription(
+    const MyIniFile &ConfigFile,
+    const TCHAR* Section,
+    FLidarDescription &Lidar)
+{
+  ConfigFile.GetInt(Section, TEXT("LidarPositionX"), Lidar.Position.X);
+  ConfigFile.GetInt(Section, TEXT("LidarPositionY"), Lidar.Position.Y);
+  ConfigFile.GetInt(Section, TEXT("LidarPositionZ"), Lidar.Position.Z);
+  ConfigFile.GetInt(Section, TEXT("LidarRotationPitch"), Lidar.Rotation.Pitch);
+  ConfigFile.GetInt(Section, TEXT("LidarRotationRoll"), Lidar.Rotation.Roll);
+  ConfigFile.GetInt(Section, TEXT("LidarRotationYaw"), Lidar.Rotation.Yaw);
+
+  ConfigFile.GetInt(Section, TEXT("Channels"), Lidar.Channels);
+  ConfigFile.GetFloat(Section, TEXT("Range"), Lidar.Range);
+  ConfigFile.GetFloat(Section, TEXT("PointsPerSecond"), Lidar.PointsPerSecond);
+  ConfigFile.GetFloat(Section, TEXT("RotationFrequency"), Lidar.RotationFrequency);
+  ConfigFile.GetFloat(Section, TEXT("UpperFovLimit"), Lidar.UpperFovLimit);
+  ConfigFile.GetFloat(Section, TEXT("LowerFovLimit"), Lidar.LowerFovLimit);
+  ConfigFile.GetBool(Section, TEXT("ShowDebugPoints"), Lidar.ShowDebugPoints);
+}
+
 static void LoadSettingsFromConfig(
     const MyIniFile &ConfigFile,
     UCarlaSettings &Settings,
@@ -124,6 +145,25 @@ static void LoadSettingsFromConfig(
     ValidateCameraDescription(Camera);
     Settings.bSemanticSegmentationEnabled |= RequestedSemanticSegmentation(Camera);
   }
+  // Lidars.
+  FString Lidars;
+  ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Lidars"), Lidars);
+  TArray<FString> LidarNames;
+  Lidars.ParseIntoArray(LidarNames, TEXT(","), true);
+  for (FString &Name : LidarNames) {
+    FLidarDescription &Lidar = Settings.LidarDescriptions.FindOrAdd(Name);
+    GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, Lidar);
+
+    TArray<FString> SubSections;
+    Name.ParseIntoArray(SubSections, TEXT("/"), true);
+    check(SubSections.Num() > 0);
+    FString Section = S_CARLA_SCENECAPTURE;
+    for (FString &SubSection : SubSections) {
+      Section += TEXT("/");
+      Section += SubSection;
+      GetLidarDescription(ConfigFile, *Section, Lidar);
+    }
+  }
 }
 
 static bool GetSettingsFilePathFromCommandLine(FString &Value)
@@ -171,6 +211,7 @@ void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from string"));
   ResetCameraDescriptions();
+  ResetLidarDescriptions();
   MyIniFile ConfigFile;
   ConfigFile.ProcessInputFileContents(INIFileContents);
   constexpr bool bLoadCarlaServerSection = false;
@@ -225,6 +266,13 @@ void UCarlaSettings::LogSettings() const
     UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
     UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
   }
+  UE_LOG(LogCarla, Log, TEXT("Added %d lidars."), LidarDescriptions.Num());
+  for (auto &Item : LidarDescriptions) {
+    UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
+    UE_LOG(LogCarla, Log, TEXT("Lidar params = ch %f range %f pts %f"), Item.Value.Channels, Item.Value.Range, Item.Value.PointsPerSecond);
+    UE_LOG(LogCarla, Log, TEXT("Lidar Position = (%s)"), *Item.Value.Position.ToString());
+    UE_LOG(LogCarla, Log, TEXT("Lidar Rotation = (%s)"), *Item.Value.Rotation.ToString());
+  }
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
 }
 
@@ -258,11 +306,17 @@ void UCarlaSettings::ResetCameraDescriptions()
   bSemanticSegmentationEnabled = false;
 }
 
+void UCarlaSettings::ResetLidarDescriptions()
+{
+  LidarDescriptions.Empty();
+}
+
 void UCarlaSettings::LoadSettingsFromFile(const FString &FilePath, const bool bLogOnFailure)
 {
   if (FPaths::FileExists(FilePath)) {
     UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FilePath);
     ResetCameraDescriptions();
+    ResetLidarDescriptions();
     const MyIniFile ConfigFile(FilePath);
     constexpr bool bLoadCarlaServerSection = true;
     LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
index 8ce73bb0b..1beac2117 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
@@ -8,6 +8,7 @@
 
 #include "CameraDescription.h"
 #include "WeatherDescription.h"
+#include "LidarDescription.h"
 
 #include "UObject/NoExportTypes.h"
 #include "CarlaSettings.generated.h"
@@ -58,6 +59,8 @@ private:
 
   void ResetCameraDescriptions();
 
+  void ResetLidarDescriptions();
+
   /** File name of the settings file used to load this settings. Empty if none used. */
   UPROPERTY(Category = "CARLA Settings|Debug", VisibleAnywhere)
   FString CurrentFileName;
@@ -143,5 +146,9 @@ public:
   UPROPERTY(Category = "Scene Capture", VisibleAnywhere)
   bool bSemanticSegmentationEnabled = false;
 
+  /** Descriptions of the lidars to be attached to the player. */
+  UPROPERTY(Category = "Scene Capture", VisibleAnywhere)
+  TMap<FString, FLidarDescription> LidarDescriptions;
+
   /// @}
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
new file mode 100644
index 000000000..9a9c88364
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -0,0 +1,70 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "LidarDescription.generated.h"
+
+USTRUCT()
+struct FLidarDescription
+{
+  GENERATED_USTRUCT_BODY()
+
+  /** Number of lasers */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	int Channels = 32;
+
+  /** Measure distance */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float Range = 5000;
+
+  /** Points generated by all lasers per second */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float PointsPerSecond = 56000;
+
+  /** Lidar rotation frequency */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float RotationFrequency = 10;
+
+  /**
+    Upper laser angle, counts from horizontal,
+    positive values means above horizontal line
+  */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float UpperFovLimit = 10;
+
+  /**
+    Lower laser angle, counts from horizontal,
+    negative values means under horizontal line
+  */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	float LowerFovLimit = -30;
+
+  /** wether to show debug points of laser hits in simulator */
+	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+	bool ShowDebugPoints = false;
+
+  /** Position relative to the player. */
+  UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)
+  FVector Position = {0.0f, 0.0f, 250.0f};
+
+  /** Rotation relative to the player. */
+  UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)
+  FRotator Rotation = {0.0f, 0.0f, 0.0f};
+};
+
+// Parameters of known lidars
+
+// Velodyne HDL-32E
+// +/- 2 cm accuracy
+// 32 Channels
+// 80m-100m Range
+// 700,000 Points per Second
+// 360° Horizontal FOV
+// +10° to -30° Vertical FOV
+
+// Velodyne VLP-16
+// 16 Channels
+// 100m Range
+// 300,000 Points per Second
+// 360° Horizontal FOV
+// +/- 15° Vertical FOV

From 2688a78be536568e1b51a8d80529a737badaac7e Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Wed, 29 Nov 2017 20:39:29 +0300
Subject: [PATCH 002/108] working on lidar measurement serialization

---
 .../Source/Carla/Game/CapturedLidarSegment.h  | 24 ++++----
 .../Source/Carla/Game/CarlaPlayerState.cpp    |  2 +
 .../Source/Carla/Game/CarlaPlayerState.h      | 21 +++++++
 .../Carla/Source/Carla/Game/CarlaServer.cpp   | 31 +++++++++-
 .../Carla/Game/CarlaVehicleController.cpp     | 12 ++++
 .../Plugins/Carla/Source/Carla/Lidar.cpp      | 57 ++++++++++++-------
 .../Plugins/Carla/Source/Carla/Lidar.h        |  6 +-
 .../Plugins/Carla/Source/Carla/LidarLaser.cpp | 18 ++++--
 .../Plugins/Carla/Source/Carla/LidarLaser.h   |  2 +-
 Util/CarlaServer/include/carla/carla_server.h |  8 +++
 .../source/carla/server/CarlaServer.cpp       |  1 +
 11 files changed, 142 insertions(+), 40 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
index 6f62d9f7a..8cc5e5487 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
@@ -7,25 +7,23 @@
 ///
 /// Lidar segment captured by tick
 ///
+USTRUCT()
+struct FCapturedLidarLaserSegment
+{
+  GENERATED_USTRUCT_BODY()
+
+  UPROPERTY(VisibleAnywhere)
+  TArray<FVector> Points;
+};
+
 USTRUCT()
 struct FCapturedLidarSegment
 {
   GENERATED_USTRUCT_BODY()
 
   UPROPERTY(VisibleAnywhere)
-  float horizontal = 0u;
-
-
+  float HorizontalAngle = 0;
 
   UPROPERTY(VisibleAnywhere)
-  uint32 SizeX = 0u;
-
-  UPROPERTY(VisibleAnywhere)
-  uint32 SizeY = 0u;
-
-  UPROPERTY(VisibleAnywhere)
-  EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FColor> BitMap;
+  TArray<FCapturedLidarLaserSegment> LidarLasersSegments;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
index a2f2df916..afef588ca 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
@@ -16,6 +16,7 @@ void ACarlaPlayerState::Reset()
   CollisionIntensityPedestrians = 0.0f;
   CollisionIntensityOther = 0.0f;
   Images.Empty();
+  LidarSegments.Empty();
 }
 
 void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
@@ -45,6 +46,7 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
       OtherLaneIntersectionFactor = Other->OtherLaneIntersectionFactor;
       OffRoadIntersectionFactor = Other->OffRoadIntersectionFactor;
       Images = Other->Images;
+      LidarSegments = Other->LidarSegments;
       UE_LOG(LogCarla, Log, TEXT("Copied properties of ACarlaPlayerState"));
     }
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
index 50cbf4679..0c8c506ae 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
@@ -9,6 +9,7 @@
 #include "GameFramework/PlayerState.h"
 #include "AI/TrafficLightState.h"
 #include "CapturedImage.h"
+#include "CapturedLidarSegment.h"
 #include "CarlaPlayerState.generated.h"
 
 /// Current state of the player, updated every frame by ACarlaVehicleController.
@@ -201,11 +202,28 @@ public:
     return GetNumberOfImages() > 0;
   }
 
+  UFUNCTION(BlueprintCallable)
+  int32 GetNumberOfLidarsMeasurements() const
+  {
+    return LidarSegments.Num();
+  }
+
+  UFUNCTION(BlueprintCallable)
+  bool HasLidarsMeasurements() const
+  {
+    return GetNumberOfLidarsMeasurements() > 0;
+  }
+
   const TArray<FCapturedImage> &GetImages() const
   {
     return Images;
   }
 
+  const TArray<FCapturedLidarSegment> &GetLidarSegments() const
+  {
+    return LidarSegments;
+  }
+
   /// @}
   // ===========================================================================
   // -- Modifiers --------------------------------------------------------------
@@ -286,4 +304,7 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   TArray<FCapturedImage> Images;
+
+  UPROPERTY(VisibleAnywhere)
+  TArray<FCapturedLidarSegment> LidarSegments;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 4f273633d..9f25eb475 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -81,6 +81,25 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
   }
 }
 
+static void Set(carla_lidar_measurement &cLidarMeasurement, const FCapturedLidarSegment &uLidarSegment)
+{
+//   if (uImage.BitMap.Num() > 0) {
+//     cImage.width = uImage.SizeX;
+//     cImage.height = uImage.SizeY;
+//     cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
+//     cImage.data = &uImage.BitMap.GetData()->DWColor();
+//
+// #ifdef CARLA_SERVER_EXTRA_LOG
+//     {
+//       const auto Size = uImage.BitMap.Num();
+//       UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
+//     }
+//   } else {
+//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
+// #endif // CARLA_SERVER_EXTRA_LOG
+//   }
+}
+
 static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
 {
   values.type = CARLA_SERVER_AGENT_PEDESTRIAN;
@@ -338,5 +357,15 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
     }
   }
 
-  return ParseErrorCode(carla_write_measurements(Server, values, images.Get(), NumberOfImages));
+  // Images.
+  const auto NumberOfLidarMeasurements = PlayerState.GetNumberOfLidarsMeasurements();
+  TUniquePtr<carla_lidar_measurement[]> lidar_measurements;
+  if (NumberOfLidarMeasurements > 0) {
+    lidar_measurements = MakeUnique<carla_lidar_measurement[]>(NumberOfLidarMeasurements);
+    for (auto i = 0; i < NumberOfImages; ++i) {
+      Set(lidar_measurements[i], PlayerState.GetLidarSegments()[i]);
+    }
+  }
+
+  return ParseErrorCode(carla_write_measurements(Server, values, images.Get(), lidar_measurements.Get(), NumberOfImages));
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
index afb20bd41..a12bd6f09 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
@@ -74,6 +74,11 @@ void ACarlaVehicleController::BeginPlay()
         Image.PostProcessEffect = Camera->GetPostProcessEffect();
       }
     }
+    // Lidars
+    const auto NumberOfLidars = SceneCaptureLidars.Num();
+    if (NumberOfLidars > 0) {
+      CarlaPlayerState->LidarSegments.AddDefaulted(NumberOfLidars);
+    }
   }
 }
 
@@ -106,6 +111,13 @@ void ACarlaVehicleController::Tick(float DeltaTime)
         Image.BitMap.Empty();
       }
     }
+    // Capture lidars
+    const auto NumberOfLidars = SceneCaptureLidars.Num();
+    check(NumberOfLidars == CarlaPlayerState->LidarSegments.Num());
+    for (auto i = 0; i < NumberOfLidars; ++i) {
+      auto &LidarSegment = CarlaPlayerState->LidarSegments[i];
+      SceneCaptureLidars[i]->ReadPoints(DeltaTime, LidarSegment);
+    }
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
index 98fbcd9cd..1c290a9e5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
@@ -67,30 +67,47 @@ void ALidar::BeginPlay()
 }
 
 // Called every frame
-void ALidar::Tick(float DeltaTime)
+// void ALidar::Tick(float DeltaTime)
+// {
+// 	Super::Tick(DeltaTime);
+// }
+
+void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
 {
-	Super::Tick(DeltaTime);
+    // UE_LOG(LogCarla, Log, TEXT("--- Lidar tick %d"), ShowDebugPoints?1:0);
+    // FVector LidarBodyLoc = RootComponent->GetComponentLocation();
+    // UE_LOG(LogCarla, Log, TEXT("--- location: %f %f %f"), lidar_body_loc.X, lidar_body_loc.Y, lidar_body_loc.Z);
+    // UE_LOG(LogCarla, Log, TEXT("--- actor rotation: %s"), *GetActorRotation().ToString());
+    // UE_LOG(LogCarla, Log, TEXT("---  root rotation: %s"), *RootComponent->GetComponentRotation().ToString());
 
-  // UE_LOG(LogCarla, Log, TEXT("--- Lidar tick %d"), ShowDebugPoints?1:0);
-  // FVector LidarBodyLoc = RootComponent->GetComponentLocation();
-  // UE_LOG(LogCarla, Log, TEXT("--- location: %f %f %f"), lidar_body_loc.X, lidar_body_loc.Y, lidar_body_loc.Z);
+  	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
+  	// float HorizontalAngle = CurrentHorizontalAngle;
 
-	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
-	// float HorizontalAngle = CurrentHorizontalAngle;
+  	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
+  	// PrintString(FString::Printf(TEXT("tick %f %f %d"), DeltaTime, angle_distance_of_tick, points_to_scan_with_one_laser));
+  	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
-	// PrintString(FString::Printf(TEXT("tick %f %f %d"), DeltaTime, angle_distance_of_tick, points_to_scan_with_one_laser));
-	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
+    LidarSegmentData.LidarLasersSegments.Empty();
 
-	for (auto& Laser : Lasers)
-	{
-		for (int i=0; i<PointsToScanWithOneLaser; i++)
-		{
-			float Distance = Laser.Measure(this, CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i, ShowDebugPoints);
-		}
-	}
-
-	// lidar_body_->AddLocalRotation(FRotator(0, angle_distance_of_tick, 0), false);
-	CurrentHorizontalAngle += AngleDistanceOfTick;
+    auto NumOfLasers = Lasers.Num();
+    LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
+  	for (int li=0; li<NumOfLasers; li++)
+  	{
+      auto& Laser = Lasers[li];
+      auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
+      LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
+  		for (int i=0; i<PointsToScanWithOneLaser; i++)
+  		{
+  			Laser.Measure(
+          this,
+          CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
+          LaserPoints[i],
+          ShowDebugPoints
+        );
+  		}
+  	}
 
+  	// lidar_body_->AddLocalRotation(FRotator(0, angle_distance_of_tick, 0), false);
+  	CurrentHorizontalAngle += AngleDistanceOfTick;
+    LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
index 7c0f02dfc..d7f22fa63 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
@@ -6,6 +6,7 @@
 #include "GameFramework/Actor.h"
 #include "LidarLaser.h"
 #include "Settings/LidarDescription.h"
+#include "Game/CapturedLidarSegment.h"
 #include "Lidar.generated.h"
 
 UCLASS()
@@ -30,7 +31,10 @@ protected:
 
 public:
 	// Called every frame
-	virtual void Tick(float DeltaTime) override;
+	// virtual void Tick(float DeltaTime) override;
+
+  /** Capture lidar segment points produced by DeltaTime */
+  void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
 
   /** Number of lasers */
 	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
index 8a0bf52a3..4bf844f39 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
@@ -11,7 +11,7 @@ int LidarLaser::GetId()
 	return Id;
 }
 
-float LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, bool Debug)
+bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug)
 {
 	FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
 	TraceParams.bTraceComplex = true;
@@ -22,7 +22,15 @@ float LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, bool Debug)
 	FVector LidarBodyLoc = Lidar->GetActorLocation();
   FRotator LidarBodyRot = Lidar->GetActorRotation();
 	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);
-	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(LidarBodyRot + LaserRot) + LidarBodyLoc;
+  // float InPitch, float InYaw, float InRoll
+  FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
+    LaserRot,
+    // UKismetMathLibrary::ComposeRotators(
+    //   FRotator(25, 0, 0),
+      LidarBodyRot
+    // )
+  ); //up, no change, no change
+	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
 
 	Lidar->GetWorld()->LineTraceSingleByChannel(
 		HitInfo,
@@ -47,8 +55,10 @@ float LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, bool Debug)
   		);
     }
 
-		return (LidarBodyLoc - HitInfo.ImpactPoint).Size();
+    XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
+
+		return true;
 	} else {
-		return -1;
+		return false;
 	}
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
index c304bd6b9..c7773f1cd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
@@ -19,7 +19,7 @@ public:
 	{}
 
 	int GetId();
-	float Measure(ALidar* Lidar, float HorizontalAngle, bool Debug = false);
+	bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
 
 private:
 
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 307a7b8ac..525dbf643 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -35,6 +35,13 @@ extern "C" {
     const uint32_t *data;
   };
 
+  struct carla_lidar_measurement {
+    float horizontal_angle;
+    int channels_count;
+    const uint32_t *points_count_by_channel;
+    const uint32_t *data;
+  };
+
   struct carla_transform {
     struct carla_vector3d location;
     struct carla_vector3d orientation;
@@ -255,6 +262,7 @@ extern "C" {
       CarlaServerPtr self,
       const carla_measurements &values,
       const struct carla_image *images,
+      const struct carla_lidar_measurement *lidar_measurements,
       uint32_t number_of_images);
 
 #ifdef __cplusplus
diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.cpp b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
index 6bf81bfd4..71b805336 100644
--- a/Util/CarlaServer/source/carla/server/CarlaServer.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
@@ -120,6 +120,7 @@ int32_t carla_write_measurements(
       CarlaServerPtr self,
       const carla_measurements &values,
       const struct carla_image *images,
+      const struct carla_lidar_measurement *lidar_measurements,
       const uint32_t number_of_images) {
   CARLA_PROFILE_SCOPE(C_API, WriteMeasurements);
   auto agent = Cast(self)->GetAgentServer();

From 6627ce3bcc835644a9c46d079bd1a601fe54db3f Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Thu, 30 Nov 2017 21:53:30 +0300
Subject: [PATCH 003/108] working on sending lidar data

---
 PythonClient/CarlaSettings.ini                | 27 ++++++
 .../Carla/Source/Carla/Game/CarlaServer.cpp   | 72 ++++++++++++----
 Util/CarlaServer/include/carla/carla_server.h |  5 +-
 .../source/carla/server/AgentServer.h         |  5 +-
 .../source/carla/server/CarlaServer.cpp       |  6 +-
 .../carla/server/LidarMeasurementsMessage.cpp | 83 +++++++++++++++++++
 .../carla/server/LidarMeasurementsMessage.h   | 53 ++++++++++++
 .../source/carla/server/MeasurementsMessage.h | 11 ++-
 .../source/test/Test_CarlaServer.cpp          | 10 ++-
 9 files changed, 246 insertions(+), 26 deletions(-)
 create mode 100644 Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
 create mode 100644 Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h

diff --git a/PythonClient/CarlaSettings.ini b/PythonClient/CarlaSettings.ini
index 4653a01ea..cc37427dd 100644
--- a/PythonClient/CarlaSettings.ini
+++ b/PythonClient/CarlaSettings.ini
@@ -19,6 +19,7 @@ CameraPositionZ=140
 CameraRotationPitch=-15.0
 CameraRotationRoll=0
 CameraRotationYaw=0
+Lidars=MyLidar
 
 [CARLA/SceneCapture/RGB]
 PostProcessing=SceneFinal
@@ -34,3 +35,29 @@ CameraRotationYaw=0
 PostProcessing=SemanticSegmentation
 CameraPositionY=0
 CameraRotationYaw=0
+
+[CARLA/SceneCapture/MyLidar]
+; Number of lasers
+Channels = 32
+; Measure distance
+Range = 5000
+; Points generated by all lasers per second
+PointsPerSecond = 56000
+; Lidar rotation frequency
+RotationFrequency = 10
+;  Upper laser angle, counts from horizontal,
+;  positive values means above horizontal line
+UpperFovLimit = 10
+;  Lower laser angle, counts from horizontal,
+;  negative values means under horizontal line
+LowerFovLimit = -30
+; wether to show debug points of laser hits in simulator
+ShowDebugPoints = true
+; Position relative to the player.
+LidarPositionX = 0
+LidarPositionY = 0
+LidarPositionZ = 250
+; Rotation relative to the player.
+LidarRotationPitch = -10
+LidarRotationRoll = 0
+LidarRotationYaw = 0
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 9f25eb475..5ca79747e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -81,23 +81,55 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
   }
 }
 
-static void Set(carla_lidar_measurement &cLidarMeasurement, const FCapturedLidarSegment &uLidarSegment)
+struct carla_lidar_measurement_data {
+  TUniquePtr<uint32_t[]> points_count_by_channel;
+  TUniquePtr<float[]> points;
+};
+
+static void Set(
+  carla_lidar_measurement &cLidarMeasurement,
+  const FCapturedLidarSegment &uLidarSegment,
+  carla_lidar_measurement_data &cLidarMeasurementData)
 {
-//   if (uImage.BitMap.Num() > 0) {
-//     cImage.width = uImage.SizeX;
-//     cImage.height = uImage.SizeY;
-//     cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
-//     cImage.data = &uImage.BitMap.GetData()->DWColor();
-//
-// #ifdef CARLA_SERVER_EXTRA_LOG
-//     {
-//       const auto Size = uImage.BitMap.Num();
-//       UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
-//     }
-//   } else {
-//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
-// #endif // CARLA_SERVER_EXTRA_LOG
-//   }
+
+  if (uLidarSegment.LidarLasersSegments.Num() > 0) {
+
+    cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
+    cLidarMeasurement.channels_count = uLidarSegment.LidarLasersSegments.Num();
+
+    cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
+    size_t total_points = 0;
+    for(int i=0; i<cLidarMeasurement.channels_count; i++)
+    {
+      size_t points_count = uLidarSegment.LidarLasersSegments[0].Points.Num();
+      cLidarMeasurementData.points_count_by_channel[i] = points_count;
+      total_points += points_count;
+    }
+    cLidarMeasurementData.points = MakeUnique<float[]>(3 * total_points);
+    for(int i=0; i<cLidarMeasurement.channels_count; i++)
+    {
+      size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
+      auto& laser_points = uLidarSegment.LidarLasersSegments[i].Points;
+      for(int pi=0; pi<points_count; pi++)
+      {
+        cLidarMeasurementData.points[pi] = laser_points[pi].X;
+        cLidarMeasurementData.points[pi + 1] = laser_points[pi].Y;
+        cLidarMeasurementData.points[pi + 2] = laser_points[pi].Z;
+      }
+    }
+
+    cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
+    cLidarMeasurement.data = cLidarMeasurementData.points.Get();
+
+#ifdef CARLA_SERVER_EXTRA_LOG
+    {
+      const auto Size = uImage.BitMap.Num();
+      UE_LOG(LogCarlaServer, Log, TEXT("Sending lidar measurement %d x %d"), uLidarSegment.LidarLasersSegments.Num(), uLidarSegment.LidarLasersSegments[0].Points.Num());
+    }
+  } else {
+    UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty lidar measurement"));
+#endif // CARLA_SERVER_EXTRA_LOG
+  }
 }
 
 static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
@@ -360,12 +392,16 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
   // Images.
   const auto NumberOfLidarMeasurements = PlayerState.GetNumberOfLidarsMeasurements();
   TUniquePtr<carla_lidar_measurement[]> lidar_measurements;
+  TUniquePtr<carla_lidar_measurement_data[]> lidar_measurements_data;
   if (NumberOfLidarMeasurements > 0) {
     lidar_measurements = MakeUnique<carla_lidar_measurement[]>(NumberOfLidarMeasurements);
+    lidar_measurements_data = MakeUnique<carla_lidar_measurement_data[]>(NumberOfLidarMeasurements);
     for (auto i = 0; i < NumberOfImages; ++i) {
-      Set(lidar_measurements[i], PlayerState.GetLidarSegments()[i]);
+      Set(lidar_measurements[i], PlayerState.GetLidarSegments()[i], lidar_measurements_data[i]);
     }
   }
 
-  return ParseErrorCode(carla_write_measurements(Server, values, images.Get(), lidar_measurements.Get(), NumberOfImages));
+  return ParseErrorCode(carla_write_measurements(
+    Server, values, images.Get(), lidar_measurements.Get(),
+    NumberOfImages, NumberOfLidarMeasurements));
 }
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 525dbf643..b71797b4c 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -39,7 +39,7 @@ extern "C" {
     float horizontal_angle;
     int channels_count;
     const uint32_t *points_count_by_channel;
-    const uint32_t *data;
+    const float *data;
   };
 
   struct carla_transform {
@@ -263,7 +263,8 @@ extern "C" {
       const carla_measurements &values,
       const struct carla_image *images,
       const struct carla_lidar_measurement *lidar_measurements,
-      uint32_t number_of_images);
+      uint32_t number_of_images,
+      uint32_t number_of_lidar_measurements);
 
 #ifdef __cplusplus
 }
diff --git a/Util/CarlaServer/source/carla/server/AgentServer.h b/Util/CarlaServer/source/carla/server/AgentServer.h
index e02b956da..f2f2c3eb2 100644
--- a/Util/CarlaServer/source/carla/server/AgentServer.h
+++ b/Util/CarlaServer/source/carla/server/AgentServer.h
@@ -27,11 +27,12 @@ namespace server {
 
     error_code WriteMeasurements(
         const carla_measurements &measurements,
-        const_array_view<carla_image> images) {
+        const_array_view<carla_image> images,
+        const_array_view<carla_lidar_measurement> lidar_measurements) {
       error_code ec;
       if (!_control.TryGetResult(ec)) {
         auto writer = _measurements.buffer()->MakeWriter();
-        writer->Write(measurements, images);
+        writer->Write(measurements, images, lidar_measurements);
         ec = errc::success();
       }
       return ec;
diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.cpp b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
index 71b805336..55c04f893 100644
--- a/Util/CarlaServer/source/carla/server/CarlaServer.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
@@ -121,7 +121,8 @@ int32_t carla_write_measurements(
       const carla_measurements &values,
       const struct carla_image *images,
       const struct carla_lidar_measurement *lidar_measurements,
-      const uint32_t number_of_images) {
+      const uint32_t number_of_images,
+      const uint32_t number_of_lidar_measurements) {
   CARLA_PROFILE_SCOPE(C_API, WriteMeasurements);
   auto agent = Cast(self)->GetAgentServer();
   if (agent == nullptr) {
@@ -130,6 +131,7 @@ int32_t carla_write_measurements(
   } else {
     return agent->WriteMeasurements(
         values,
-        carla::const_array_view<carla_image>(images, number_of_images)).value();
+        carla::const_array_view<carla_image>(images, number_of_images),
+        carla::const_array_view<carla_lidar_measurement>(lidar_measurements, number_of_lidar_measurements)).value();
   }
 }
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
new file mode 100644
index 000000000..9257d4921
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
@@ -0,0 +1,83 @@
+
+#include "carla/server/LidarMeasurementsMessage.h"
+
+#include <cstring>
+
+#include "carla/Debug.h"
+#include "carla/Logging.h"
+
+namespace carla {
+namespace server {
+
+  static size_t GetSizeOfLidarPointsCounts(const carla_lidar_measurement& lidar_measurement) {
+    return sizeof(uint32_t) * lidar_measurement.channels_count;
+  }
+
+  static size_t GetSizeOfLidarPoints(const carla_lidar_measurement& lidar_measurement) {
+    size_t total = 0u;
+    total += sizeof(uint32_t) * lidar_measurement.channels_count;
+    size_t total_points = 0;
+    for(int i=0; i<lidar_measurement.channels_count; i++)
+    {
+      total_points += lidar_measurement.points_count_by_channel[i];
+    }
+    total += sizeof(total_points) * 3 * sizeof(float);
+    return total;
+  }
+
+  static size_t GetSizeOfBuffer(const_array_view<carla_lidar_measurement> lidar_measurements) {
+    size_t total = 0u;
+    for (const auto &lidar_measurement : lidar_measurements) {
+      total += sizeof(float); // horizontal_angle
+      total += sizeof(uint32_t); // channels_count
+      total += GetSizeOfLidarPointsCounts(lidar_measurement);
+      total += GetSizeOfLidarPoints(lidar_measurement);
+    }
+    return total;
+  }
+
+  static size_t WriteIntToBuffer(unsigned char *buffer, uint32_t size) {
+    std::memcpy(buffer, &size, sizeof(uint32_t));
+    return sizeof(uint32_t);
+  }
+
+  static size_t WriteFloatToBuffer(unsigned char *buffer, float val) {
+    std::memcpy(buffer, &val, sizeof(float));
+    return sizeof(float);
+  }
+
+  static size_t WriteLidarMeasurementToBuffer(unsigned char *buffer, const carla_lidar_measurement &lidar_measurement) {
+    const auto points_size = GetSizeOfLidarPoints(lidar_measurement);
+    const auto points_counts_size = GetSizeOfLidarPoints(lidar_measurement);
+    DEBUG_ASSERT(lidar_measurement.points_count_by_channel != nullptr);
+    DEBUG_ASSERT(lidar_measurement.data != nullptr);
+    std::memcpy(buffer, lidar_measurement.points_count_by_channel, points_counts_size);
+    std::memcpy(buffer, lidar_measurement.data, points_size);
+    return points_counts_size + points_size;
+  }
+
+  void LidarMeasurementsMessage::Write(const_array_view<carla_lidar_measurement> lidar_measurements) {
+    const size_t buffer_size = GetSizeOfBuffer(lidar_measurements);
+    Reset(sizeof(uint32_t) + buffer_size); // header + buffer.
+
+    auto begin = _buffer.get();
+    begin += WriteIntToBuffer(begin, buffer_size);
+    for (const auto &lidar_measurement : lidar_measurements) {
+      begin += WriteFloatToBuffer(begin, lidar_measurement.horizontal_angle);
+      begin += WriteIntToBuffer(begin, lidar_measurement.channels_count);
+      begin += WriteLidarMeasurementToBuffer(begin, lidar_measurement);
+    }
+    DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
+  }
+
+  void LidarMeasurementsMessage::Reset(const uint32_t count) {
+    if (_capacity < count) {
+      log_info("allocating image buffer of", count, "bytes");
+      _buffer = std::make_unique<unsigned char[]>(count);
+      _capacity = count;
+    }
+    _size = count;
+  }
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
new file mode 100644
index 000000000..b8d4ac38f
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
@@ -0,0 +1,53 @@
+
+#pragma once
+
+#include <cstdint>
+#include <memory>
+
+#include "carla/ArrayView.h"
+#include "carla/NonCopyable.h"
+#include "carla/server/CarlaServerAPI.h"
+#include "carla/server/ServerTraits.h"
+
+namespace carla {
+namespace server {
+
+  /// Encodes the given images as binary array to be sent to the client.
+  ///
+  /// The message consists of an array of uint32's in the following layout
+  ///
+  ///    {
+  ///      total size,
+  ///      width, height, type, color[0], color[1],...,     <- first image
+  ///      width, height, type, color[0], color[1],...,     <- second image
+  ///      ...
+  ///    }
+  ///
+  class LidarMeasurementsMessage : private NonCopyable {
+  public:
+
+    /// Allocates a new buffer if the capacity is not enough to hold the images,
+    /// but it does not allocate a smaller one if the capacity is greater than
+    /// the size of the images.
+    ///
+    /// @note The expected usage of this class is to mantain a constant size
+    /// buffer of images, so memory allocation occurs only once.
+    void Write(const_array_view<carla_lidar_measurement> lidar_measurements);
+
+    const_buffer buffer() const {
+      return boost::asio::buffer(_buffer.get(), _size);
+    }
+
+  private:
+
+    void Reset(uint32_t count);
+
+    std::unique_ptr<unsigned char[]> _buffer = nullptr;
+
+    uint32_t _size = 0u;
+
+    uint32_t _capacity = 0u;
+  };
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
index 4804c3eb6..b9293a784 100644
--- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
@@ -10,6 +10,7 @@
 #include "carla/server/CarlaMeasurements.h"
 #include "carla/server/CarlaServerAPI.h"
 #include "carla/server/ImagesMessage.h"
+#include "carla/server/LidarMeasurementsMessage.h"
 
 namespace carla {
 namespace server {
@@ -19,9 +20,11 @@ namespace server {
 
     void Write(
         const carla_measurements &measurements,
-        const_array_view<carla_image> images) {
+        const_array_view<carla_image> images,
+        const_array_view<carla_lidar_measurement> lidar_measurements) {
       _measurements.Write(measurements);
       _images.Write(images);
+      _lidar_measurements.Write(lidar_measurements);
     }
 
     const carla_measurements &measurements() const {
@@ -32,11 +35,17 @@ namespace server {
       return _images.buffer();
     }
 
+    const_buffer lidar_measurements() const {
+      return _lidar_measurements.buffer();
+    }
+
   private:
 
     CarlaMeasurements _measurements;
 
     ImagesMessage _images;
+
+    LidarMeasurementsMessage _lidar_measurements;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index 2f21352b3..9ba427a63 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -56,6 +56,12 @@ TEST(CarlaServerAPI, SimBlocking) {
     {ImageSizeX, ImageSizeY, 1u, image0}
   };
 
+  const uint32_t points_count_by_channel[32] = {1u};
+  const float lidar_data[32 * 3] = {1};
+  const carla_lidar_measurement lidar_measurements[] = {
+    {10, 32, points_count_by_channel, lidar_data}
+  };
+
   const carla_transform start_locations[] = {
     {carla_vector3d{0.0f, 0.0f, 0.0f}, carla_vector3d{0.0f, 0.0f, 0.0f}},
     {carla_vector3d{1.0f, 0.0f, 0.0f}, carla_vector3d{1.0f, 0.0f, 0.0f}},
@@ -106,7 +112,9 @@ TEST(CarlaServerAPI, SimBlocking) {
           carla_measurements measurements;
           measurements.non_player_agents = agents_data.data();
           measurements.number_of_non_player_agents = agents_data.size();
-          auto ec = carla_write_measurements(CarlaServer, measurements, images, SIZE_OF_ARRAY(images));
+          auto ec = carla_write_measurements(
+            CarlaServer, measurements, images, lidar_measurements,
+            SIZE_OF_ARRAY(images), SIZE_OF_ARRAY(lidar_measurements));
           if (ec != S)
             break;
         }

From cc8969b48dd2ffba33faf031532a4bfacaf6e562 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Fri, 1 Dec 2017 16:41:18 +0100
Subject: [PATCH 004/108] Added point cloud client example and some fixes

---
 .gitignore                            |   2 +-
 PythonClient/carla/image_converter.py |  44 ++++++-
 PythonClient/carla/util.py            |   5 +-
 PythonClient/client_example.py        |   2 +-
 PythonClient/point_cloud_example.py   | 167 ++++++++++++++++++++++++++
 5 files changed, 211 insertions(+), 9 deletions(-)
 create mode 100644 PythonClient/point_cloud_example.py

diff --git a/.gitignore b/.gitignore
index fa06fd814..52f82ef08 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,5 +22,5 @@ Util/Build
 .tags*
 .vs
 __pycache__
-_images
+_out
 core
diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index 1a1c2e718..bdd2c9c48 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -13,11 +13,14 @@ them afterwards with the C++ implementation at "Util/ImageConverter" as it
 provides considerably better performance.
 """
 
+import math
 
 try:
     import numpy
+    from numpy.matlib import repmat
 except ImportError:
-    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
+    raise RuntimeError(
+        'cannot import numpy, make sure numpy package is installed')
 
 
 from . import sensor
@@ -84,9 +87,9 @@ def depth_to_array(image):
     array = to_bgra_array(image)
     array = array.astype(numpy.float32)
     # Apply (R + G * 256 + B * 256 * 256) / (256 * 256 * 256 - 1).
-    grayscale = numpy.dot(array[:, :, :3], [256.0 * 256.0, 256.0, 1.0])
-    grayscale /= (256.0 * 256.0 * 256.0 - 1.0)
-    return grayscale
+    normalized_depth = numpy.dot(array[:, :, :3], [256.0 * 256.0, 256.0, 1.0])
+    normalized_depth /= (256.0 * 256.0 * 256.0 - 1.0)
+    return normalized_depth
 
 
 def depth_to_logarithmic_grayscale(image):
@@ -94,10 +97,39 @@ def depth_to_logarithmic_grayscale(image):
     Convert an image containing CARLA encoded depth-map to a logarithmic
     grayscale image array.
     """
-    grayscale = depth_to_array(image)
+    normalized_depth = depth_to_array(image)
     # Convert to logarithmic depth.
-    logdepth = numpy.ones(grayscale.shape) + (numpy.log(grayscale) / 5.70378)
+    logdepth = numpy.ones(normalized_depth.shape) + \
+        (numpy.log(normalized_depth) / 5.70378)
     logdepth = numpy.clip(logdepth, 0.0, 1.0)
     logdepth *= 255.0
     # Expand to three colors.
     return numpy.repeat(logdepth[:, :, numpy.newaxis], 3, axis=2)
+
+
+def depth_to_local_point_cloud(image, fov):
+    """
+    Convert an image containing CARLA encoded depth-map to a 2D array containing
+    the 3D position (relative to the camera) of each pixel.
+    """
+    far = 1000.0
+    normalized_depth = depth_to_array(image)
+    # (Intrinsic) K Matrix
+    k = numpy.identity(3)
+    k[0, 2] = image.width / 2.0
+    k[1, 2] = image.height / 2.0
+    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(fov * math.pi / 360.0))
+    # 2d pixel coordinates
+    pixel_length = image.width * image.height
+    u = repmat(numpy.r_[image.width-1:-1:-1],
+               image.height, 1).reshape(pixel_length)
+    v = repmat(numpy.c_[image.height-1:-1:-1], 1,
+               image.width).reshape(pixel_length)
+    # pd2 = [u,v,1]
+    p2d = numpy.array([u, v, numpy.ones_like(u)])
+    # P = [X,Y,Z]
+    p3d = numpy.dot(numpy.linalg.inv(k), p2d) * \
+        (normalized_depth.reshape(pixel_length) * far)
+    # Formating the output
+    p3d = numpy.transpose(p3d)
+    return p3d[:, numpy.newaxis, :].reshape((image.height, image.width, 3))
diff --git a/PythonClient/carla/util.py b/PythonClient/carla/util.py
index 02fb4db8e..9ce4ab92b 100644
--- a/PythonClient/carla/util.py
+++ b/PythonClient/carla/util.py
@@ -31,8 +31,11 @@ class StopWatch(object):
     def stop(self):
         self.end = datetime.datetime.now()
 
+    def seconds(self):
+        return (self.end - self.start).total_seconds()
+
     def milliseconds(self):
-        return 1000.0 * (self.end - self.start).total_seconds()
+        return 1000.0 * self.seconds()
 
 
 def to_hex_str(header):
diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index 9be0c4301..9a1572513 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -209,7 +209,7 @@ def main():
                 port=args.port,
                 autopilot_on=args.autopilot,
                 save_images_to_disk=args.images_to_disk,
-                image_filename_format='_images/episode_{:0>3d}/{:s}/image_{:0>5d}.png',
+                image_filename_format='_out/episode_{:0>4d}/{:s}/{:0>6d}.png',
                 settings_filepath=args.carla_settings)
 
             print('Done.')
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
new file mode 100644
index 000000000..6b0aab1c4
--- /dev/null
+++ b/PythonClient/point_cloud_example.py
@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB), and the INTEL Visual Computing Lab.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""Basic CARLA to generate point cloud in PLY format."""
+
+from __future__ import print_function
+
+import argparse
+import logging
+import os
+import random
+import sys
+import time
+
+from carla.client import make_carla_client
+from carla.sensor import Camera
+from carla.settings import CarlaSettings
+from carla.tcp import TCPConnectionError
+from carla.util import print_over_same_line, StopWatch
+from carla.image_converter import depth_to_local_point_cloud
+
+
+def run_carla_client(host, port, save_images_to_disk, image_filename_format):
+    # Here we will run 3 episodes with 300 frames each.
+    number_of_frames = 300
+    fov = 70.0
+    output_folder = '_out'
+
+    # We assume the CARLA server is already waiting for a client to connect at
+    # host:port. To create a connection we can use the `make_carla_client`
+    # context manager, it creates a CARLA client object and starts the
+    # connection. It will throw an exception if something goes wrong. The
+    # context manager makes sure the connection is always cleaned up on exit.
+    with make_carla_client(host, port) as client:
+        print('CarlaClient connected')
+
+        # Start a new episode.
+        # Here we load the settings
+        settings = CarlaSettings()
+        settings.set(
+            SynchronousMode=True,
+            SendNonPlayerAgentsInfo=False,
+            NumberOfVehicles=20,
+            NumberOfPedestrians=40,
+            WeatherId=random.choice([1, 3, 7, 8, 14]))
+        settings.randomize_seeds()
+        camera1 = Camera('CameraDepth', PostProcessing='Depth', CameraFOV=fov)
+        camera1.set_image_size(800, 600)
+        camera1.set_position(30, 0, 130)
+        settings.add_sensor(camera1)
+        scene = client.load_settings(settings)
+
+        # Start at location index id '0'
+        client.start_episode(0)
+
+        # Iterate every frame in the episode.
+        for frame in range(0, number_of_frames):
+
+            # Read the data produced by the server this frame.
+            measurements, sensor_data = client.read_data()
+
+            # Save the images to disk if requested.
+            if save_images_to_disk:
+                for name, image in sensor_data.items():
+                    image.save_to_disk(
+                        image_filename_format.format(episode, name, frame))
+
+            print('Frame: {}'.format(frame))
+
+            t = StopWatch()
+            points3D = depth_to_local_point_cloud(
+                sensor_data['CameraDepth'], fov)
+            t.stop()
+
+            print('Transformation took {:.0f} ms'.format(t.milliseconds()))
+
+            t = StopWatch()
+            num_pixels = sensor_data[
+                'CameraDepth'].width*sensor_data['CameraDepth'].height
+            pixel_array = points3D.reshape(num_pixels, 3)
+            ply = '\n'.join([' '.join(map(str, i)) for i in pixel_array])
+
+            if not os.path.isdir(output_folder):
+                os.makedirs(output_folder)
+
+            with open('{}/{:0>4}.ply'.format(output_folder, frame), 'w+') as f:
+                f.write(construct_ply_header(num_pixels) + ply)
+            t.stop()
+
+            print('Saving to disk took {:.2f} s'.format(t.seconds()))
+            print()
+
+            client.send_control(
+                measurements.player_measurements.autopilot_control)
+
+
+def construct_ply_header(n_points):
+    return ('ply\n'
+            'format ascii 1.0\n'
+            'element vertex ' + str(n_points) + '\n'
+            'property float32 x\n'
+            'property float32 y\n'
+            'property float32 z\n'
+            'end_header\n')
+
+
+def main():
+    argparser = argparse.ArgumentParser(description=__doc__)
+    argparser.add_argument(
+        '-v', '--verbose',
+        action='store_true',
+        dest='debug',
+        help='print debug information')
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='localhost',
+        help='IP of the host server (default: localhost)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-i', '--images-to-disk',
+        action='store_true',
+        help='save images to disk')
+
+    args = argparser.parse_args()
+
+    log_level = logging.DEBUG if args.debug else logging.INFO
+    logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
+
+    logging.info('listening to server %s:%s', args.host, args.port)
+
+    while True:
+        try:
+
+            run_carla_client(
+                host=args.host,
+                port=args.port,
+                save_images_to_disk=args.images_to_disk,
+                image_filename_format='_images/episode_{:0>3d}/{:s}/image_{:0>5d}.png')
+
+            print('Done.')
+            return
+
+        except TCPConnectionError as error:
+            logging.error(error)
+            time.sleep(1)
+        except Exception as exception:
+            logging.exception(exception)
+            sys.exit(1)
+
+
+if __name__ == '__main__':
+
+    try:
+        main()
+    except KeyboardInterrupt:
+        print('\nCancelled by user. Bye!')

From 44361cf11e3a65bd5c60b3b64005c684edfd18ff Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 1 Dec 2017 16:49:30 +0100
Subject: [PATCH 005/108] Send FOV of each image from server

---
 Docs/carla_server.md                               |  7 ++++---
 PythonClient/carla/client.py                       | 14 ++++++++------
 PythonClient/carla/sensor.py                       |  3 ++-
 .../Carla/Source/Carla/Game/CapturedImage.h        |  3 +++
 .../Carla/Source/Carla/Game/CarlaServer.cpp        |  1 +
 .../Source/Carla/Game/CarlaVehicleController.cpp   |  1 +
 .../Carla/Source/Carla/SceneCaptureCamera.cpp      |  6 ++++++
 .../Carla/Source/Carla/SceneCaptureCamera.h        |  2 ++
 .../Carla/Source/Carla/Settings/CarlaSettings.cpp  | 14 +++++++-------
 Util/CarlaServer/include/carla/carla_server.h      |  1 +
 .../source/carla/server/ImagesMessage.cpp          | 12 ++++++++++--
 .../source/carla/server/ImagesMessage.h            |  4 ++--
 Util/CarlaServer/source/test/Test_CarlaServer.cpp  |  2 +-
 13 files changed, 48 insertions(+), 22 deletions(-)

diff --git a/Docs/carla_server.md b/Docs/carla_server.md
index 104b22343..ebbd38c8f 100644
--- a/Docs/carla_server.md
+++ b/Docs/carla_server.md
@@ -48,10 +48,11 @@ Server only writes, first measurements message then the bulk of raw images.
 
 Every image is an array of uint32's
 
-    [width, height, type, color[0], color[1],...]
+    [width, height, type, FOV, color[0], color[1],...]
 
-where each color is an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine,
-and the possible types of images are
+where FOV is the horizontal field of view of the camera as float, each color is
+an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine, and the possible
+types of images are
 
     type = 0  None                  (RGB without any post-processing)
     type = 1  SceneFinal            (RGB with post-processing present at the scene)
diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
index 748200928..cea21bfd4 100644
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@@ -177,14 +177,16 @@ class CarlaClient(object):
         # consists of images only.
         image_types = ['None', 'SceneFinal', 'Depth', 'SemanticSegmentation']
         gettype = lambda id: image_types[id] if len(image_types) > id else 'Unknown'
-        getval = lambda index: struct.unpack('<L', raw_data[index*4:index*4+4])[0]
+        getint = lambda index: struct.unpack('<L', raw_data[index*4:index*4+4])[0]
+        getfloat = lambda index: struct.unpack('<f', raw_data[index*4:index*4+4])[0]
         total_size = len(raw_data) / 4
         index = 0
         while index < total_size:
-            width = getval(index)
-            height = getval(index + 1)
-            image_type = gettype(getval(index + 2))
-            begin = index + 3
+            width = getint(index)
+            height = getint(index + 1)
+            image_type = gettype(getint(index + 2))
+            fov = getfloat(index + 3)
+            begin = index + 4
             end = begin + width * height
             index = end
-            yield sensor.Image(width, height, image_type, raw_data[begin*4:end*4])
+            yield sensor.Image(width, height, image_type, fov, raw_data[begin*4:end*4])
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index e8cccb9e9..161445650 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -76,11 +76,12 @@ class SensorData(object):
 class Image(SensorData):
     """Data generated by a Camera."""
 
-    def __init__(self, width, height, image_type, raw_data):
+    def __init__(self, width, height, image_type, fov, raw_data):
         assert len(raw_data) == 4 * width * height
         self.width = width
         self.height = height
         self.type = image_type
+        self.fov = fov
         self.raw_data = raw_data
         self._converted_data = None
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
index b4dbe2659..f914e5280 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
@@ -26,6 +26,9 @@ struct FCapturedImage
   UPROPERTY(VisibleAnywhere)
   EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
 
+  UPROPERTY(VisibleAnywhere)
+  float FOVAngle = 0.0f;
+
   UPROPERTY(VisibleAnywhere)
   TArray<FColor> BitMap;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 5e3f9d35e..146e5bd9e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -76,6 +76,7 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
     cImage.width = uImage.SizeX;
     cImage.height = uImage.SizeY;
     cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
+    cImage.fov = uImage.FOVAngle;
     cImage.data = &uImage.BitMap.GetData()->DWColor();
 
 #ifdef CARLA_SERVER_EXTRA_LOG
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
index e1f7aa497..fa29e3524 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
@@ -70,6 +70,7 @@ void ACarlaVehicleController::BeginPlay()
         auto &Image = CarlaPlayerState->Images[i];
         Image.SizeX = Camera->GetImageSizeX();
         Image.SizeY = Camera->GetImageSizeY();
+        Image.FOVAngle = Camera->GetFOVAngle();
         Image.PostProcessEffect = Camera->GetPostProcessEffect();
       }
     }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp
index 0307eb634..be7b395c8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp
@@ -119,6 +119,12 @@ void ASceneCaptureCamera::BeginPlay()
   Super::BeginPlay();
 }
 
+float ASceneCaptureCamera::GetFOVAngle() const
+{
+  check(CaptureComponent2D != nullptr);
+  return CaptureComponent2D->FOVAngle;
+}
+
 void ASceneCaptureCamera::SetImageSize(uint32 otherSizeX, uint32 otherSizeY)
 {
   SizeX = otherSizeX;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h
index d4411bb7b..7acf2cad6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h
@@ -50,6 +50,8 @@ public:
     return PostProcessEffect;
   }
 
+  float GetFOVAngle() const;
+
   void SetImageSize(uint32 SizeX, uint32 SizeY);
 
   void SetPostProcessEffect(EPostProcessEffect PostProcessEffect);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 74c7fbb11..25ff695f2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -60,13 +60,13 @@ static void GetCameraDescription(
 {
   ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
   ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
-  ConfigFile.GetInt(Section, TEXT("CameraFOV"), Camera.FOVAngle);
-  ConfigFile.GetInt(Section, TEXT("CameraPositionX"), Camera.Position.X);
-  ConfigFile.GetInt(Section, TEXT("CameraPositionY"), Camera.Position.Y);
-  ConfigFile.GetInt(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
-  ConfigFile.GetInt(Section, TEXT("CameraRotationPitch"), Camera.Rotation.Pitch);
-  ConfigFile.GetInt(Section, TEXT("CameraRotationRoll"), Camera.Rotation.Roll);
-  ConfigFile.GetInt(Section, TEXT("CameraRotationYaw"), Camera.Rotation.Yaw);
+  ConfigFile.GetFloat(Section, TEXT("CameraFOV"), Camera.FOVAngle);
+  ConfigFile.GetFloat(Section, TEXT("CameraPositionX"), Camera.Position.X);
+  ConfigFile.GetFloat(Section, TEXT("CameraPositionY"), Camera.Position.Y);
+  ConfigFile.GetFloat(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
+  ConfigFile.GetFloat(Section, TEXT("CameraRotationPitch"), Camera.Rotation.Pitch);
+  ConfigFile.GetFloat(Section, TEXT("CameraRotationRoll"), Camera.Rotation.Roll);
+  ConfigFile.GetFloat(Section, TEXT("CameraRotationYaw"), Camera.Rotation.Yaw);
   ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
 }
 
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 8df08944f..dea125f27 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -38,6 +38,7 @@ extern "C" {
     uint32_t width;
     uint32_t height;
     uint32_t type;
+    float fov;
     const uint32_t *data;
   };
 
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
index b681e474c..88e697d42 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
@@ -14,20 +14,27 @@
 namespace carla {
 namespace server {
 
+  static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size!");
+
   static size_t GetSizeOfBuffer(const_array_view<carla_image> images) {
     size_t total = 0u;
     for (const auto &image : images) {
-      total += 3u; // width, height, type.
+      total += 4u; // width, height, type, fov.
       total += image.width * image.height;
     }
     return total * sizeof(uint32_t);
   }
 
-  static size_t WriteSizeToBuffer(unsigned char *buffer, uint32_t size) {
+  static size_t WriteSizeToBuffer(unsigned char *buffer, const uint32_t size) {
     std::memcpy(buffer, &size, sizeof(uint32_t));
     return sizeof(uint32_t);
   }
 
+  static size_t WriteFloatToBuffer(unsigned char *buffer, const float value) {
+    std::memcpy(buffer, &value, sizeof(float));
+    return sizeof(float);
+  }
+
   static size_t WriteImageToBuffer(unsigned char *buffer, const carla_image &image) {
     const auto size = sizeof(uint32_t) * image.width * image.height;
     DEBUG_ASSERT(image.data != nullptr);
@@ -45,6 +52,7 @@ namespace server {
       begin += WriteSizeToBuffer(begin, image.width);
       begin += WriteSizeToBuffer(begin, image.height);
       begin += WriteSizeToBuffer(begin, image.type);
+      begin += WriteFloatToBuffer(begin, image.fov);
       begin += WriteImageToBuffer(begin, image);
     }
     DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.h b/Util/CarlaServer/source/carla/server/ImagesMessage.h
index 0336d326f..3f09e552f 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.h
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.h
@@ -23,8 +23,8 @@ namespace server {
   ///
   ///    {
   ///      total size,
-  ///      width, height, type, color[0], color[1],...,     <- first image
-  ///      width, height, type, color[0], color[1],...,     <- second image
+  ///      width, height, type, FOV, color[0], color[1],...,     <- first image
+  ///      width, height, type, FOV, color[0], color[1],...,     <- second image
   ///      ...
   ///    }
   ///
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index ffb37f093..e800e7bf0 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -53,7 +53,7 @@ TEST(CarlaServerAPI, SimBlocking) {
   constexpr uint32_t ImageSizeY = 200u;
   const uint32_t image0[ImageSizeX*ImageSizeY] = {0u};
   const carla_image images[] = {
-    {ImageSizeX, ImageSizeY, 1u, image0}
+    {ImageSizeX, ImageSizeY, 1u, 0u, image0}
   };
 
   const carla_transform start_locations[] = {

From f181c5e406e718c913fc50c6887c0298317be535 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 1 Dec 2017 16:50:03 +0100
Subject: [PATCH 006/108] Tiny optimization

---
 PythonClient/carla/image_converter.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index bdd2c9c48..b62220787 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -87,8 +87,8 @@ def depth_to_array(image):
     array = to_bgra_array(image)
     array = array.astype(numpy.float32)
     # Apply (R + G * 256 + B * 256 * 256) / (256 * 256 * 256 - 1).
-    normalized_depth = numpy.dot(array[:, :, :3], [256.0 * 256.0, 256.0, 1.0])
-    normalized_depth /= (256.0 * 256.0 * 256.0 - 1.0)
+    normalized_depth = numpy.dot(array[:, :, :3], [65536.0, 256.0, 1.0])
+    normalized_depth /= 16777215.0 # (256.0 * 256.0 * 256.0 - 1.0)
     return normalized_depth
 
 

From b26ba96582b15449d8585bb8bd7815ed09f312de Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 1 Dec 2017 16:59:27 +0100
Subject: [PATCH 007/108] Make script executable

---
 PythonClient/point_cloud_example.py | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 mode change 100644 => 100755 PythonClient/point_cloud_example.py

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
old mode 100644
new mode 100755

From 39886a7e29855dd7572cedeb51851aee1d8a0276 Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Fri, 1 Dec 2017 20:02:20 +0300
Subject: [PATCH 008/108] lidar points sent into python client

---
 PythonClient/CarlaSettings.ini                |  2 +-
 PythonClient/carla/datastream.py              | 86 +++++++++++++++++--
 .../Carla/Source/Carla/Game/CarlaServer.cpp   | 34 ++++++--
 Util/CarlaServer/include/carla/carla_server.h |  6 +-
 .../source/carla/server/EncoderServer.h       |  2 +-
 .../source/carla/server/ImagesMessage.cpp     | 38 +++++---
 .../source/carla/server/ImagesMessage.h       | 27 +++---
 .../carla/server/LidarMeasurementsMessage.cpp | 64 ++++++++------
 .../carla/server/LidarMeasurementsMessage.h   | 27 +++---
 .../carla/server/MeasurementsMessage.cpp      | 22 +++++
 .../source/carla/server/MeasurementsMessage.h | 36 ++++++--
 .../source/test/Test_CarlaServer.cpp          |  2 +-
 12 files changed, 257 insertions(+), 89 deletions(-)
 create mode 100644 Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp

diff --git a/PythonClient/CarlaSettings.ini b/PythonClient/CarlaSettings.ini
index cc37427dd..506f34182 100644
--- a/PythonClient/CarlaSettings.ini
+++ b/PythonClient/CarlaSettings.ini
@@ -52,7 +52,7 @@ UpperFovLimit = 10
 ;  negative values means under horizontal line
 LowerFovLimit = -30
 ; wether to show debug points of laser hits in simulator
-ShowDebugPoints = true
+ShowDebugPoints = false
 ; Position relative to the player.
 LidarPositionX = 0
 LidarPositionY = 0
diff --git a/PythonClient/carla/datastream.py b/PythonClient/carla/datastream.py
index e45413075..3e2d6fc0f 100644
--- a/PythonClient/carla/datastream.py
+++ b/PythonClient/carla/datastream.py
@@ -55,6 +55,11 @@ class DataStream(object):
 
 
 
+    def _read_data_type(self, imagedata,pointer):
+        pointer += 4*2
+        data_type = struct.unpack('<L',imagedata[pointer:(pointer + 4)])[0]
+        return data_type
+
     def _read_image(self,imagedata,pointer):
 
 
@@ -85,6 +90,59 @@ class DataStream(object):
         return new_image,im_type,pointer
 
 
+    def _read_lidar_measurement(self, imagedata, pointer):
+
+        horizontal_angle = struct.unpack('<d',imagedata[pointer:(pointer+8)])[0]
+        pointer +=8
+        im_type = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
+        pointer +=4
+        channels_count = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
+        pointer +=4
+        print('--- pointcloud {} {}'.format(horizontal_angle, channels_count))
+
+        points_count_by_channel_size = channels_count * 4
+        points_count_by_channel_bytes = imagedata[pointer:(pointer + points_count_by_channel_size)]
+        points_count_by_channel = np.frombuffer(points_count_by_channel_bytes, dtype=np.dtype('uint32'))
+        pointer += points_count_by_channel_size
+        print('--- points counts {} {}'.format(points_count_by_channel_size, points_count_by_channel))
+
+        points_in_one_channel = points_count_by_channel[0]
+        points_size = channels_count * points_in_one_channel * 3 * 8
+        points = np.frombuffer(imagedata[pointer:(pointer + points_size)], dtype='float')
+        points = np.reshape(points, (channels_count, points_in_one_channel, 3))
+        pointer += points_size
+        print('--- points {} {}'.format(points_size, points))
+
+        lidar_measurement = {
+            'horizontal_angle' : horizontal_angle,
+            'channels_count' : channels_count,
+            'points_count_by_channel' : points_count_by_channel,
+            'points' : points
+        }
+
+        # points = []
+        # for points_count in points_count_by_channel.tolist():
+        #     points_size = points_count * 8
+        #     points.append(np.frombuffer(image_bytes[pointer: (pointer + points_size)], dtype='float'))
+
+        # image_size = width*height*4
+        #
+        # image_bytes = imagedata[pointer:(pointer+image_size)]
+        #
+        #
+        # dt = np.dtype("uint8")
+        #
+        # new_image =np.frombuffer(image_bytes,dtype=dt)
+        #
+        # new_image = np.reshape(new_image,(self._image_y,self._image_x,4)) # TODO: make this generic
+        #
+        # pointer += image_size
+
+
+
+        return lidar_measurement, im_type, pointer
+
+
     def receive_data(self):
 
         depths = []
@@ -102,10 +160,10 @@ class DataStream(object):
 
         measurements = Measurements()
         measurements.ParseFromString(data)
-        
+
         player_measures = measurements.player_measurements
         non_player_agents = measurements.non_player_agents
-        
+
         try:
             logging.debug(" Trying to get the image")
             imagedata  = get_message(self._socket)
@@ -128,23 +186,33 @@ class DataStream(object):
 
         pointer = 0
         while pointer < len(imagedata):
-            image,im_type,pointer = self._read_image(imagedata,pointer)
+            im_type = self._read_data_type(imagedata, pointer)
+            print('--- image type: {}'.format(im_type))
             if im_type == 0:
 
+                image,im_type,pointer = self._read_image(imagedata,pointer)
                 meas_dict['RAW_BGRA'].append(image)
                 logging.debug("RECEIVED rgb_raw")
             if im_type == 1:
 
+                image,im_type,pointer = self._read_image(imagedata,pointer)
                 meas_dict['BGRA'].append(image)
                 logging.debug("RECEIVED rgb")
             if im_type == 2:
 
+                image,im_type,pointer = self._read_image(imagedata,pointer)
                 meas_dict['Depth'].append(image)
                 logging.debug("RECEIVED depht")
             if im_type == 3:
 
+                image,im_type,pointer = self._read_image(imagedata,pointer)
                 meas_dict['Labels'].append(image)
                 logging.debug("RECEIVED scene_seg")
+            if im_type == 10:
+
+                image,im_type,pointer = self._read_lidar_measurement(imagedata,pointer)
+                # meas_dict['Labels'].append(image)
+                logging.debug("RECEIVED lidar_measurement")
 
         meas_dict.update({'WallTime':measurements.platform_timestamp})
 
@@ -170,7 +238,7 @@ class DataStream(object):
         except Exception:
             logging.exception("Other error on getting queue")
             raise Exception
-        
+
         else:
             self._data_buffer.task_done()
 
@@ -183,10 +251,10 @@ class DataStream(object):
         self._socket = socket
 
         self.run()
-        
+
 
     def stop(self):
-        
+
         self._running = False
 
         disconnect(self._socket)
@@ -197,9 +265,9 @@ class DataStream(object):
         while True:
             try:
                 aux=self._data_buffer.get(False)
-            except Queue.Empty:                
+            except Queue.Empty:
                 return
-      
+
 
     @threaded
     def run(self):
@@ -217,5 +285,5 @@ class DataStream(object):
             logging.exception("Unexpected RuntimeError")
             self._running = False
         finally:
-            
+
             logging.debug("We Are finishing the datastream thread ")
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 5ca79747e..50acbf3b8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -83,7 +83,7 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
 
 struct carla_lidar_measurement_data {
   TUniquePtr<uint32_t[]> points_count_by_channel;
-  TUniquePtr<float[]> points;
+  TUniquePtr<double[]> points;
 };
 
 static void Set(
@@ -92,6 +92,30 @@ static void Set(
   carla_lidar_measurement_data &cLidarMeasurementData)
 {
 
+  cLidarMeasurement.horizontal_angle = 0;
+  cLidarMeasurement.channels_count = 32;
+  cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
+  for(int i=0; i<cLidarMeasurement.channels_count; i++)
+  {
+    cLidarMeasurementData.points_count_by_channel[i] = 2;
+  }
+  cLidarMeasurementData.points = MakeUnique<double[]>(3 * 32 * 2);
+  size_t points_filled = 0;
+  for(int i=0; i<cLidarMeasurement.channels_count; i++)
+  {
+    size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
+    for(int pi=0; pi<points_count; pi++)
+    {
+      cLidarMeasurementData.points[3 * pi + 3 * points_filled] = 1 + 3 * pi;
+      cLidarMeasurementData.points[3 * pi + 1 + 3 * points_filled] = 2 + 3 * pi;
+      cLidarMeasurementData.points[3 * pi + 2 + 3 * points_filled] = 3 + 3 * pi;
+    }
+    points_filled += points_count;
+  }
+  cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
+  cLidarMeasurement.data = cLidarMeasurementData.points.Get();
+  return;
+
   if (uLidarSegment.LidarLasersSegments.Num() > 0) {
 
     cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
@@ -105,7 +129,7 @@ static void Set(
       cLidarMeasurementData.points_count_by_channel[i] = points_count;
       total_points += points_count;
     }
-    cLidarMeasurementData.points = MakeUnique<float[]>(3 * total_points);
+    cLidarMeasurementData.points = MakeUnique<double[]>(3 * total_points);
     for(int i=0; i<cLidarMeasurement.channels_count; i++)
     {
       size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
@@ -389,14 +413,14 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
     }
   }
 
-  // Images.
-  const auto NumberOfLidarMeasurements = PlayerState.GetNumberOfLidarsMeasurements();
+  // Lidars.
+  auto NumberOfLidarMeasurements = PlayerState.GetNumberOfLidarsMeasurements();
   TUniquePtr<carla_lidar_measurement[]> lidar_measurements;
   TUniquePtr<carla_lidar_measurement_data[]> lidar_measurements_data;
   if (NumberOfLidarMeasurements > 0) {
     lidar_measurements = MakeUnique<carla_lidar_measurement[]>(NumberOfLidarMeasurements);
     lidar_measurements_data = MakeUnique<carla_lidar_measurement_data[]>(NumberOfLidarMeasurements);
-    for (auto i = 0; i < NumberOfImages; ++i) {
+    for (auto i = 0; i < NumberOfLidarMeasurements; ++i) {
       Set(lidar_measurements[i], PlayerState.GetLidarSegments()[i], lidar_measurements_data[i]);
     }
   }
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index b71797b4c..4f1a69cec 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -39,7 +39,7 @@ extern "C" {
     float horizontal_angle;
     int channels_count;
     const uint32_t *points_count_by_channel;
-    const float *data;
+    const double *data;
   };
 
   struct carla_transform {
@@ -263,8 +263,8 @@ extern "C" {
       const carla_measurements &values,
       const struct carla_image *images,
       const struct carla_lidar_measurement *lidar_measurements,
-      uint32_t number_of_images,
-      uint32_t number_of_lidar_measurements);
+      const uint32_t number_of_images,
+      const uint32_t number_of_lidar_measurements);
 
 #ifdef __cplusplus
 }
diff --git a/Util/CarlaServer/source/carla/server/EncoderServer.h b/Util/CarlaServer/source/carla/server/EncoderServer.h
index 5a9657f1e..e54607128 100644
--- a/Util/CarlaServer/source/carla/server/EncoderServer.h
+++ b/Util/CarlaServer/source/carla/server/EncoderServer.h
@@ -64,7 +64,7 @@ namespace server {
       const auto string = _encoder.Encode(values.measurements());
       auto ec = _server.Write(boost::asio::buffer(string), timeout);
       if (!ec) {
-        ec = _server.Write(values.images(), timeout);
+        ec = _server.Write(values.buffer(), timeout);
       }
       return ec;
     }
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
index b681e474c..bb8a00dad 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
@@ -35,29 +35,39 @@ namespace server {
     return size;
   }
 
-  void ImagesMessage::Write(const_array_view<carla_image> images) {
-    const size_t buffer_size = GetSizeOfBuffer(images);
-    Reset(sizeof(uint32_t) + buffer_size); // header + buffer.
+  size_t ImagesMessage::GetSize(const_array_view<carla_image> images) {
+    return GetSizeOfBuffer(images);
+  }
 
-    auto begin = _buffer.get();
-    begin += WriteSizeToBuffer(begin, buffer_size);
+  size_t ImagesMessage::Write(
+    const_array_view<carla_image> images,
+    unsigned char *buffer
+  ) {
+    long buffer_size = GetSizeOfBuffer(images);
+    // Reset(sizeof(uint32_t) + buffer_size); // header + buffer.
+
+    auto begin = buffer;
+    // auto begin = _buffer.get();
+    // begin += WriteSizeToBuffer(begin, buffer_size);
     for (const auto &image : images) {
       begin += WriteSizeToBuffer(begin, image.width);
       begin += WriteSizeToBuffer(begin, image.height);
       begin += WriteSizeToBuffer(begin, image.type);
       begin += WriteImageToBuffer(begin, image);
     }
-    DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
+    DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
+    // DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
+    return buffer_size;
   }
 
-  void ImagesMessage::Reset(const uint32_t count) {
-    if (_capacity < count) {
-      log_info("allocating image buffer of", count, "bytes");
-      _buffer = std::make_unique<unsigned char[]>(count);
-      _capacity = count;
-    }
-    _size = count;
-  }
+  // void ImagesMessage::Reset(const uint32_t count) {
+  //   if (_capacity < count) {
+  //     log_info("allocating image buffer of", count, "bytes");
+  //     _buffer = std::make_unique<unsigned char[]>(count);
+  //     _capacity = count;
+  //   }
+  //   _size = count;
+  // }
 
 } // namespace server
 } // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.h b/Util/CarlaServer/source/carla/server/ImagesMessage.h
index 0336d326f..27052d211 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.h
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.h
@@ -37,21 +37,26 @@ namespace server {
     ///
     /// @note The expected usage of this class is to mantain a constant size
     /// buffer of images, so memory allocation occurs only once.
-    void Write(const_array_view<carla_image> images);
+    size_t Write(
+      const_array_view<carla_image> images,
+      unsigned char *buffer
+    );
 
-    const_buffer buffer() const {
-      return boost::asio::buffer(_buffer.get(), _size);
-    }
+    size_t GetSize(const_array_view<carla_image> images);
+
+    // const_buffer buffer() const {
+    //   return boost::asio::buffer(_buffer.get(), _size);
+    // }
 
   private:
 
-    void Reset(uint32_t count);
-
-    std::unique_ptr<unsigned char[]> _buffer = nullptr;
-
-    uint32_t _size = 0u;
-
-    uint32_t _capacity = 0u;
+    // void Reset(uint32_t count);
+    //
+    // std::unique_ptr<unsigned char[]> _buffer = nullptr;
+    //
+    // uint32_t _size = 0u;
+    //
+    // uint32_t _capacity = 0u;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
index 9257d4921..b3c1b2b01 100644
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
@@ -2,6 +2,7 @@
 #include "carla/server/LidarMeasurementsMessage.h"
 
 #include <cstring>
+#include <iostream>
 
 #include "carla/Debug.h"
 #include "carla/Logging.h"
@@ -14,22 +15,19 @@ namespace server {
   }
 
   static size_t GetSizeOfLidarPoints(const carla_lidar_measurement& lidar_measurement) {
-    size_t total = 0u;
-    total += sizeof(uint32_t) * lidar_measurement.channels_count;
     size_t total_points = 0;
     for(int i=0; i<lidar_measurement.channels_count; i++)
     {
       total_points += lidar_measurement.points_count_by_channel[i];
     }
-    total += sizeof(total_points) * 3 * sizeof(float);
-    return total;
+    return total_points * 3 * sizeof(double);
   }
 
   static size_t GetSizeOfBuffer(const_array_view<carla_lidar_measurement> lidar_measurements) {
     size_t total = 0u;
     for (const auto &lidar_measurement : lidar_measurements) {
-      total += sizeof(float); // horizontal_angle
-      total += sizeof(uint32_t); // channels_count
+      total += sizeof(double); // horizontal_angle
+      total += 2 * sizeof(uint32_t); // type_of_the_message, channels_count
       total += GetSizeOfLidarPointsCounts(lidar_measurement);
       total += GetSizeOfLidarPoints(lidar_measurement);
     }
@@ -41,43 +39,57 @@ namespace server {
     return sizeof(uint32_t);
   }
 
-  static size_t WriteFloatToBuffer(unsigned char *buffer, float val) {
-    std::memcpy(buffer, &val, sizeof(float));
-    return sizeof(float);
+  static size_t WriteDoubleToBuffer(unsigned char *buffer, double val) {
+    std::memcpy(buffer, &val, sizeof(double));
+    return sizeof(double);
   }
 
   static size_t WriteLidarMeasurementToBuffer(unsigned char *buffer, const carla_lidar_measurement &lidar_measurement) {
+    const auto points_counts_size = GetSizeOfLidarPointsCounts(lidar_measurement);
+    std::cout << "--- points_counts_size: " << points_counts_size << std::endl;
     const auto points_size = GetSizeOfLidarPoints(lidar_measurement);
-    const auto points_counts_size = GetSizeOfLidarPoints(lidar_measurement);
+    std::cout << "--- points_size: " << points_size << std::endl;
     DEBUG_ASSERT(lidar_measurement.points_count_by_channel != nullptr);
     DEBUG_ASSERT(lidar_measurement.data != nullptr);
     std::memcpy(buffer, lidar_measurement.points_count_by_channel, points_counts_size);
-    std::memcpy(buffer, lidar_measurement.data, points_size);
+    std::memcpy(buffer + points_counts_size, lidar_measurement.data, points_size);
     return points_counts_size + points_size;
   }
 
-  void LidarMeasurementsMessage::Write(const_array_view<carla_lidar_measurement> lidar_measurements) {
-    const size_t buffer_size = GetSizeOfBuffer(lidar_measurements);
-    Reset(sizeof(uint32_t) + buffer_size); // header + buffer.
+  size_t LidarMeasurementsMessage::GetSize(const_array_view<carla_lidar_measurement> lidar_measurements) {
+    return GetSizeOfBuffer(lidar_measurements);
+  }
 
-    auto begin = _buffer.get();
-    begin += WriteIntToBuffer(begin, buffer_size);
+  size_t LidarMeasurementsMessage::Write(
+    const_array_view<carla_lidar_measurement> lidar_measurements,
+    unsigned char *buffer
+  ) {
+    long buffer_size = GetSizeOfBuffer(lidar_measurements);
+    // Reset(sizeof(uint32_t) + buffer_size); // header + buffer
+    std::cout << "--- buffer size: " << buffer_size << std::endl;
+
+    auto begin = buffer;
+    // auto begin = _buffer.get();
+    // begin += WriteIntToBuffer(begin, buffer_size);
     for (const auto &lidar_measurement : lidar_measurements) {
-      begin += WriteFloatToBuffer(begin, lidar_measurement.horizontal_angle);
+      begin += WriteDoubleToBuffer(begin, lidar_measurement.horizontal_angle);
+      begin += WriteIntToBuffer(begin, 10); // type of lidar message
       begin += WriteIntToBuffer(begin, lidar_measurement.channels_count);
       begin += WriteLidarMeasurementToBuffer(begin, lidar_measurement);
     }
-    DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
+    DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
+    // DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
+    return buffer_size;
   }
 
-  void LidarMeasurementsMessage::Reset(const uint32_t count) {
-    if (_capacity < count) {
-      log_info("allocating image buffer of", count, "bytes");
-      _buffer = std::make_unique<unsigned char[]>(count);
-      _capacity = count;
-    }
-    _size = count;
-  }
+  // void LidarMeasurementsMessage::Reset(const uint32_t count) {
+  //   if (_capacity < count) {
+  //     log_info("allocating image buffer of", count, "bytes");
+  //     _buffer = std::make_unique<unsigned char[]>(count);
+  //     _capacity = count;
+  //   }
+  //   _size = count;
+  // }
 
 } // namespace server
 } // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
index b8d4ac38f..44f132ae1 100644
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
@@ -32,21 +32,26 @@ namespace server {
     ///
     /// @note The expected usage of this class is to mantain a constant size
     /// buffer of images, so memory allocation occurs only once.
-    void Write(const_array_view<carla_lidar_measurement> lidar_measurements);
+    size_t Write(
+      const_array_view<carla_lidar_measurement> lidar_measurements,
+      unsigned char *buffer
+    );
 
-    const_buffer buffer() const {
-      return boost::asio::buffer(_buffer.get(), _size);
-    }
+    size_t GetSize(const_array_view<carla_lidar_measurement> lidar_measurements);
+
+    // const_buffer buffer() const {
+    //   return boost::asio::buffer(_buffer.get(), _size);
+    // }
 
   private:
 
-    void Reset(uint32_t count);
-
-    std::unique_ptr<unsigned char[]> _buffer = nullptr;
-
-    uint32_t _size = 0u;
-
-    uint32_t _capacity = 0u;
+    // void Reset(uint32_t count);
+    //
+    // std::unique_ptr<unsigned char[]> _buffer = nullptr;
+    //
+    // uint32_t _size = 0u;
+    //
+    // uint32_t _capacity = 0u;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp
new file mode 100644
index 000000000..5672d564f
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp
@@ -0,0 +1,22 @@
+
+#include "carla/server/MeasurementsMessage.h"
+
+#include <cstring>
+
+#include "carla/Debug.h"
+#include "carla/Logging.h"
+
+namespace carla {
+namespace server {
+
+void MeasurementsMessage::Reset(const uint32_t count) {
+  if (_capacity < count) {
+    log_info("allocating image buffer of", count, "bytes");
+    _buffer = std::make_unique<unsigned char[]>(count);
+    _capacity = count;
+  }
+  _size = count;
+}
+
+}
+}
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
index b9293a784..539293287 100644
--- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
@@ -22,22 +22,38 @@ namespace server {
         const carla_measurements &measurements,
         const_array_view<carla_image> images,
         const_array_view<carla_lidar_measurement> lidar_measurements) {
+
       _measurements.Write(measurements);
-      _images.Write(images);
-      _lidar_measurements.Write(lidar_measurements);
+
+      uint32_t buffer_size = _images.GetSize(images) + _lidar_measurements.GetSize(lidar_measurements);
+      Reset(sizeof(uint32_t) + buffer_size); // header + buffer
+      auto begin = _buffer.get();
+      std::memcpy(begin, &buffer_size, sizeof(uint32_t));
+      begin += sizeof(uint32_t);
+
+      begin += _images.Write(images, begin);
+      _lidar_measurements.Write(lidar_measurements, begin);
     }
 
     const carla_measurements &measurements() const {
       return _measurements.measurements();
     }
 
-    const_buffer images() const {
-      return _images.buffer();
+    const_buffer buffer() const {
+      return boost::asio::buffer(_buffer.get(), _size);
     }
 
-    const_buffer lidar_measurements() const {
-      return _lidar_measurements.buffer();
-    }
+    // const_buffer images() const {
+    //   return _images.buffer();
+    // }
+
+    // const_buffer lidar_measurements() const {
+    //   return _lidar_measurements.buffer();
+    // }
+
+  protected:
+
+    void Reset(uint32_t count);
 
   private:
 
@@ -46,6 +62,12 @@ namespace server {
     ImagesMessage _images;
 
     LidarMeasurementsMessage _lidar_measurements;
+
+    std::unique_ptr<unsigned char[]> _buffer = nullptr;
+
+    uint32_t _size = 0u;
+
+    uint32_t _capacity = 0u;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index 9ba427a63..735884f03 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -57,7 +57,7 @@ TEST(CarlaServerAPI, SimBlocking) {
   };
 
   const uint32_t points_count_by_channel[32] = {1u};
-  const float lidar_data[32 * 3] = {1};
+  const double lidar_data[32 * 3] = {1};
   const carla_lidar_measurement lidar_measurements[] = {
     {10, 32, points_count_by_channel, lidar_data}
   };

From 6d9ed1e9351797d06d91d575dedd460fc27f64ba Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Mon, 4 Dec 2017 18:06:01 +0300
Subject: [PATCH 009/108] lidar done, before merge master

---
 PythonClient/CarlaSettings.ini                |  4 +--
 PythonClient/carla/datastream.py              | 30 +++--------------
 PythonClient/carla_manual_control.py          | 21 ++++++++++++
 .../Carla/Source/Carla/Game/CarlaServer.cpp   | 32 +++---------------
 .../Plugins/Carla/Source/Carla/Lidar.cpp      | 33 +------------------
 .../Plugins/Carla/Source/Carla/Lidar.h        |  2 --
 .../Plugins/Carla/Source/Carla/LidarLaser.cpp | 18 +++++-----
 .../Plugins/Carla/Source/Carla/LidarLaser.h   |  3 --
 .../Source/Carla/Settings/LidarDescription.h  | 17 ----------
 .../source/carla/server/CarlaServer.cpp       |  3 +-
 .../source/carla/server/ImagesMessage.cpp     | 13 --------
 .../source/carla/server/ImagesMessage.h       | 20 -----------
 .../carla/server/LidarMeasurementsMessage.cpp | 17 ----------
 .../carla/server/LidarMeasurementsMessage.h   | 31 -----------------
 .../source/carla/server/MeasurementsMessage.h | 14 ++++----
 .../source/test/Test_CarlaServer.cpp          |  1 -
 .../source/test/Test_TCPServer.cpp            |  2 --
 17 files changed, 51 insertions(+), 210 deletions(-)

diff --git a/PythonClient/CarlaSettings.ini b/PythonClient/CarlaSettings.ini
index 506f34182..50a1939d6 100644
--- a/PythonClient/CarlaSettings.ini
+++ b/PythonClient/CarlaSettings.ini
@@ -42,7 +42,7 @@ Channels = 32
 ; Measure distance
 Range = 5000
 ; Points generated by all lasers per second
-PointsPerSecond = 56000
+PointsPerSecond = 100000
 ; Lidar rotation frequency
 RotationFrequency = 10
 ;  Upper laser angle, counts from horizontal,
@@ -58,6 +58,6 @@ LidarPositionX = 0
 LidarPositionY = 0
 LidarPositionZ = 250
 ; Rotation relative to the player.
-LidarRotationPitch = -10
+LidarRotationPitch = 0
 LidarRotationRoll = 0
 LidarRotationYaw = 0
diff --git a/PythonClient/carla/datastream.py b/PythonClient/carla/datastream.py
index 3e2d6fc0f..40f4cb876 100644
--- a/PythonClient/carla/datastream.py
+++ b/PythonClient/carla/datastream.py
@@ -98,20 +98,17 @@ class DataStream(object):
         pointer +=4
         channels_count = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
         pointer +=4
-        print('--- pointcloud {} {}'.format(horizontal_angle, channels_count))
 
         points_count_by_channel_size = channels_count * 4
         points_count_by_channel_bytes = imagedata[pointer:(pointer + points_count_by_channel_size)]
         points_count_by_channel = np.frombuffer(points_count_by_channel_bytes, dtype=np.dtype('uint32'))
         pointer += points_count_by_channel_size
-        print('--- points counts {} {}'.format(points_count_by_channel_size, points_count_by_channel))
 
         points_in_one_channel = points_count_by_channel[0]
         points_size = channels_count * points_in_one_channel * 3 * 8
         points = np.frombuffer(imagedata[pointer:(pointer + points_size)], dtype='float')
         points = np.reshape(points, (channels_count, points_in_one_channel, 3))
         pointer += points_size
-        print('--- points {} {}'.format(points_size, points))
 
         lidar_measurement = {
             'horizontal_angle' : horizontal_angle,
@@ -120,26 +117,6 @@ class DataStream(object):
             'points' : points
         }
 
-        # points = []
-        # for points_count in points_count_by_channel.tolist():
-        #     points_size = points_count * 8
-        #     points.append(np.frombuffer(image_bytes[pointer: (pointer + points_size)], dtype='float'))
-
-        # image_size = width*height*4
-        #
-        # image_bytes = imagedata[pointer:(pointer+image_size)]
-        #
-        #
-        # dt = np.dtype("uint8")
-        #
-        # new_image =np.frombuffer(image_bytes,dtype=dt)
-        #
-        # new_image = np.reshape(new_image,(self._image_y,self._image_x,4)) # TODO: make this generic
-        #
-        # pointer += image_size
-
-
-
         return lidar_measurement, im_type, pointer
 
 
@@ -183,11 +160,12 @@ class DataStream(object):
 
         meas_dict.update({'Labels':[]})
 
+        meas_dict.update({'Lidars':[]})
+
 
         pointer = 0
         while pointer < len(imagedata):
             im_type = self._read_data_type(imagedata, pointer)
-            print('--- image type: {}'.format(im_type))
             if im_type == 0:
 
                 image,im_type,pointer = self._read_image(imagedata,pointer)
@@ -210,8 +188,8 @@ class DataStream(object):
                 logging.debug("RECEIVED scene_seg")
             if im_type == 10:
 
-                image,im_type,pointer = self._read_lidar_measurement(imagedata,pointer)
-                # meas_dict['Labels'].append(image)
+                lidar_measurement,im_type,pointer = self._read_lidar_measurement(imagedata,pointer)
+                meas_dict['Lidars'].append(lidar_measurement)
                 logging.debug("RECEIVED lidar_measurement")
 
         meas_dict.update({'WallTime':measurements.platform_timestamp})
diff --git a/PythonClient/carla_manual_control.py b/PythonClient/carla_manual_control.py
index 11e50e0db..d75bf8968 100755
--- a/PythonClient/carla_manual_control.py
+++ b/PythonClient/carla_manual_control.py
@@ -183,6 +183,7 @@ class App(object):
         self.img_vec = measurements['BGRA']
         self.depth_vec = measurements['Depth']
         self.labels_vec = measurements['Labels']
+        self.lidars_vec = measurements['Lidars']
 
         if time.time() - self.prev_time > 1.:
             message = 'Step {step} ({fps:.1f} FPS): '
@@ -252,6 +253,26 @@ class App(object):
             self._display_surf.blit(surface, (x_pos, auxImgYPos))
             x_pos += f
 
+        if self.lidars_vec:
+
+            lidar_data = np.array(self.lidars_vec[0]['points'][:, :, :2])
+            lidar_data /= 50.0
+            lidar_data += 100.0
+            lidar_data = np.fabs(lidar_data)
+            lidar_data = lidar_data.astype(np.int32)
+            lidar_data = np.reshape(lidar_data, (-1, 2))
+            #draw lidar
+            lidar_img_size = (200, 200, 3)
+            lidar_img = np.zeros(lidar_img_size)
+            lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
+            surface = pygame.surfarray.make_surface(
+                lidar_img
+            )
+            # surface = pygame.transform.scale(surface, (200, 200))
+            self._display_surf.blit(surface, (10, 10))
+
+
+
         pygame.display.flip()
 
     def on_cleanup(self):
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 50acbf3b8..461abe4bd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -92,30 +92,6 @@ static void Set(
   carla_lidar_measurement_data &cLidarMeasurementData)
 {
 
-  cLidarMeasurement.horizontal_angle = 0;
-  cLidarMeasurement.channels_count = 32;
-  cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
-  for(int i=0; i<cLidarMeasurement.channels_count; i++)
-  {
-    cLidarMeasurementData.points_count_by_channel[i] = 2;
-  }
-  cLidarMeasurementData.points = MakeUnique<double[]>(3 * 32 * 2);
-  size_t points_filled = 0;
-  for(int i=0; i<cLidarMeasurement.channels_count; i++)
-  {
-    size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
-    for(int pi=0; pi<points_count; pi++)
-    {
-      cLidarMeasurementData.points[3 * pi + 3 * points_filled] = 1 + 3 * pi;
-      cLidarMeasurementData.points[3 * pi + 1 + 3 * points_filled] = 2 + 3 * pi;
-      cLidarMeasurementData.points[3 * pi + 2 + 3 * points_filled] = 3 + 3 * pi;
-    }
-    points_filled += points_count;
-  }
-  cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
-  cLidarMeasurement.data = cLidarMeasurementData.points.Get();
-  return;
-
   if (uLidarSegment.LidarLasersSegments.Num() > 0) {
 
     cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
@@ -130,16 +106,18 @@ static void Set(
       total_points += points_count;
     }
     cLidarMeasurementData.points = MakeUnique<double[]>(3 * total_points);
+    size_t points_filled = 0;
     for(int i=0; i<cLidarMeasurement.channels_count; i++)
     {
       size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
       auto& laser_points = uLidarSegment.LidarLasersSegments[i].Points;
       for(int pi=0; pi<points_count; pi++)
       {
-        cLidarMeasurementData.points[pi] = laser_points[pi].X;
-        cLidarMeasurementData.points[pi + 1] = laser_points[pi].Y;
-        cLidarMeasurementData.points[pi + 2] = laser_points[pi].Z;
+        cLidarMeasurementData.points[3 * (pi + points_filled)] = laser_points[pi].X;
+        cLidarMeasurementData.points[3 * (pi + points_filled) + 1] = laser_points[pi].Y;
+        cLidarMeasurementData.points[3 * (pi + points_filled) + 2] = laser_points[pi].Z;
       }
+      points_filled += points_count;
     }
 
     cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
index 1c290a9e5..824adb5f9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
@@ -23,22 +23,6 @@ ALidar::ALidar()
 
 void ALidar::Set(const FLidarDescription &LidarDescription)
 {
-  // UE_LOG(LogCarla, Log, TEXT("--- Lidar settings --------------------------"));
-  // UE_LOG(LogCarla, Log, TEXT("pos x %f"), LidarDescription.Position.X);
-  // UE_LOG(LogCarla, Log, TEXT("pos y %f"), LidarDescription.Position.Y);
-  // UE_LOG(LogCarla, Log, TEXT("pos z %f"), LidarDescription.Position.Z);
-  // UE_LOG(LogCarla, Log, TEXT("rot p %f"), LidarDescription.Rotation.Pitch);
-  // UE_LOG(LogCarla, Log, TEXT("rot r %f"), LidarDescription.Rotation.Roll);
-  // UE_LOG(LogCarla, Log, TEXT("rot y %f"), LidarDescription.Rotation.Yaw);
-  //
-  // UE_LOG(LogCarla, Log, TEXT("ch %d"), LidarDescription.Channels);
-  // UE_LOG(LogCarla, Log, TEXT("r %f"), LidarDescription.Range);
-  // UE_LOG(LogCarla, Log, TEXT("pts %f"), LidarDescription.PointsPerSecond);
-  // UE_LOG(LogCarla, Log, TEXT("freq %f"), LidarDescription.RotationFrequency);
-  // UE_LOG(LogCarla, Log, TEXT("upper l %f"), LidarDescription.UpperFovLimit);
-  // UE_LOG(LogCarla, Log, TEXT("lower l %f"), LidarDescription.LowerFovLimit);
-  // UE_LOG(LogCarla, Log, TEXT("d %d"), LidarDescription.ShowDebugPoints?1:0);
-
   Channels = LidarDescription.Channels;
 	Range = LidarDescription.Range;
 	PointsPerSecond = LidarDescription.PointsPerSecond;
@@ -66,25 +50,11 @@ void ALidar::BeginPlay()
 	Super::BeginPlay();
 }
 
-// Called every frame
-// void ALidar::Tick(float DeltaTime)
-// {
-// 	Super::Tick(DeltaTime);
-// }
-
 void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
 {
-    // UE_LOG(LogCarla, Log, TEXT("--- Lidar tick %d"), ShowDebugPoints?1:0);
-    // FVector LidarBodyLoc = RootComponent->GetComponentLocation();
-    // UE_LOG(LogCarla, Log, TEXT("--- location: %f %f %f"), lidar_body_loc.X, lidar_body_loc.Y, lidar_body_loc.Z);
-    // UE_LOG(LogCarla, Log, TEXT("--- actor rotation: %s"), *GetActorRotation().ToString());
-    // UE_LOG(LogCarla, Log, TEXT("---  root rotation: %s"), *RootComponent->GetComponentRotation().ToString());
-
   	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
-  	// float HorizontalAngle = CurrentHorizontalAngle;
 
   	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
-  	// PrintString(FString::Printf(TEXT("tick %f %f %d"), DeltaTime, angle_distance_of_tick, points_to_scan_with_one_laser));
   	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
     LidarSegmentData.LidarLasersSegments.Empty();
@@ -107,7 +77,6 @@ void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData
   		}
   	}
 
-  	// lidar_body_->AddLocalRotation(FRotator(0, angle_distance_of_tick, 0), false);
-  	CurrentHorizontalAngle += AngleDistanceOfTick;
+  	CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
     LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
index d7f22fa63..9b4b1b007 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
@@ -30,8 +30,6 @@ protected:
   void CreateLasers();
 
 public:
-	// Called every frame
-	// virtual void Tick(float DeltaTime) override;
 
   /** Capture lidar segment points produced by DeltaTime */
   void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
index 4bf844f39..803273860 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
@@ -21,22 +21,18 @@ bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, boo
 
 	FVector LidarBodyLoc = Lidar->GetActorLocation();
   FRotator LidarBodyRot = Lidar->GetActorRotation();
-	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);
-  // float InPitch, float InYaw, float InRoll
+	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
   FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
     LaserRot,
-    // UKismetMathLibrary::ComposeRotators(
-    //   FRotator(25, 0, 0),
-      LidarBodyRot
-    // )
-  ); //up, no change, no change
+    LidarBodyRot
+  );
 	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
 
 	Lidar->GetWorld()->LineTraceSingleByChannel(
 		HitInfo,
 		LidarBodyLoc,
 		EndTrace,
-		ECC_Visibility,
+		ECC_MAX,
 		TraceParams,
 		FCollisionResponseParams::DefaultResponseParam
 	);
@@ -56,9 +52,15 @@ bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, boo
     }
 
     XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
+    XYZ = UKismetMathLibrary::RotateAngleAxis(
+      XYZ,
+      - LidarBodyRot.Yaw + 90,
+      FVector(0, 0, 1)
+    );
 
 		return true;
 	} else {
+    XYZ = FVector(0, 0, 0);
 		return false;
 	}
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
index c7773f1cd..511870803 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
@@ -6,9 +6,6 @@
 
 class ALidar;
 
-/**
- *
- */
 class CARLA_API LidarLaser
 {
 public:
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index 9a9c88364..f1a39c231 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -51,20 +51,3 @@ struct FLidarDescription
   UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)
   FRotator Rotation = {0.0f, 0.0f, 0.0f};
 };
-
-// Parameters of known lidars
-
-// Velodyne HDL-32E
-// +/- 2 cm accuracy
-// 32 Channels
-// 80m-100m Range
-// 700,000 Points per Second
-// 360° Horizontal FOV
-// +10° to -30° Vertical FOV
-
-// Velodyne VLP-16
-// 16 Channels
-// 100m Range
-// 300,000 Points per Second
-// 360° Horizontal FOV
-// +/- 15° Vertical FOV
diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.cpp b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
index 55c04f893..a86a1b05b 100644
--- a/Util/CarlaServer/source/carla/server/CarlaServer.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
@@ -132,6 +132,7 @@ int32_t carla_write_measurements(
     return agent->WriteMeasurements(
         values,
         carla::const_array_view<carla_image>(images, number_of_images),
-        carla::const_array_view<carla_lidar_measurement>(lidar_measurements, number_of_lidar_measurements)).value();
+        carla::const_array_view<carla_lidar_measurement>(lidar_measurements, number_of_lidar_measurements)
+      ).value();
   }
 }
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
index bb8a00dad..4bf732452 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
@@ -44,11 +44,8 @@ namespace server {
     unsigned char *buffer
   ) {
     long buffer_size = GetSizeOfBuffer(images);
-    // Reset(sizeof(uint32_t) + buffer_size); // header + buffer.
 
     auto begin = buffer;
-    // auto begin = _buffer.get();
-    // begin += WriteSizeToBuffer(begin, buffer_size);
     for (const auto &image : images) {
       begin += WriteSizeToBuffer(begin, image.width);
       begin += WriteSizeToBuffer(begin, image.height);
@@ -56,18 +53,8 @@ namespace server {
       begin += WriteImageToBuffer(begin, image);
     }
     DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
-    // DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
     return buffer_size;
   }
 
-  // void ImagesMessage::Reset(const uint32_t count) {
-  //   if (_capacity < count) {
-  //     log_info("allocating image buffer of", count, "bytes");
-  //     _buffer = std::make_unique<unsigned char[]>(count);
-  //     _capacity = count;
-  //   }
-  //   _size = count;
-  // }
-
 } // namespace server
 } // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.h b/Util/CarlaServer/source/carla/server/ImagesMessage.h
index 27052d211..078df93b7 100644
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.h
+++ b/Util/CarlaServer/source/carla/server/ImagesMessage.h
@@ -31,32 +31,12 @@ namespace server {
   class ImagesMessage : private NonCopyable {
   public:
 
-    /// Allocates a new buffer if the capacity is not enough to hold the images,
-    /// but it does not allocate a smaller one if the capacity is greater than
-    /// the size of the images.
-    ///
-    /// @note The expected usage of this class is to mantain a constant size
-    /// buffer of images, so memory allocation occurs only once.
     size_t Write(
       const_array_view<carla_image> images,
       unsigned char *buffer
     );
 
     size_t GetSize(const_array_view<carla_image> images);
-
-    // const_buffer buffer() const {
-    //   return boost::asio::buffer(_buffer.get(), _size);
-    // }
-
-  private:
-
-    // void Reset(uint32_t count);
-    //
-    // std::unique_ptr<unsigned char[]> _buffer = nullptr;
-    //
-    // uint32_t _size = 0u;
-    //
-    // uint32_t _capacity = 0u;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
index b3c1b2b01..4e2717bbe 100644
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
@@ -2,7 +2,6 @@
 #include "carla/server/LidarMeasurementsMessage.h"
 
 #include <cstring>
-#include <iostream>
 
 #include "carla/Debug.h"
 #include "carla/Logging.h"
@@ -46,9 +45,7 @@ namespace server {
 
   static size_t WriteLidarMeasurementToBuffer(unsigned char *buffer, const carla_lidar_measurement &lidar_measurement) {
     const auto points_counts_size = GetSizeOfLidarPointsCounts(lidar_measurement);
-    std::cout << "--- points_counts_size: " << points_counts_size << std::endl;
     const auto points_size = GetSizeOfLidarPoints(lidar_measurement);
-    std::cout << "--- points_size: " << points_size << std::endl;
     DEBUG_ASSERT(lidar_measurement.points_count_by_channel != nullptr);
     DEBUG_ASSERT(lidar_measurement.data != nullptr);
     std::memcpy(buffer, lidar_measurement.points_count_by_channel, points_counts_size);
@@ -65,12 +62,8 @@ namespace server {
     unsigned char *buffer
   ) {
     long buffer_size = GetSizeOfBuffer(lidar_measurements);
-    // Reset(sizeof(uint32_t) + buffer_size); // header + buffer
-    std::cout << "--- buffer size: " << buffer_size << std::endl;
 
     auto begin = buffer;
-    // auto begin = _buffer.get();
-    // begin += WriteIntToBuffer(begin, buffer_size);
     for (const auto &lidar_measurement : lidar_measurements) {
       begin += WriteDoubleToBuffer(begin, lidar_measurement.horizontal_angle);
       begin += WriteIntToBuffer(begin, 10); // type of lidar message
@@ -78,18 +71,8 @@ namespace server {
       begin += WriteLidarMeasurementToBuffer(begin, lidar_measurement);
     }
     DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
-    // DEBUG_ASSERT(std::distance(_buffer.get(), begin) == _size);
     return buffer_size;
   }
 
-  // void LidarMeasurementsMessage::Reset(const uint32_t count) {
-  //   if (_capacity < count) {
-  //     log_info("allocating image buffer of", count, "bytes");
-  //     _buffer = std::make_unique<unsigned char[]>(count);
-  //     _capacity = count;
-  //   }
-  //   _size = count;
-  // }
-
 } // namespace server
 } // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
index 44f132ae1..919bf3a17 100644
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
@@ -12,46 +12,15 @@
 namespace carla {
 namespace server {
 
-  /// Encodes the given images as binary array to be sent to the client.
-  ///
-  /// The message consists of an array of uint32's in the following layout
-  ///
-  ///    {
-  ///      total size,
-  ///      width, height, type, color[0], color[1],...,     <- first image
-  ///      width, height, type, color[0], color[1],...,     <- second image
-  ///      ...
-  ///    }
-  ///
   class LidarMeasurementsMessage : private NonCopyable {
   public:
 
-    /// Allocates a new buffer if the capacity is not enough to hold the images,
-    /// but it does not allocate a smaller one if the capacity is greater than
-    /// the size of the images.
-    ///
-    /// @note The expected usage of this class is to mantain a constant size
-    /// buffer of images, so memory allocation occurs only once.
     size_t Write(
       const_array_view<carla_lidar_measurement> lidar_measurements,
       unsigned char *buffer
     );
 
     size_t GetSize(const_array_view<carla_lidar_measurement> lidar_measurements);
-
-    // const_buffer buffer() const {
-    //   return boost::asio::buffer(_buffer.get(), _size);
-    // }
-
-  private:
-
-    // void Reset(uint32_t count);
-    //
-    // std::unique_ptr<unsigned char[]> _buffer = nullptr;
-    //
-    // uint32_t _size = 0u;
-    //
-    // uint32_t _capacity = 0u;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
index 539293287..45a031058 100644
--- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
@@ -18,6 +18,12 @@ namespace server {
   class MeasurementsMessage : private NonCopyable {
   public:
 
+    /// Allocates a new buffer if the capacity is not enough to hold the images and
+    /// lidar measurements, but it does not allocate a smaller one if the capacity is
+    /// greater than the size of the images.
+    ///
+    /// @note The expected usage of this class is to mantain a constant size
+    /// buffer of images, so memory allocation occurs only once.
     void Write(
         const carla_measurements &measurements,
         const_array_view<carla_image> images,
@@ -43,14 +49,6 @@ namespace server {
       return boost::asio::buffer(_buffer.get(), _size);
     }
 
-    // const_buffer images() const {
-    //   return _images.buffer();
-    // }
-
-    // const_buffer lidar_measurements() const {
-    //   return _lidar_measurements.buffer();
-    // }
-
   protected:
 
     void Reset(uint32_t count);
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index 735884f03..6f49be215 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -1,6 +1,5 @@
 #include <atomic>
 #include <future>
-#include <iostream>
 
 #include <gtest/gtest.h>
 
diff --git a/Util/CarlaServer/source/test/Test_TCPServer.cpp b/Util/CarlaServer/source/test/Test_TCPServer.cpp
index ef33951c7..26dd5a395 100644
--- a/Util/CarlaServer/source/test/Test_TCPServer.cpp
+++ b/Util/CarlaServer/source/test/Test_TCPServer.cpp
@@ -1,5 +1,3 @@
-#include <iostream>
-
 #include <future>
 
 #include <gtest/gtest.h>

From e1792e02f7f65e03a60c01f0b96f64b4b1b4bf73 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Mon, 4 Dec 2017 17:52:59 +0100
Subject: [PATCH 010/108] Some optimization on the point cloud

---
 PythonClient/carla/image_converter.py |  34 +++++---
 PythonClient/point_cloud_example.py   | 108 ++++++++++++++++++++------
 2 files changed, 108 insertions(+), 34 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index b62220787..e8c3d2b31 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -107,29 +107,39 @@ def depth_to_logarithmic_grayscale(image):
     return numpy.repeat(logdepth[:, :, numpy.newaxis], 3, axis=2)
 
 
-def depth_to_local_point_cloud(image, fov):
+def depth_to_local_point_cloud(image):
     """
     Convert an image containing CARLA encoded depth-map to a 2D array containing
     the 3D position (relative to the camera) of each pixel.
     """
     far = 1000.0
     normalized_depth = depth_to_array(image)
+
     # (Intrinsic) K Matrix
     k = numpy.identity(3)
     k[0, 2] = image.width / 2.0
     k[1, 2] = image.height / 2.0
-    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(fov * math.pi / 360.0))
+    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(image.fov * math.pi / 360.0))
+
     # 2d pixel coordinates
     pixel_length = image.width * image.height
-    u = repmat(numpy.r_[image.width-1:-1:-1],
-               image.height, 1).reshape(pixel_length)
-    v = repmat(numpy.c_[image.height-1:-1:-1], 1,
-               image.width).reshape(pixel_length)
+    u_coord = repmat(numpy.r_[image.width-1:-1:-1], image.height, 1).reshape(pixel_length)
+    v_coord = repmat(numpy.c_[image.height-1:-1:-1], 1, image.width).reshape(pixel_length)
+    normalized_depth = numpy.reshape(normalized_depth, pixel_length)
+
+    # Search for sky pixels (where the depth is 1.0) to delete them
+    max_depth_indexes = numpy.where(normalized_depth == 1.0)
+    normalized_depth = numpy.delete(normalized_depth, max_depth_indexes)
+    u_coord = numpy.delete(u_coord, max_depth_indexes)
+    v_coord = numpy.delete(v_coord, max_depth_indexes)
+
     # pd2 = [u,v,1]
-    p2d = numpy.array([u, v, numpy.ones_like(u)])
+    p2d = numpy.array([u_coord, v_coord, numpy.ones_like(u_coord)])
+
     # P = [X,Y,Z]
-    p3d = numpy.dot(numpy.linalg.inv(k), p2d) * \
-        (normalized_depth.reshape(pixel_length) * far)
-    # Formating the output
-    p3d = numpy.transpose(p3d)
-    return p3d[:, numpy.newaxis, :].reshape((image.height, image.width, 3))
+    p3d = numpy.dot(numpy.linalg.inv(k), p2d)
+    p3d *= normalized_depth * far
+
+    # Formating the output to:
+    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
+    return numpy.transpose(p3d)
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 6b0aab1c4..c163f86fd 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -12,6 +12,8 @@ from __future__ import print_function
 
 import argparse
 import logging
+import math
+import numpy
 import os
 import random
 import sys
@@ -28,8 +30,10 @@ from carla.image_converter import depth_to_local_point_cloud
 def run_carla_client(host, port, save_images_to_disk, image_filename_format):
     # Here we will run 3 episodes with 300 frames each.
     number_of_frames = 300
-    fov = 70.0
     output_folder = '_out'
+    camera_local_pos = [30,0,130]
+    camera_local_rotation = [0,0,0]
+    fov = 70
 
     # We assume the CARLA server is already waiting for a client to connect at
     # host:port. To create a connection we can use the `make_carla_client`
@@ -49,47 +53,90 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
             NumberOfPedestrians=40,
             WeatherId=random.choice([1, 3, 7, 8, 14]))
         settings.randomize_seeds()
+
         camera1 = Camera('CameraDepth', PostProcessing='Depth', CameraFOV=fov)
         camera1.set_image_size(800, 600)
-        camera1.set_position(30, 0, 130)
+        camera1.set_position(*camera_local_pos)
+        camera1.set_rotation(*camera_local_rotation)
+
+        camera2 = Camera('CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov)
+        camera2.set_image_size(800, 600)
+        camera2.set_position(*camera_local_pos)
+        camera2.set_rotation(*camera_local_rotation)
+
         settings.add_sensor(camera1)
+        settings.add_sensor(camera2)
+
         scene = client.load_settings(settings)
 
         # Start at location index id '0'
         client.start_episode(0)
 
+        car_to_camera
+
         # Iterate every frame in the episode.
         for frame in range(0, number_of_frames):
+            print('Frame: {}'.format(frame))
 
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
 
+            t = StopWatch()
+            transform = measurements.player_measurements.transform
+
+            yaw = numpy.radians(transform.rotation.yaw)
+            roll = numpy.radians(transform.rotation.roll)
+            pitch = numpy.radians(transform.rotation.pitch)
+
+            yaw_matrix = numpy.matrix([
+                [math.cos(yaw), -math.sin(yaw), 0],
+                [math.sin(yaw), math.cos(yaw), 0],
+                [0, 0, 1]
+            ])
+
+            pitch_matrix = numpy.matrix([
+                [math.cos(pitch), 0, -math.sin(pitch)],
+                [0, 1, 0],
+                [math.sin(pitch), 0, math.cos(pitch)]
+            ])
+
+            roll_matrix = numpy.matrix([
+                [1, 0, 0],
+                [0, math.cos(roll), math.sin(roll)],
+                [0, -math.sin(roll), math.cos(roll)]
+            ])
+
+            rotation_matrix = yaw_matrix * pitch_matrix * roll_matrix
+
+            translation = numpy.matrix([
+                [transform.location.x],
+                [transform.location.y],
+                [transform.location.z]
+            ])
+
+            camera_rel_position = numpy.matrix([[camera_local_pos[0]], [camera_local_pos[1]], [camera_local_pos[2]]])
+
+            camera_world_position = (rotation_matrix * camera_rel_position) + translation
+            t.stop()
+            print('Rotation transformation took {:.0f} ms'.format(t.milliseconds()))
+
             # Save the images to disk if requested.
             if save_images_to_disk:
                 for name, image in sensor_data.items():
                     image.save_to_disk(
                         image_filename_format.format(episode, name, frame))
 
-            print('Frame: {}'.format(frame))
-
             t = StopWatch()
-            points3D = depth_to_local_point_cloud(
-                sensor_data['CameraDepth'], fov)
+            points3D = depth_to_local_point_cloud(sensor_data['CameraDepth'])
             t.stop()
-
             print('Transformation took {:.0f} ms'.format(t.milliseconds()))
 
             t = StopWatch()
-            num_pixels = sensor_data[
-                'CameraDepth'].width*sensor_data['CameraDepth'].height
-            pixel_array = points3D.reshape(num_pixels, 3)
-            ply = '\n'.join([' '.join(map(str, i)) for i in pixel_array])
-
+            ply = '\n'.join([' '.join(map(str, i)) for i in points3D])
             if not os.path.isdir(output_folder):
                 os.makedirs(output_folder)
-
             with open('{}/{:0>4}.ply'.format(output_folder, frame), 'w+') as f:
-                f.write(construct_ply_header(num_pixels) + ply)
+                f.write('\n'.join([construct_ply_header(len(points3D)), ply]))
             t.stop()
 
             print('Saving to disk took {:.2f} s'.format(t.seconds()))
@@ -99,14 +146,26 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
                 measurements.player_measurements.autopilot_control)
 
 
-def construct_ply_header(n_points):
-    return ('ply\n'
-            'format ascii 1.0\n'
-            'element vertex ' + str(n_points) + '\n'
-            'property float32 x\n'
-            'property float32 y\n'
-            'property float32 z\n'
-            'end_header\n')
+def construct_ply_header(points_number, colors=False):
+    header = ['ply',
+              'format ascii 1.0',
+              'element vertex {}',
+              'property float32 x',
+              'property float32 y',
+              'property float32 z',
+              'property uchar diffuse_red',
+              'property uchar diffuse_green',
+              'property uchar diffuse_blue',
+              'end_header']
+    if not colors:
+        return '\n'.join(header[0:6] + [header[-1]]).format(points_number)
+    return '\n'.join(header).format(points_number)
+
+'''
+property uchar diffuse_red
+property uchar diffuse_green
+property uchar diffuse_blue
+'''
 
 
 def main():
@@ -116,6 +175,11 @@ def main():
         action='store_true',
         dest='debug',
         help='print debug information')
+    argparser.add_argument(
+        '-c', '--color',
+        action='store_true',
+        default='SceneFinal',
+        help='Color for the point cloud')
     argparser.add_argument(
         '--host',
         metavar='H',

From 6c3fb2a74667190a7533c67cb1ecaa9a270c5d87 Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Tue, 5 Dec 2017 15:12:04 +0300
Subject: [PATCH 011/108] removed unused files

---
 PythonClient/CarlaSettings.ini       |  63 -----
 PythonClient/carla/datastream.py     | 267 --------------------
 PythonClient/carla_manual_control.py | 358 ---------------------------
 3 files changed, 688 deletions(-)
 delete mode 100644 PythonClient/CarlaSettings.ini
 delete mode 100644 PythonClient/carla/datastream.py
 delete mode 100755 PythonClient/carla_manual_control.py

diff --git a/PythonClient/CarlaSettings.ini b/PythonClient/CarlaSettings.ini
deleted file mode 100644
index 50a1939d6..000000000
--- a/PythonClient/CarlaSettings.ini
+++ /dev/null
@@ -1,63 +0,0 @@
-[CARLA/Server]
-UseNetworking=true
-SynchronousMode = false
-SendNonPlayerAgentsInfo= true
-
-[CARLA/LevelSettings]
-NumberOfVehicles=20
-NumberOfPedestrians=30
-WeatherId=3
-
-[CARLA/SceneCapture]
-Cameras=RGB,DepthMap,Labels
-ImageSizeX=800
-ImageSizeY=600
-CameraFOV=100
-CameraPositionX=200
-CameraPositionY=0
-CameraPositionZ=140
-CameraRotationPitch=-15.0
-CameraRotationRoll=0
-CameraRotationYaw=0
-Lidars=MyLidar
-
-[CARLA/SceneCapture/RGB]
-PostProcessing=SceneFinal
-CameraPositionY=0
-CameraRotationYaw=0
-
-[CARLA/SceneCapture/DepthMap]
-PostProcessing=Depth
-CameraPositionY=0
-CameraRotationYaw=0
-
-[CARLA/SceneCapture/Labels]
-PostProcessing=SemanticSegmentation
-CameraPositionY=0
-CameraRotationYaw=0
-
-[CARLA/SceneCapture/MyLidar]
-; Number of lasers
-Channels = 32
-; Measure distance
-Range = 5000
-; Points generated by all lasers per second
-PointsPerSecond = 100000
-; Lidar rotation frequency
-RotationFrequency = 10
-;  Upper laser angle, counts from horizontal,
-;  positive values means above horizontal line
-UpperFovLimit = 10
-;  Lower laser angle, counts from horizontal,
-;  negative values means under horizontal line
-LowerFovLimit = -30
-; wether to show debug points of laser hits in simulator
-ShowDebugPoints = false
-; Position relative to the player.
-LidarPositionX = 0
-LidarPositionY = 0
-LidarPositionZ = 250
-; Rotation relative to the player.
-LidarRotationPitch = 0
-LidarRotationRoll = 0
-LidarRotationYaw = 0
diff --git a/PythonClient/carla/datastream.py b/PythonClient/carla/datastream.py
deleted file mode 100644
index 40f4cb876..000000000
--- a/PythonClient/carla/datastream.py
+++ /dev/null
@@ -1,267 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB), and the INTEL Visual Computing Lab.
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""Basic CARLA client example."""
-
-
-import sys
-is_py2 = sys.version[0] == '2'
-if is_py2:
-    import Queue as Queue
-else:
-    import queue as Queue
-
-from threading import Thread
-import time
-import random
-from PIL import Image
-from .socket_util import *
-import io
-import sys
-import numpy as np
-import logging
-
-from .protoc import *
-
-
-
-
-
-def threaded(fn):
-    def wrapper(*args, **kwargs):
-        thread = Thread(target=fn, args=args, kwargs=kwargs)
-        thread.setDaemon(True)
-        thread.start()
-
-        return thread
-    return wrapper
-
-
-
-class DataStream(object):
-
-    def __init__(self,image_x=640,image_y=480):
-        self._data_buffer = Queue.Queue(1)
-        self._image_x = image_x
-        self._image_y = image_y
-
-        self._socket = 0
-        self._running = True
-
-
-
-    def _read_data_type(self, imagedata,pointer):
-        pointer += 4*2
-        data_type = struct.unpack('<L',imagedata[pointer:(pointer + 4)])[0]
-        return data_type
-
-    def _read_image(self,imagedata,pointer):
-
-
-        width = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
-
-        pointer +=4
-        height = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
-        pointer +=4
-        im_type = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
-        pointer +=4
-
-
-        image_size = width*height*4
-
-        image_bytes = imagedata[pointer:(pointer+image_size)]
-
-
-        dt = np.dtype("uint8")
-
-        new_image =np.frombuffer(image_bytes,dtype=dt)
-
-        new_image = np.reshape(new_image,(self._image_y,self._image_x,4)) # TODO: make this generic
-
-        pointer += image_size
-
-
-
-        return new_image,im_type,pointer
-
-
-    def _read_lidar_measurement(self, imagedata, pointer):
-
-        horizontal_angle = struct.unpack('<d',imagedata[pointer:(pointer+8)])[0]
-        pointer +=8
-        im_type = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
-        pointer +=4
-        channels_count = struct.unpack('<L',imagedata[pointer:(pointer+4)])[0]
-        pointer +=4
-
-        points_count_by_channel_size = channels_count * 4
-        points_count_by_channel_bytes = imagedata[pointer:(pointer + points_count_by_channel_size)]
-        points_count_by_channel = np.frombuffer(points_count_by_channel_bytes, dtype=np.dtype('uint32'))
-        pointer += points_count_by_channel_size
-
-        points_in_one_channel = points_count_by_channel[0]
-        points_size = channels_count * points_in_one_channel * 3 * 8
-        points = np.frombuffer(imagedata[pointer:(pointer + points_size)], dtype='float')
-        points = np.reshape(points, (channels_count, points_in_one_channel, 3))
-        pointer += points_size
-
-        lidar_measurement = {
-            'horizontal_angle' : horizontal_angle,
-            'channels_count' : channels_count,
-            'points_count_by_channel' : points_count_by_channel,
-            'points' : points
-        }
-
-        return lidar_measurement, im_type, pointer
-
-
-    def receive_data(self):
-
-        depths = []
-
-        #  First we get the message of the google protocol
-        capture_time = time.time()
-        try:
-            data  = get_message(self._socket)
-        except Exception:
-            if self._running:
-                logging.exception("Error on Datastream, Raise Again")
-                raise Exception
-            return [] # return something empty, since it is not running anymore
-
-
-        measurements = Measurements()
-        measurements.ParseFromString(data)
-
-        player_measures = measurements.player_measurements
-        non_player_agents = measurements.non_player_agents
-
-        try:
-            logging.debug(" Trying to get the image")
-            imagedata  = get_message(self._socket)
-        except Exception:
-            if self._running:
-                logging.exception("Error on Datastream, Raise Again")
-                raise Exception
-            return [] # return something empty, since it is not running anymore
-
-
-        meas_dict ={}
-        meas_dict.update({'RAW_BGRA':[]})
-
-        meas_dict.update({'BGRA':[]})
-
-        meas_dict.update({'Depth':[]})
-
-        meas_dict.update({'Labels':[]})
-
-        meas_dict.update({'Lidars':[]})
-
-
-        pointer = 0
-        while pointer < len(imagedata):
-            im_type = self._read_data_type(imagedata, pointer)
-            if im_type == 0:
-
-                image,im_type,pointer = self._read_image(imagedata,pointer)
-                meas_dict['RAW_BGRA'].append(image)
-                logging.debug("RECEIVED rgb_raw")
-            if im_type == 1:
-
-                image,im_type,pointer = self._read_image(imagedata,pointer)
-                meas_dict['BGRA'].append(image)
-                logging.debug("RECEIVED rgb")
-            if im_type == 2:
-
-                image,im_type,pointer = self._read_image(imagedata,pointer)
-                meas_dict['Depth'].append(image)
-                logging.debug("RECEIVED depht")
-            if im_type == 3:
-
-                image,im_type,pointer = self._read_image(imagedata,pointer)
-                meas_dict['Labels'].append(image)
-                logging.debug("RECEIVED scene_seg")
-            if im_type == 10:
-
-                lidar_measurement,im_type,pointer = self._read_lidar_measurement(imagedata,pointer)
-                meas_dict['Lidars'].append(lidar_measurement)
-                logging.debug("RECEIVED lidar_measurement")
-
-        meas_dict.update({'WallTime':measurements.platform_timestamp})
-
-        meas_dict.update({'GameTime':measurements.game_timestamp})
-
-        meas_dict.update({'PlayerMeasurements':player_measures})
-
-        meas_dict.update({'Agents':non_player_agents})
-
-        return meas_dict
-
-
-    def get_the_latest_data(self):
-
-        try:
-            data = self._data_buffer.get(timeout=20)
-
-        except Queue.Empty:
-            logging.exception("ERROR: No Data in 20 seconds, disconecting and reconecting from server ")
-            self._running = False
-            raise Queue.Empty
-
-        except Exception:
-            logging.exception("Other error on getting queue")
-            raise Exception
-
-        else:
-            self._data_buffer.task_done()
-
-            return data
-
-
-
-    def start(self,socket):
-
-        self._socket = socket
-
-        self.run()
-
-
-    def stop(self):
-
-        self._running = False
-
-        disconnect(self._socket)
-        self.clean()
-
-    # We clean the buffer so that no old data is going to be used
-    def clean(self):
-        while True:
-            try:
-                aux=self._data_buffer.get(False)
-            except Queue.Empty:
-                return
-
-
-    @threaded
-    def run(self):
-        try:
-            while self._running:
-                try:
-                    self._data_buffer.put(self.receive_data(),timeout=20)
-                except Queue.Full:
-                    logging.exception("ERROR: Queue Full for more than 20 seconds...")
-                except Exception as e:
-                    logging.exception("Some internal Socket error ")
-                    self._running = False
-
-        except RuntimeError:
-            logging.exception("Unexpected RuntimeError")
-            self._running = False
-        finally:
-
-            logging.debug("We Are finishing the datastream thread ")
diff --git a/PythonClient/carla_manual_control.py b/PythonClient/carla_manual_control.py
deleted file mode 100755
index d75bf8968..000000000
--- a/PythonClient/carla_manual_control.py
+++ /dev/null
@@ -1,358 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB), and the INTEL Visual Computing Lab.
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-# Keyboard controlling for carla. Please refer to carla_use_example for a
-# simpler and more documented example.
-
-"""
-Welcome to CARLA manual control.
-
-Use ARROWS or WASD keys for control.
-
-    W            : throttle
-    S            : brake
-    AD           : steer
-    Q            : toggle reverse
-    Space        : hand-brake
-
-    R            : restart level
-
-STARTING in a moment...
-"""
-
-from __future__ import print_function
-
-import argparse
-import logging
-import sys
-import time
-
-import numpy as np
-
-import matplotlib.pyplot as plt
-
-import pygame
-from pygame.locals import *
-
-from carla import CARLA
-from carla import Control
-
-
-
-def join_classes(labels_image):
-    classes_join = {
-        0: [0, 0, 0],        # None
-        1: [70, 70, 70],     # Buildings
-        2: [190, 153, 153],  # Fences
-        3: [72, 0, 90],      # Other
-        4: [220, 20, 60],    # Pedestrians
-        5: [153, 153, 153],  # Poles
-        6: [157, 234, 50],   # RoadLines
-        7: [128, 64, 128],   # Roads
-        8: [244, 35, 232],   # Sidewalks
-        9: [107, 142, 35],   # Vegetation
-        10: [0, 0, 255],     # Vehicles
-        11: [102, 102, 156], # Walls
-        12: [220, 220, 0]    # TrafficSigns
-    }
-    compressed_labels_image = np.zeros((labels_image.shape[0], labels_image.shape[1], 3))
-    for (key, value) in classes_join.items():
-        compressed_labels_image[np.where(labels_image == key)] = value
-    return compressed_labels_image
-
-
-def grayscale_colormap(img, colormap):
-    """Make colormaps from grayscale."""
-    cmap = plt.get_cmap(colormap)
-    rgba_img = cmap(img)
-    rgb_img = np.delete(rgba_img, 3, 2)
-    return rgb_img
-
-
-def convert_depth(depth):
-    """Convert depth to human readable format."""
-    depth = depth.astype(np.float32)
-    gray_depth = ((depth[:, :, 0] +                 # Red
-                   depth[:, :, 1] * 256.0 +         # Green
-                   depth[:, :, 2] * 256.0 * 256.0)) # Blue
-    gray_depth /= (256.0 * 256.0 * 256.0 - 1)
-    color_depth = grayscale_colormap(gray_depth, 'jet') * 255
-    return color_depth
-
-if sys.version_info >= (3, 3):
-
-    import shutil
-
-    def get_terminal_width():
-        return shutil.get_terminal_size((80, 20)).columns
-
-else:
-
-    def get_terminal_width():
-        return 120
-
-
-class App(object):
-    def __init__(
-            self,
-            port=2000,
-            host='127.0.0.1',
-            config='./CarlaSettings.ini',
-            resolution=(800, 600),
-            verbose=True):
-        self._running = True
-        self._display_surf = None
-        self.port = port
-        self.host = host
-        self.config = config
-        self.verbose = verbose
-        self.resolution = resolution
-        self.size = self.weight, self.height = resolution
-        self.reverse_gear = False
-
-    def on_init(self):
-        pygame.init()
-        print(__doc__)
-        time.sleep(3)
-        self._display_surf = pygame.display.set_mode(
-            self.size, pygame.HWSURFACE | pygame.DOUBLEBUF)
-        logging.debug('Started the PyGame Library')
-        self._running = True
-        self.step = 0
-        self.prev_step = 0
-        self.prev_time = time.time()
-
-        self.carla = CARLA(self.host, self.port)
-
-        positions = self.carla.loadConfigurationFile(self.config)
-        self.num_pos = len(positions)
-        print("Staring Episode on Position ", self.num_pos)
-        self.carla.newEpisode(np.random.randint(self.num_pos))
-        self.prev_restart_time = time.time()
-
-    def on_event(self, event):
-        if event.type == pygame.QUIT:
-            self._running = False
-
-    def on_loop(self):
-        self.step += 1
-        keys = pygame.key.get_pressed()
-        restart = False
-
-        control = Control()
-
-        pressed_keys = []
-        if keys[K_LEFT] or keys[K_a]:
-            control.steer = -1.0
-            pressed_keys.append('left')
-        if keys[K_RIGHT] or keys[K_d]:
-            control.steer = 1.0
-            pressed_keys.append('right')
-        if keys[K_UP] or keys[K_w]:
-            control.throttle = 1.0
-            pressed_keys.append('reverse' if self.reverse_gear else 'forward')
-        if keys[K_DOWN] or keys[K_s]:
-            control.brake = 1.0
-            pressed_keys.append('brake')
-        if keys[K_SPACE]:
-            control.hand_brake = True
-            pressed_keys.append('hand-brake')
-        if keys[K_q]:
-            self.reverse_gear = not self.reverse_gear
-            pressed_keys.append('toggle reverse')
-        if keys[K_r]:
-            pressed_keys.append('reset')
-            if time.time() - self.prev_restart_time > 2.:
-                self.prev_restart_time = time.time()
-                restart = True
-
-        if time.time() - self.prev_restart_time < 2.:
-            control.throttle = 0.0
-            control.steer = 0.0
-
-        control.reverse = self.reverse_gear
-        self.carla.sendCommand(control)
-
-        measurements = self.carla.getMeasurements()
-        pack = measurements['PlayerMeasurements']
-        self.img_vec = measurements['BGRA']
-        self.depth_vec = measurements['Depth']
-        self.labels_vec = measurements['Labels']
-        self.lidars_vec = measurements['Lidars']
-
-        if time.time() - self.prev_time > 1.:
-            message = 'Step {step} ({fps:.1f} FPS): '
-            message += '{speed:.2f} km/h, '
-            message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road'
-            message += ': pressed [%s]' % ', '.join(pressed_keys)
-
-            message = message.format(
-                step=self.step,
-                fps=float(self.step - self.prev_step) / (time.time() - self.prev_time),
-                speed=pack.forward_speed,
-                other_lane=100 * pack.intersection_otherlane,
-                offroad=100 * pack.intersection_offroad)
-
-            empty_space = max(0, get_terminal_width() - len(message))
-            sys.stdout.write('\r' + message + empty_space * ' ')
-            sys.stdout.flush()
-
-            self.prev_step = self.step
-            self.prev_time = time.time()
-
-        if restart:
-            print('\n *** RESTART *** \n')
-            player_pos = np.random.randint(self.num_pos)
-            print('  Player pos %d \n' % (player_pos))
-            self.carla.newEpisode(player_pos)
-
-
-    def on_render(self):
-        """
-        The render method plots the First RGB, the First Depth and First
-        Semantic Segmentation Camera.
-        """
-
-        auxImgResolution = (320, 180)
-        auxImgYPos = self.height - auxImgResolution[1] - 25
-        nImages = 2
-        f = ((self.weight - nImages * auxImgResolution[0]) / (nImages + 1) + auxImgResolution[0])
-        x_pos = (self.weight - nImages * auxImgResolution[0]) / (nImages + 1)
-
-        if self.img_vec:
-            self.img_vec[0] = self.img_vec[0][:, :, :3]
-            self.img_vec[0] = self.img_vec[0][:, :, ::-1]
-            surface = pygame.surfarray.make_surface(
-                np.transpose(self.img_vec[0], (1, 0, 2)))
-            self._display_surf.blit(surface, (0, 0))
-
-        if self.depth_vec:
-            self.depth_vec[0] = self.depth_vec[0][:, :, :3]
-            self.depth_vec[0] = self.depth_vec[0][:, :, ::-1]
-            self.depth_vec[0] = convert_depth(self.depth_vec[0])
-            surface = pygame.surfarray.make_surface(
-                np.transpose(self.depth_vec[0], (1, 0, 2)))
-            # Resize image
-            auxImgXPos = (self.weight / 4) - (auxImgResolution[0] / 2)
-            surface = pygame.transform.scale(surface, auxImgResolution)
-            self._display_surf.blit(surface, (x_pos, auxImgYPos))
-            x_pos += f
-
-        if self.labels_vec:
-            self.labels_vec[0] = join_classes(self.labels_vec[0][:, :, 2])
-            surface = pygame.surfarray.make_surface(
-                np.transpose(self.labels_vec[0], (1, 0, 2)))
-            # Resize image
-            auxImgXPos = ((self.weight / 4) * 3) - (auxImgResolution[0] / 2)
-            surface = pygame.transform.scale(surface, auxImgResolution)
-            self._display_surf.blit(surface, (x_pos, auxImgYPos))
-            x_pos += f
-
-        if self.lidars_vec:
-
-            lidar_data = np.array(self.lidars_vec[0]['points'][:, :, :2])
-            lidar_data /= 50.0
-            lidar_data += 100.0
-            lidar_data = np.fabs(lidar_data)
-            lidar_data = lidar_data.astype(np.int32)
-            lidar_data = np.reshape(lidar_data, (-1, 2))
-            #draw lidar
-            lidar_img_size = (200, 200, 3)
-            lidar_img = np.zeros(lidar_img_size)
-            lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
-            surface = pygame.surfarray.make_surface(
-                lidar_img
-            )
-            # surface = pygame.transform.scale(surface, (200, 200))
-            self._display_surf.blit(surface, (10, 10))
-
-
-
-        pygame.display.flip()
-
-    def on_cleanup(self):
-        self.carla.closeConections()
-        pygame.quit()
-
-    def on_execute(self):
-        if self.on_init() == False:
-            self._running = False
-
-        while(self._running):
-            try:
-
-                for event in pygame.event.get():
-                    self.on_event(event)
-                self.on_loop()
-                self.on_render()
-
-            except Exception as e:
-                logging.exception(e)
-                self._running = False
-                break
-
-        self.on_cleanup()
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description='Run the carla client manual that connects to CARLA server')
-    parser.add_argument(
-        'host',
-        metavar='HOST',
-        type=str,
-        help='host to connect to')
-    parser.add_argument(
-        'port',
-        metavar='PORT',
-        type=int,
-        help='port to connect to')
-
-    parser.add_argument(
-        "-c",
-        "--config",
-        help="the path for the server .ini config file that the client sends",
-        type=str,
-        default="./CarlaSettings.ini")
-
-    parser.add_argument(
-        "-l",
-        "--log",
-        help="activate the log file",
-        action="store_true")
-    parser.add_argument(
-        "-lv",
-        "--log_verbose",
-        help="put the log file to screen",
-        action="store_true")
-    args = parser.parse_args()
-
-    if args.log or args.log_verbose:
-        LOG_FILENAME = 'log_manual_control.log'
-        logging.basicConfig(filename=LOG_FILENAME, level=logging.DEBUG)
-        if args.log_verbose:  # set of functions to put the logging to screen
-
-            root = logging.getLogger()
-            root.setLevel(logging.DEBUG)
-            ch = logging.StreamHandler(sys.stdout)
-            ch.setLevel(logging.DEBUG)
-            formatter = logging.Formatter(
-                '%(asctime)s - %(name)s - %(levelname)s - %(message)s')
-            ch.setFormatter(formatter)
-            root.addHandler(ch)
-
-    theApp = App(port=args.port, host=args.host, config=args.config)
-    theApp.on_execute()
-
-
-if __name__ == '__main__':
-
-    try:
-        main()
-    except KeyboardInterrupt:
-        print('\nCancelled by user. Bye!')

From 967e6fe19c0b11f5ad485ff0218232e55b43117b Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Tue, 5 Dec 2017 15:47:21 +0300
Subject: [PATCH 012/108] added saving lidar measurements to disk

---
 PythonClient/carla/sensor.py   | 26 +++++++++++---------------
 PythonClient/client_example.py | 26 ++++++++++++++++++++++----
 2 files changed, 33 insertions(+), 19 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 6ca053cd0..b9814810a 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -9,6 +9,7 @@
 
 import os
 import numpy as np
+import json
 
 
 # ==============================================================================
@@ -214,18 +215,13 @@ class LidarMeasurement(SensorData):
 
     def save_to_disk(self, filename):
         """Save lidar measurements to disk"""
-
-        pass
-
-        # image = PImage.frombytes(
-        #     mode='RGBA',
-        #     size=(self.width, self.height),
-        #     data=self.raw_data,
-        #     decoder_name='raw')
-        # b, g, r, a = image.split()
-        # image = PImage.merge("RGB", (r, g, b))
-        #
-        # folder = os.path.dirname(filename)
-        # if not os.path.isdir(folder):
-        #     os.makedirs(folder)
-        # image.save(filename)
+        folder = os.path.dirname(filename)
+        if not os.path.isdir(folder):
+            os.makedirs(folder)
+        with open(filename, 'wt') as f:
+            f.write(json.dumps({
+                'horizontal_angle' : self.horizontal_angle,
+                'channels_count' : self.channels_count,
+                'points_count_by_channel' : self.points_count_by_channel.tolist(),
+                'points' : self._converted_data['points'].tolist()
+            }))
diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index 9be0c4301..6fdaa6f29 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -17,13 +17,13 @@ import sys
 import time
 
 from carla.client import make_carla_client
-from carla.sensor import Camera
+from carla.sensor import Camera, Lidar, LidarMeasurement
 from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line
 
 
-def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format, settings_filepath):
+def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format, lidar_filename_format, settings_filepath):
     # Here we will run 3 episodes with 300 frames each.
     number_of_episodes = 3
     frames_per_episode = 300
@@ -71,6 +71,19 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 camera1.set_position(30, 0, 130)
                 settings.add_sensor(camera1)
 
+                lidar0 = Lidar('Lidar32')
+                lidar0.set_position(0, 0, 250)
+                lidar0.set_rotation(0, 0, 0)
+                lidar0.set(
+                    Channels = 32,
+                    Range = 5000,
+                    PointsPerSecond = 100000,
+                    RotationFrequency = 10,
+                    UpperFovLimit = 10,
+                    LowerFovLimit = -30,
+                    ShowDebugPoints = False)
+                settings.add_sensor(lidar0)
+
             else:
 
                 # Alternatively, we can load these settings from a file.
@@ -104,8 +117,12 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
 
                 # Save the images to disk if requested.
                 if save_images_to_disk:
-                    for name, image in sensor_data.items():
-                        image.save_to_disk(image_filename_format.format(episode, name, frame))
+                    for name, measurement in sensor_data.items():
+                        if isinstance(measurement, LidarMeasurement):
+                            measurement.data
+                            measurement.save_to_disk(lidar_filename_format.format(episode, name, frame))
+                        else:
+                            measurement.save_to_disk(image_filename_format.format(episode, name, frame))
 
                 # We can access the encoded data of a given image as numpy
                 # array using its "data" property. For instance, to get the
@@ -210,6 +227,7 @@ def main():
                 autopilot_on=args.autopilot,
                 save_images_to_disk=args.images_to_disk,
                 image_filename_format='_images/episode_{:0>3d}/{:s}/image_{:0>5d}.png',
+                lidar_filename_format='_lidars/episode_{:0>3d}/{:s}/lidar_{:0>5d}.json',
                 settings_filepath=args.carla_settings)
 
             print('Done.')

From 4561d4a3331f3c10536043115cfcf5fa94886404 Mon Sep 17 00:00:00 2001
From: Anton Pechenko <parilo@yandex-team.ru>
Date: Tue, 5 Dec 2017 16:29:06 +0300
Subject: [PATCH 013/108] fixed spaces

---
 PythonClient/manual_control.py                |  1 -
 .../Plugins/Carla/Source/Carla/Lidar.cpp      | 72 +++++++++----------
 .../Plugins/Carla/Source/Carla/Lidar.h        | 42 +++++------
 .../Plugins/Carla/Source/Carla/LidarLaser.cpp | 60 ++++++++--------
 .../Plugins/Carla/Source/Carla/LidarLaser.h   | 16 ++---
 .../Source/Carla/Settings/LidarDescription.h  | 28 ++++----
 6 files changed, 109 insertions(+), 110 deletions(-)

diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py
index c89c660ce..417d8c304 100755
--- a/PythonClient/manual_control.py
+++ b/PythonClient/manual_control.py
@@ -315,7 +315,6 @@ class CarlaGame(object):
             )
             self._display.blit(surface, (10, 10))
 
-
         if self._map_view is not None:
             array = self._map_view
             array = array[:, :, :3]
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
index 824adb5f9..bc2f9d7a4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
@@ -8,8 +8,8 @@
 // Sets default values
 ALidar::ALidar()
 {
- 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
-	PrimaryActorTick.bCanEverTick = true;
+  // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+  PrimaryActorTick.bCanEverTick = true;
 
   auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
   MeshComp->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
@@ -24,12 +24,12 @@ ALidar::ALidar()
 void ALidar::Set(const FLidarDescription &LidarDescription)
 {
   Channels = LidarDescription.Channels;
-	Range = LidarDescription.Range;
-	PointsPerSecond = LidarDescription.PointsPerSecond;
-	RotationFrequency = LidarDescription.RotationFrequency;
-	UpperFovLimit = LidarDescription.UpperFovLimit;
-	LowerFovLimit = LidarDescription.LowerFovLimit;
-	ShowDebugPoints = LidarDescription.ShowDebugPoints;
+  Range = LidarDescription.Range;
+  PointsPerSecond = LidarDescription.PointsPerSecond;
+  RotationFrequency = LidarDescription.RotationFrequency;
+  UpperFovLimit = LidarDescription.UpperFovLimit;
+  LowerFovLimit = LidarDescription.LowerFovLimit;
+  ShowDebugPoints = LidarDescription.ShowDebugPoints;
   CreateLasers();
 }
 
@@ -38,45 +38,45 @@ void ALidar::CreateLasers()
   float dAngle = (UpperFovLimit - LowerFovLimit) / (Channels - 1);
 
   Lasers.Empty();
-	for(int i=0; i<Channels; i++)
-	{
-		Lasers.Emplace(i, UpperFovLimit - i * dAngle);
-	}
+  for(int i=0; i<Channels; i++)
+  {
+    Lasers.Emplace(i, UpperFovLimit - i * dAngle);
+  }
 }
 
 // Called when the game starts or when spawned
 void ALidar::BeginPlay()
 {
-	Super::BeginPlay();
+  Super::BeginPlay();
 }
 
 void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
 {
-  	int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
+  int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
 
-  	float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
-  	float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
+  float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
+  float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-    LidarSegmentData.LidarLasersSegments.Empty();
+  LidarSegmentData.LidarLasersSegments.Empty();
 
-    auto NumOfLasers = Lasers.Num();
-    LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
-  	for (int li=0; li<NumOfLasers; li++)
-  	{
-      auto& Laser = Lasers[li];
-      auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
-      LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
-  		for (int i=0; i<PointsToScanWithOneLaser; i++)
-  		{
-  			Laser.Measure(
-          this,
-          CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
-          LaserPoints[i],
-          ShowDebugPoints
-        );
-  		}
-  	}
+  auto NumOfLasers = Lasers.Num();
+  LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
+  for (int li=0; li<NumOfLasers; li++)
+  {
+    auto& Laser = Lasers[li];
+    auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
+    LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
+    for (int i=0; i<PointsToScanWithOneLaser; i++)
+    {
+      Laser.Measure(
+        this,
+        CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
+        LaserPoints[i],
+        ShowDebugPoints
+      );
+    }
+  }
 
-  	CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
-    LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
+  CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
+  LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
index 9b4b1b007..58205f77d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
@@ -12,20 +12,20 @@
 UCLASS()
 class CARLA_API ALidar : public AActor
 {
-	GENERATED_BODY()
+  GENERATED_BODY()
 
 public:
-	// Sets default values for this actor's properties
-	ALidar();
+  // Sets default values for this actor's properties
+  ALidar();
 
   void Set(const FLidarDescription &LidarDescription);
 
 protected:
-	// Called when the game starts or when spawned
-	virtual void BeginPlay() override;
+  // Called when the game starts or when spawned
+  virtual void BeginPlay() override;
 
-	TArray<LidarLaser> Lasers;
-	float CurrentHorizontalAngle = 0;
+  TArray<LidarLaser> Lasers;
+  float CurrentHorizontalAngle = 0;
 
   void CreateLasers();
 
@@ -35,37 +35,37 @@ public:
   void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
 
   /** Number of lasers */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	int Channels = 32;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  int Channels = 32;
 
   /** Measure distance */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float Range = 5000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float Range = 5000;
 
   /** Points generated by all lasers per second */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float PointsPerSecond = 56000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float PointsPerSecond = 56000;
 
   /** Lidar rotation frequency */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float RotationFrequency = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float RotationFrequency = 10;
 
   /**
     Upper laser angle, counts from horizontal,
     positive values means above horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float UpperFovLimit = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float UpperFovLimit = 10;
 
   /**
     Lower laser angle, counts from horizontal,
     negative values means under horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float LowerFovLimit = -30;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float LowerFovLimit = -30;
 
   /** wether to show debug points of laser hits in simulator */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	bool ShowDebugPoints = false;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  bool ShowDebugPoints = false;
 
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
index 803273860..9710a2f4d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
@@ -8,47 +8,47 @@
 
 int LidarLaser::GetId()
 {
-	return Id;
+  return Id;
 }
 
 bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug)
 {
-	FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
-	TraceParams.bTraceComplex = true;
-	TraceParams.bReturnPhysicalMaterial = false;
+  FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
+  TraceParams.bTraceComplex = true;
+  TraceParams.bReturnPhysicalMaterial = false;
 
-	FHitResult HitInfo(ForceInit);
+  FHitResult HitInfo(ForceInit);
 
-	FVector LidarBodyLoc = Lidar->GetActorLocation();
+  FVector LidarBodyLoc = Lidar->GetActorLocation();
   FRotator LidarBodyRot = Lidar->GetActorRotation();
-	FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
+  FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
   FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
     LaserRot,
     LidarBodyRot
   );
-	FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
+  FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
 
-	Lidar->GetWorld()->LineTraceSingleByChannel(
-		HitInfo,
-		LidarBodyLoc,
-		EndTrace,
-		ECC_MAX,
-		TraceParams,
-		FCollisionResponseParams::DefaultResponseParam
-	);
+  Lidar->GetWorld()->LineTraceSingleByChannel(
+    HitInfo,
+    LidarBodyLoc,
+    EndTrace,
+    ECC_MAX,
+    TraceParams,
+    FCollisionResponseParams::DefaultResponseParam
+  );
 
-	if (HitInfo.bBlockingHit)
-	{
+  if (HitInfo.bBlockingHit)
+  {
     if (Debug)
     {
-  		DrawDebugPoint(
-  			Lidar->GetWorld(),
-  			HitInfo.ImpactPoint,
-  			10,  //size
-  			FColor(255,0,255),
-  			false,  //persistent (never goes away)
-  			0.1  //point leaves a trail on moving object
-  		);
+      DrawDebugPoint(
+        Lidar->GetWorld(),
+        HitInfo.ImpactPoint,
+        10,  //size
+        FColor(255,0,255),
+        false,  //persistent (never goes away)
+        0.1  //point leaves a trail on moving object
+      );
     }
 
     XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
@@ -58,9 +58,9 @@ bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, boo
       FVector(0, 0, 1)
     );
 
-		return true;
-	} else {
+    return true;
+  } else {
     XYZ = FVector(0, 0, 0);
-		return false;
-	}
+    return false;
+  }
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
index 511870803..6ddb842bd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
@@ -10,17 +10,17 @@ class CARLA_API LidarLaser
 {
 public:
 
-	LidarLaser(int Id, float VerticalAngle) :
-		Id(Id),
-		VerticalAngle(VerticalAngle)
-	{}
+  LidarLaser(int Id, float VerticalAngle) :
+    Id(Id),
+    VerticalAngle(VerticalAngle)
+  {}
 
-	int GetId();
-	bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
+  int GetId();
+  bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
 
 private:
 
-	int Id;
-	float VerticalAngle;
+  int Id;
+  float VerticalAngle;
 
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index f1a39c231..dbb8128a1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -10,38 +10,38 @@ struct FLidarDescription
   GENERATED_USTRUCT_BODY()
 
   /** Number of lasers */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	int Channels = 32;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  int Channels = 32;
 
   /** Measure distance */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float Range = 5000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float Range = 5000;
 
   /** Points generated by all lasers per second */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float PointsPerSecond = 56000;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float PointsPerSecond = 56000;
 
   /** Lidar rotation frequency */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float RotationFrequency = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float RotationFrequency = 10;
 
   /**
     Upper laser angle, counts from horizontal,
     positive values means above horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float UpperFovLimit = 10;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float UpperFovLimit = 10;
 
   /**
     Lower laser angle, counts from horizontal,
     negative values means under horizontal line
   */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	float LowerFovLimit = -30;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float LowerFovLimit = -30;
 
   /** wether to show debug points of laser hits in simulator */
-	UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-	bool ShowDebugPoints = false;
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  bool ShowDebugPoints = false;
 
   /** Position relative to the player. */
   UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)

From 5121cfad0d9a6b7169fdb6849248bfb696eb7c1d Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Thu, 14 Dec 2017 18:32:24 +0100
Subject: [PATCH 014/108] Working client that saves the point cloud in world
 space.

---
 PythonClient/carla/image_converter.py |  41 ++++-
 PythonClient/point_cloud_example.py   | 229 +++++++++++++++++++-------
 2 files changed, 207 insertions(+), 63 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index e8c3d2b31..e06d586f8 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -112,7 +112,7 @@ def depth_to_local_point_cloud(image):
     Convert an image containing CARLA encoded depth-map to a 2D array containing
     the 3D position (relative to the camera) of each pixel.
     """
-    far = 1000.0
+    far = 100000.0 # centimeters
     normalized_depth = depth_to_array(image)
 
     # (Intrinsic) K Matrix
@@ -143,3 +143,42 @@ def depth_to_local_point_cloud(image):
     # Formating the output to:
     # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
     return numpy.transpose(p3d)
+
+def depth_to_local_colored_point_cloud(image, color):
+    """
+    Convert an image containing CARLA encoded depth-map to a 2D array containing
+    the 3D position (relative to the camera) of each pixel.
+    """
+    far = 100000.0 # max depth in centimeters
+    normalized_depth = depth_to_array(image)
+
+    # (Intrinsic) K Matrix
+    k = numpy.identity(3)
+    k[0, 2] = image.width / 2.0
+    k[1, 2] = image.height / 2.0
+    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(image.fov * math.pi / 360.0))
+
+    # 2d pixel coordinates
+    pixel_length = image.width * image.height
+    u_coord = repmat(numpy.r_[image.width-1:-1:-1], image.height, 1).reshape(pixel_length)
+    v_coord = repmat(numpy.c_[image.height-1:-1:-1], 1, image.width).reshape(pixel_length)
+    color = color.reshape(pixel_length, 3)
+    normalized_depth = numpy.reshape(normalized_depth, pixel_length)
+
+    # Search for sky pixels (where the depth is 1.0) to delete them
+    max_depth_indexes = numpy.where(normalized_depth == 1.0)
+    normalized_depth = numpy.delete(normalized_depth, max_depth_indexes)
+    u_coord = numpy.delete(u_coord, max_depth_indexes)
+    v_coord = numpy.delete(v_coord, max_depth_indexes)
+    color = numpy.delete(color, max_depth_indexes, axis=0)
+
+    # pd2 = [u,v,1]
+    p2d = numpy.array([u_coord, v_coord, numpy.ones_like(u_coord)])
+
+    # P = [X,Y,Z]
+    p3d = numpy.dot(numpy.linalg.inv(k), p2d)
+    p3d *= normalized_depth * far
+
+    # Formating the output to:
+    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
+    return numpy.concatenate((numpy.transpose(p3d), color), axis=1)
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index c163f86fd..79176a367 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -18,21 +18,23 @@ import os
 import random
 import sys
 import time
+from carla.carla_server_pb2 import Transform
 
 from carla.client import make_carla_client
 from carla.sensor import Camera
 from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line, StopWatch
-from carla.image_converter import depth_to_local_point_cloud
+from carla.image_converter import depth_to_local_point_cloud, depth_to_local_colored_point_cloud, to_rgb_array
 
 
 def run_carla_client(host, port, save_images_to_disk, image_filename_format):
     # Here we will run 3 episodes with 300 frames each.
-    number_of_frames = 300
+    number_of_frames = 3000
     output_folder = '_out'
-    camera_local_pos = [30,0,130]
-    camera_local_rotation = [0,0,0]
+    image_size = [800, 600]
+    camera_local_pos = [30, 0, 130]
+    camera_local_rotation = [0, 0, 0]
     fov = 70
 
     # We assume the CARLA server is already waiting for a client to connect at
@@ -42,7 +44,7 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
     # context manager makes sure the connection is always cleaned up on exit.
     with make_carla_client(host, port) as client:
         print('CarlaClient connected')
-
+        numpy.set_printoptions(precision=2)
         # Start a new episode.
         # Here we load the settings
         settings = CarlaSettings()
@@ -55,12 +57,13 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
         settings.randomize_seeds()
 
         camera1 = Camera('CameraDepth', PostProcessing='Depth', CameraFOV=fov)
-        camera1.set_image_size(800, 600)
+        camera1.set_image_size(*image_size)
         camera1.set_position(*camera_local_pos)
         camera1.set_rotation(*camera_local_rotation)
 
-        camera2 = Camera('CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov)
-        camera2.set_image_size(800, 600)
+        camera2 = Camera(
+            'CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov)
+        camera2.set_image_size(*image_size)
         camera2.set_position(*camera_local_pos)
         camera2.set_rotation(*camera_local_rotation)
 
@@ -70,9 +73,27 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
         scene = client.load_settings(settings)
 
         # Start at location index id '0'
+        # client.start_episode(0)
+        number_of_player_starts = len(scene.player_start_spots)
+        player_start = random.randint(0, max(0, number_of_player_starts - 1))
         client.start_episode(0)
 
-        car_to_camera
+        # Compute the camera transform matrix
+        camera_to_car = Transform()
+        camera_to_car.location.x = camera_local_pos[0]
+        camera_to_car.location.y = camera_local_pos[1]
+        camera_to_car.location.z = camera_local_pos[2]
+        camera_to_car.rotation.pitch = camera_local_rotation[0]
+        camera_to_car.rotation.yaw = camera_local_rotation[1]
+        camera_to_car.rotation.roll = camera_local_rotation[2]
+
+        camera_to_car_matrix = compute_transform_matrix(camera_to_car)
+
+        # Do the custom transformations
+        # Rotate -90 degrees in X (Roll)
+        rot_X = compute_transform_matrix_raw(roll=-90, yaw=90, sX=-1)
+
+        camera_to_car_matrix = camera_to_car_matrix * rot_X
 
         # Iterate every frame in the episode.
         for frame in range(0, number_of_frames):
@@ -81,71 +102,163 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
 
-            t = StopWatch()
-            transform = measurements.player_measurements.transform
-
-            yaw = numpy.radians(transform.rotation.yaw)
-            roll = numpy.radians(transform.rotation.roll)
-            pitch = numpy.radians(transform.rotation.pitch)
-
-            yaw_matrix = numpy.matrix([
-                [math.cos(yaw), -math.sin(yaw), 0],
-                [math.sin(yaw), math.cos(yaw), 0],
-                [0, 0, 1]
-            ])
-
-            pitch_matrix = numpy.matrix([
-                [math.cos(pitch), 0, -math.sin(pitch)],
-                [0, 1, 0],
-                [math.sin(pitch), 0, math.cos(pitch)]
-            ])
-
-            roll_matrix = numpy.matrix([
-                [1, 0, 0],
-                [0, math.cos(roll), math.sin(roll)],
-                [0, -math.sin(roll), math.cos(roll)]
-            ])
-
-            rotation_matrix = yaw_matrix * pitch_matrix * roll_matrix
-
-            translation = numpy.matrix([
-                [transform.location.x],
-                [transform.location.y],
-                [transform.location.z]
-            ])
-
-            camera_rel_position = numpy.matrix([[camera_local_pos[0]], [camera_local_pos[1]], [camera_local_pos[2]]])
-
-            camera_world_position = (rotation_matrix * camera_rel_position) + translation
-            t.stop()
-            print('Rotation transformation took {:.0f} ms'.format(t.milliseconds()))
-
             # Save the images to disk if requested.
             if save_images_to_disk:
                 for name, image in sensor_data.items():
                     image.save_to_disk(
                         image_filename_format.format(episode, name, frame))
 
+            # 2d to (camera) local 3d
             t = StopWatch()
-            points3D = depth_to_local_point_cloud(sensor_data['CameraDepth'])
+
+            # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
+            image_RGB = to_rgb_array(sensor_data['CameraRGB'])
+
+            # [[X0,Y0,Z0],..[Xn,Yn,Zn]]
+            # points_3d = depth_to_local_point_cloud(sensor_data['CameraDepth'])
+
+            # [[X0,Y0,Z0,r0,g0,b0],..[Xn,Yn,Zn,rn,gn,bn]]
+            points_3d = depth_to_local_colored_point_cloud(
+                sensor_data['CameraDepth'], image_RGB)
             t.stop()
             print('Transformation took {:.0f} ms'.format(t.milliseconds()))
 
+            # (camera) local 3d to world 3d
             t = StopWatch()
-            ply = '\n'.join([' '.join(map(str, i)) for i in points3D])
+
+            # Separating the 3d point and its corresponding color
+            color_list = points_3d[:, 3:6]
+            points_3d = points_3d[:, 0:3]
+
+            car_to_world = measurements.player_measurements.transform
+            car_to_world_matrix = compute_transform_matrix(
+                car_to_world) * camera_to_car_matrix
+
+            # We need the foramt [[X0,..Xn],[Z0,..Zn],[Z0,..Zn]]
+            points_3d = points_3d.transpose()
+
+            # Car to World transformation
+            points_3d = transform_points(
+                car_to_world_matrix, points_3d).transpose()
+
+            points_3d = numpy.concatenate((points_3d, color_list), axis=1)
+
+            t.stop()
+            print('Local to world transformation took {:.0f} ms'.format(
+                t.milliseconds()))
+
+            t = StopWatch()
+
+            # Save PLY to disk
+            print('Generaing PLY ...')
+            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
+                *p) for p in points_3d.tolist()])
+
+            # Create folder to save if does not exist
             if not os.path.isdir(output_folder):
                 os.makedirs(output_folder)
-            with open('{}/{:0>4}.ply'.format(output_folder, frame), 'w+') as f:
-                f.write('\n'.join([construct_ply_header(len(points3D)), ply]))
-            t.stop()
 
+            print('Saving PLY ...')
+            with open('{}/{:0>4}.ply'.format(output_folder, frame), 'w+') as f:
+                f.write(
+                    '\n'.join([construct_ply_header(len(points_3d), True), ply]))
+            t.stop()
             print('Saving to disk took {:.2f} s'.format(t.seconds()))
+
             print()
 
             client.send_control(
                 measurements.player_measurements.autopilot_control)
 
 
+def compute_transform_matrix(transform):
+    return compute_transform_matrix_raw(
+        transform.location.x,
+        transform.location.y,
+        transform.location.z,
+        transform.rotation.pitch,
+        transform.rotation.roll,
+        transform.rotation.yaw
+    )
+
+
+def compute_transform_matrix_raw(x=0, y=0, z=0, pitch=0, roll=0, yaw=0, sX=1, sY=1, sZ=1):
+    # Yaw
+    cy = math.cos(numpy.radians(yaw))
+    sy = math.sin(numpy.radians(yaw))
+    # Pitch
+    cr = math.cos(numpy.radians(roll))
+    sr = math.sin(numpy.radians(roll))
+    # Roll
+    cp = math.cos(numpy.radians(pitch))
+    sp = math.sin(numpy.radians(pitch))
+    # (4 X 4) Identity matrix
+    m = numpy.matrix(numpy.identity(4))
+    # Translation
+    m[0, 3] = x
+    m[1, 3] = y
+    m[2, 3] = z
+    # Rotation
+    m[0, 0] = sX * (cp * cy)
+    m[0, 1] = sY * (cy * sp*sr - sy * cr)
+    m[0, 2] = -sZ * (cy * sp * cr + sy * sr)
+    m[1, 0] = sX * (sy * cp)
+    m[1, 1] = sY * (sy * sp * sr + cy * cr)
+    m[1, 2] = sZ * (cy * sr - sy * sp * cr)
+    m[2, 0] = sX * (sp)
+    m[2, 1] = -sY * (cp * sr)
+    m[2, 2] = sZ * (cp * cr)
+
+    return m
+
+
+def transform_points(transform_matrix, points):
+    """
+    Expected points format [[X0..,Xn],[Y0..,Yn],[Z0..,Zn]]
+    """
+    # Add 0s row so [[X0..,Xn],[Y0..,Yn],[Z0..,Zn],[0,..0]]
+    points = numpy.append(points, numpy.ones((1, points.shape[1])), axis=0)
+    # Point transformation
+    points = transform_matrix * points
+    # Return all but last row
+    return points[0:3]
+
+
+def transform_points_old(transform, points):
+    yaw = numpy.radians(transform.rotation.yaw)
+    roll = numpy.radians(-transform.rotation.roll)
+    pitch = numpy.radians(-transform.rotation.pitch)
+
+    yaw_matrix = numpy.array([
+        [math.cos(yaw), -math.sin(yaw), 0],
+        [math.sin(yaw), math.cos(yaw), 0],
+        [0, 0, 1]
+    ])
+
+    pitch_matrix = numpy.array([
+        [math.cos(pitch), 0, -math.sin(pitch)],
+        [0, 1, 0],
+        [math.sin(pitch), 0, math.cos(pitch)]
+    ])
+
+    roll_matrix = numpy.array([
+        [1, 0, 0],
+        [0, math.cos(roll), math.sin(roll)],
+        [0, -math.sin(roll), math.cos(roll)]
+    ])
+
+    rotation_matrix = numpy.dot(
+        yaw_matrix, numpy.dot(pitch_matrix, roll_matrix))
+
+    translation = numpy.array([
+        [transform.location.x],
+        [transform.location.y],
+        [transform.location.z]
+    ])
+
+    return numpy.dot(rotation_matrix, points) + translation
+
+
 def construct_ply_header(points_number, colors=False):
     header = ['ply',
               'format ascii 1.0',
@@ -161,12 +274,6 @@ def construct_ply_header(points_number, colors=False):
         return '\n'.join(header[0:6] + [header[-1]]).format(points_number)
     return '\n'.join(header).format(points_number)
 
-'''
-property uchar diffuse_red
-property uchar diffuse_green
-property uchar diffuse_blue
-'''
-
 
 def main():
     argparser = argparse.ArgumentParser(description=__doc__)
@@ -205,13 +312,11 @@ def main():
 
     while True:
         try:
-
             run_carla_client(
                 host=args.host,
                 port=args.port,
                 save_images_to_disk=args.images_to_disk,
                 image_filename_format='_images/episode_{:0>3d}/{:s}/image_{:0>5d}.png')
-
             print('Done.')
             return
 
@@ -228,4 +333,4 @@ if __name__ == '__main__':
     try:
         main()
     except KeyboardInterrupt:
-        print('\nCancelled by user. Bye!')
+        print('\nClient stoped by user.')

From c81f4a8dc6d52122471cabbe80d74baec2762bbe Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Thu, 14 Dec 2017 20:20:35 +0100
Subject: [PATCH 015/108] Restructured and commented few things

---
 PythonClient/carla/image_converter.py | 64 +++++++++++--------
 PythonClient/point_cloud_example.py   | 89 ++++++++++-----------------
 2 files changed, 68 insertions(+), 85 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index e06d586f8..98ef715fa 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -58,19 +58,19 @@ def labels_to_cityscapes_palette(image):
     Cityscapes palette.
     """
     classes = {
-        0: [0, 0, 0],        # None
-        1: [70, 70, 70],     # Buildings
-        2: [190, 153, 153],  # Fences
-        3: [72, 0, 90],      # Other
-        4: [220, 20, 60],    # Pedestrians
-        5: [153, 153, 153],  # Poles
-        6: [157, 234, 50],   # RoadLines
-        7: [128, 64, 128],   # Roads
-        8: [244, 35, 232],   # Sidewalks
-        9: [107, 142, 35],   # Vegetation
-        10: [0, 0, 255],     # Vehicles
-        11: [102, 102, 156], # Walls
-        12: [220, 220, 0]    # TrafficSigns
+        0: [0, 0, 0],         # None
+        1: [70, 70, 70],      # Buildings
+        2: [190, 153, 153],   # Fences
+        3: [72, 0, 90],       # Other
+        4: [220, 20, 60],     # Pedestrians
+        5: [153, 153, 153],   # Poles
+        6: [157, 234, 50],    # RoadLines
+        7: [128, 64, 128],    # Roads
+        8: [244, 35, 232],    # Sidewalks
+        9: [107, 142, 35],    # Vegetation
+        10: [0, 0, 255],      # Vehicles
+        11: [102, 102, 156],  # Walls
+        12: [220, 220, 0]     # TrafficSigns
     }
     array = labels_to_array(image)
     result = numpy.zeros((array.shape[0], array.shape[1], 3))
@@ -88,7 +88,7 @@ def depth_to_array(image):
     array = array.astype(numpy.float32)
     # Apply (R + G * 256 + B * 256 * 256) / (256 * 256 * 256 - 1).
     normalized_depth = numpy.dot(array[:, :, :3], [65536.0, 256.0, 1.0])
-    normalized_depth /= 16777215.0 # (256.0 * 256.0 * 256.0 - 1.0)
+    normalized_depth /= 16777215.0  # (256.0 * 256.0 * 256.0 - 1.0)
     return normalized_depth
 
 
@@ -112,19 +112,22 @@ def depth_to_local_point_cloud(image):
     Convert an image containing CARLA encoded depth-map to a 2D array containing
     the 3D position (relative to the camera) of each pixel.
     """
-    far = 100000.0 # centimeters
+    far = 100000.0  # centimeters
     normalized_depth = depth_to_array(image)
 
     # (Intrinsic) K Matrix
     k = numpy.identity(3)
     k[0, 2] = image.width / 2.0
     k[1, 2] = image.height / 2.0
-    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(image.fov * math.pi / 360.0))
+    k[0, 0] = k[1, 1] = image.width / \
+        (2.0 * math.tan(image.fov * math.pi / 360.0))
 
     # 2d pixel coordinates
     pixel_length = image.width * image.height
-    u_coord = repmat(numpy.r_[image.width-1:-1:-1], image.height, 1).reshape(pixel_length)
-    v_coord = repmat(numpy.c_[image.height-1:-1:-1], 1, image.width).reshape(pixel_length)
+    u_coord = repmat(numpy.r_[image.width-1:-1:-1],
+                     image.height, 1).reshape(pixel_length)
+    v_coord = repmat(numpy.c_[image.height-1:-1:-1],
+                     1, image.width).reshape(pixel_length)
     normalized_depth = numpy.reshape(normalized_depth, pixel_length)
 
     # Search for sky pixels (where the depth is 1.0) to delete them
@@ -144,29 +147,36 @@ def depth_to_local_point_cloud(image):
     # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
     return numpy.transpose(p3d)
 
-def depth_to_local_colored_point_cloud(image, color):
+
+def depth_to_local_colored_point_cloud(image, color, max_depth=0.9):
     """
     Convert an image containing CARLA encoded depth-map to a 2D array containing
-    the 3D position (relative to the camera) of each pixel.
+    the 3D position (relative to the camera) of each pixel and its corresponding
+    RGB color of an array.
+    "max_depth" is used to omit the points that are far enough
     """
-    far = 100000.0 # max depth in centimeters
+    far = 100000.0  # max depth in centimeters
     normalized_depth = depth_to_array(image)
 
     # (Intrinsic) K Matrix
     k = numpy.identity(3)
     k[0, 2] = image.width / 2.0
     k[1, 2] = image.height / 2.0
-    k[0, 0] = k[1, 1] = image.width / (2.0 * math.tan(image.fov * math.pi / 360.0))
+    k[0, 0] = k[1, 1] = image.width / \
+        (2.0 * math.tan(image.fov * math.pi / 360.0))
 
     # 2d pixel coordinates
     pixel_length = image.width * image.height
-    u_coord = repmat(numpy.r_[image.width-1:-1:-1], image.height, 1).reshape(pixel_length)
-    v_coord = repmat(numpy.c_[image.height-1:-1:-1], 1, image.width).reshape(pixel_length)
+    u_coord = repmat(numpy.r_[image.width-1:-1:-1],
+                     image.height, 1).reshape(pixel_length)
+    v_coord = repmat(numpy.c_[image.height-1:-1:-1],
+                     1, image.width).reshape(pixel_length)
     color = color.reshape(pixel_length, 3)
     normalized_depth = numpy.reshape(normalized_depth, pixel_length)
 
-    # Search for sky pixels (where the depth is 1.0) to delete them
-    max_depth_indexes = numpy.where(normalized_depth == 1.0)
+    # Search for pixels where the depth is greater than max_depth to
+    # delete them
+    max_depth_indexes = numpy.where(normalized_depth > max_depth)
     normalized_depth = numpy.delete(normalized_depth, max_depth_indexes)
     u_coord = numpy.delete(u_coord, max_depth_indexes)
     v_coord = numpy.delete(v_coord, max_depth_indexes)
@@ -180,5 +190,5 @@ def depth_to_local_colored_point_cloud(image, color):
     p3d *= normalized_depth * far
 
     # Formating the output to:
-    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
+    # [[X1,Y1,Z1,R1,G1,B1],[X2,Y2,Z2,R2,G2,B2], ... [Xn,Yn,Zn,Rn,Gn,Bn]]
     return numpy.concatenate((numpy.transpose(p3d), color), axis=1)
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 79176a367..19969c6f0 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -60,22 +60,18 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
         camera1.set_image_size(*image_size)
         camera1.set_position(*camera_local_pos)
         camera1.set_rotation(*camera_local_rotation)
+        settings.add_sensor(camera1)
 
         camera2 = Camera(
             'CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov)
         camera2.set_image_size(*image_size)
         camera2.set_position(*camera_local_pos)
         camera2.set_rotation(*camera_local_rotation)
-
-        settings.add_sensor(camera1)
         settings.add_sensor(camera2)
 
         scene = client.load_settings(settings)
 
         # Start at location index id '0'
-        # client.start_episode(0)
-        number_of_player_starts = len(scene.player_start_spots)
-        player_start = random.randint(0, max(0, number_of_player_starts - 1))
         client.start_episode(0)
 
         # Compute the camera transform matrix
@@ -108,12 +104,10 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
                     image.save_to_disk(
                         image_filename_format.format(episode, name, frame))
 
-            # 2d to (camera) local 3d
+            # 2d to (camera) local 3d ##########################################
             t = StopWatch()
-
             # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
             image_RGB = to_rgb_array(sensor_data['CameraRGB'])
-
             # [[X0,Y0,Z0],..[Xn,Yn,Zn]]
             # points_3d = depth_to_local_point_cloud(sensor_data['CameraDepth'])
 
@@ -121,35 +115,41 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
             points_3d = depth_to_local_colored_point_cloud(
                 sensor_data['CameraDepth'], image_RGB)
             t.stop()
-            print('Transformation took {:.0f} ms'.format(t.milliseconds()))
+            print('2D to 3D took {:.0f} ms'.format(t.milliseconds()))
 
-            # (camera) local 3d to world 3d
+            # (camera) local 3d to world 3d ####################################
             t = StopWatch()
-
             # Separating the 3d point and its corresponding color
             color_list = points_3d[:, 3:6]
             points_3d = points_3d[:, 0:3]
 
+            # Get the player transformation
             car_to_world = measurements.player_measurements.transform
+
+            # Compute the final transformation matrix
             car_to_world_matrix = compute_transform_matrix(
                 car_to_world) * camera_to_car_matrix
 
-            # We need the foramt [[X0,..Xn],[Z0,..Zn],[Z0,..Zn]]
-            points_3d = points_3d.transpose()
-
-            # Car to World transformation
-            points_3d = transform_points(
-                car_to_world_matrix, points_3d).transpose()
+            # Car to World transformation given the 3D local points
+            # and the transformation matrix
+            points_3d = transform_points(car_to_world_matrix, points_3d)
 
+            # Merging again the 3D points (now in world space) with
+            # the previous colors
             points_3d = numpy.concatenate((points_3d, color_list), axis=1)
+            # Now we have an array of 3D points and colors
+            # [ [X1,Y1,Z1,R1,G1,B1],
+            #   [X2,Y2,Z2,R2,G2,B2],
+            #    ...,
+            #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
 
             t.stop()
-            print('Local to world transformation took {:.0f} ms'.format(
+            print('Local 3D to world 3D took {:.0f} ms'.format(
                 t.milliseconds()))
 
             t = StopWatch()
 
-            # Save PLY to disk
+            # Save PLY to disk #################################################
             print('Generaing PLY ...')
             ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
                 *p) for p in points_3d.tolist()])
@@ -159,7 +159,8 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
                 os.makedirs(output_folder)
 
             print('Saving PLY ...')
-            with open('{}/{:0>4}.ply'.format(output_folder, frame), 'w+') as f:
+            # Open the file and save with the specific PLY format
+            with open('{}/{:0>5}.ply'.format(output_folder, frame), 'w+') as f:
                 f.write(
                     '\n'.join([construct_ply_header(len(points_3d), True), ply]))
             t.stop()
@@ -214,52 +215,24 @@ def compute_transform_matrix_raw(x=0, y=0, z=0, pitch=0, roll=0, yaw=0, sX=1, sY
 
 def transform_points(transform_matrix, points):
     """
-    Expected points format [[X0..,Xn],[Y0..,Yn],[Z0..,Zn]]
+    Given a 4x4 transformation matrix, transform an array of 3D points.
+    Expected foramt: [[X0,Y0,Z0],..[Xn,Yn,Zn]]
     """
-    # Add 0s row so [[X0..,Xn],[Y0..,Yn],[Z0..,Zn],[0,..0]]
+    # Needed foramt: [[X0,..Xn],[Z0,..Zn],[Z0,..Zn]]
+    points = points.transpose()
+    # Add 0s row: [[X0..,Xn],[Y0..,Yn],[Z0..,Zn],[0,..0]]
     points = numpy.append(points, numpy.ones((1, points.shape[1])), axis=0)
     # Point transformation
     points = transform_matrix * points
     # Return all but last row
-    return points[0:3]
-
-
-def transform_points_old(transform, points):
-    yaw = numpy.radians(transform.rotation.yaw)
-    roll = numpy.radians(-transform.rotation.roll)
-    pitch = numpy.radians(-transform.rotation.pitch)
-
-    yaw_matrix = numpy.array([
-        [math.cos(yaw), -math.sin(yaw), 0],
-        [math.sin(yaw), math.cos(yaw), 0],
-        [0, 0, 1]
-    ])
-
-    pitch_matrix = numpy.array([
-        [math.cos(pitch), 0, -math.sin(pitch)],
-        [0, 1, 0],
-        [math.sin(pitch), 0, math.cos(pitch)]
-    ])
-
-    roll_matrix = numpy.array([
-        [1, 0, 0],
-        [0, math.cos(roll), math.sin(roll)],
-        [0, -math.sin(roll), math.cos(roll)]
-    ])
-
-    rotation_matrix = numpy.dot(
-        yaw_matrix, numpy.dot(pitch_matrix, roll_matrix))
-
-    translation = numpy.array([
-        [transform.location.x],
-        [transform.location.y],
-        [transform.location.z]
-    ])
-
-    return numpy.dot(rotation_matrix, points) + translation
+    return points[0:3].transpose()
 
 
 def construct_ply_header(points_number, colors=False):
+    """
+    Generates a PLY header given a total number of 3D points and
+    coloring property if specified
+    """
     header = ['ply',
               'format ascii 1.0',
               'element vertex {}',

From 07c06f4f51bb221eb9675fda4213e9384fb0378e Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Fri, 15 Dec 2017 17:35:43 +0100
Subject: [PATCH 016/108] More fixes, optimizations and explanations for the
 point cloud

---
 PythonClient/carla/image_converter.py |  57 +++--------
 PythonClient/manual_control.py        |   4 +-
 PythonClient/point_cloud_example.py   | 132 +++++++++++++-------------
 3 files changed, 80 insertions(+), 113 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index 98ef715fa..665628a19 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -96,6 +96,7 @@ def depth_to_logarithmic_grayscale(image):
     """
     Convert an image containing CARLA encoded depth-map to a logarithmic
     grayscale image array.
+    "max_depth" is used to omit the points that are far enough.
     """
     normalized_depth = depth_to_array(image)
     # Convert to logarithmic depth.
@@ -107,53 +108,12 @@ def depth_to_logarithmic_grayscale(image):
     return numpy.repeat(logdepth[:, :, numpy.newaxis], 3, axis=2)
 
 
-def depth_to_local_point_cloud(image):
-    """
-    Convert an image containing CARLA encoded depth-map to a 2D array containing
-    the 3D position (relative to the camera) of each pixel.
-    """
-    far = 100000.0  # centimeters
-    normalized_depth = depth_to_array(image)
-
-    # (Intrinsic) K Matrix
-    k = numpy.identity(3)
-    k[0, 2] = image.width / 2.0
-    k[1, 2] = image.height / 2.0
-    k[0, 0] = k[1, 1] = image.width / \
-        (2.0 * math.tan(image.fov * math.pi / 360.0))
-
-    # 2d pixel coordinates
-    pixel_length = image.width * image.height
-    u_coord = repmat(numpy.r_[image.width-1:-1:-1],
-                     image.height, 1).reshape(pixel_length)
-    v_coord = repmat(numpy.c_[image.height-1:-1:-1],
-                     1, image.width).reshape(pixel_length)
-    normalized_depth = numpy.reshape(normalized_depth, pixel_length)
-
-    # Search for sky pixels (where the depth is 1.0) to delete them
-    max_depth_indexes = numpy.where(normalized_depth == 1.0)
-    normalized_depth = numpy.delete(normalized_depth, max_depth_indexes)
-    u_coord = numpy.delete(u_coord, max_depth_indexes)
-    v_coord = numpy.delete(v_coord, max_depth_indexes)
-
-    # pd2 = [u,v,1]
-    p2d = numpy.array([u_coord, v_coord, numpy.ones_like(u_coord)])
-
-    # P = [X,Y,Z]
-    p3d = numpy.dot(numpy.linalg.inv(k), p2d)
-    p3d *= normalized_depth * far
-
-    # Formating the output to:
-    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
-    return numpy.transpose(p3d)
-
-
-def depth_to_local_colored_point_cloud(image, color, max_depth=0.9):
+def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
     """
     Convert an image containing CARLA encoded depth-map to a 2D array containing
     the 3D position (relative to the camera) of each pixel and its corresponding
     RGB color of an array.
-    "max_depth" is used to omit the points that are far enough
+    "max_depth" is used to omit the points that are far enough.
     """
     far = 100000.0  # max depth in centimeters
     normalized_depth = depth_to_array(image)
@@ -171,7 +131,8 @@ def depth_to_local_colored_point_cloud(image, color, max_depth=0.9):
                      image.height, 1).reshape(pixel_length)
     v_coord = repmat(numpy.c_[image.height-1:-1:-1],
                      1, image.width).reshape(pixel_length)
-    color = color.reshape(pixel_length, 3)
+    if color is not None:
+        color = color.reshape(pixel_length, 3)
     normalized_depth = numpy.reshape(normalized_depth, pixel_length)
 
     # Search for pixels where the depth is greater than max_depth to
@@ -180,7 +141,8 @@ def depth_to_local_colored_point_cloud(image, color, max_depth=0.9):
     normalized_depth = numpy.delete(normalized_depth, max_depth_indexes)
     u_coord = numpy.delete(u_coord, max_depth_indexes)
     v_coord = numpy.delete(v_coord, max_depth_indexes)
-    color = numpy.delete(color, max_depth_indexes, axis=0)
+    if color is not None:
+        color = numpy.delete(color, max_depth_indexes, axis=0)
 
     # pd2 = [u,v,1]
     p2d = numpy.array([u_coord, v_coord, numpy.ones_like(u_coord)])
@@ -191,4 +153,7 @@ def depth_to_local_colored_point_cloud(image, color, max_depth=0.9):
 
     # Formating the output to:
     # [[X1,Y1,Z1,R1,G1,B1],[X2,Y2,Z2,R2,G2,B2], ... [Xn,Yn,Zn,Rn,Gn,Bn]]
-    return numpy.concatenate((numpy.transpose(p3d), color), axis=1)
+    if color is not None:
+        return numpy.concatenate((numpy.transpose(p3d), color), axis=1)
+    # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
+    return numpy.transpose(p3d)
\ No newline at end of file
diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py
index 6933747ce..3327f7f7d 100755
--- a/PythonClient/manual_control.py
+++ b/PythonClient/manual_control.py
@@ -6,7 +6,7 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-# Keyboard controlling for carla. Please refer to client_example for a simpler
+# Keyboard controlling for CARLA. Please refer to client_example.py for a simpler
 # and more documented example.
 
 """
@@ -301,7 +301,7 @@ class CarlaGame(object):
                         agent.vehicle.transform.location.y,
                         agent.vehicle.transform.location.z])
                     w_pos = int(agent_position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0])))
-                    h_pos =int(agent_position[1] *(new_window_width/float(self._map_shape[1])))         
+                    h_pos =int(agent_position[1] *(new_window_width/float(self._map_shape[1])))
                     pygame.draw.circle(surface, [255, 0, 255, 255], (w_pos,h_pos), 4, 0)
 
             self._display.blit(surface, (WINDOW_WIDTH, 0))
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 19969c6f0..02d6a72fc 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -6,7 +6,9 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-"""Basic CARLA to generate point cloud in PLY format."""
+# Basic CARLA client to generate point cloud in PLY format that you
+# can visualize with MeshLab (meshlab.net) for instance. Please
+# refer to client_example.py for a simpler and more documented example.
 
 from __future__ import print_function
 
@@ -25,7 +27,7 @@ from carla.sensor import Camera
 from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line, StopWatch
-from carla.image_converter import depth_to_local_point_cloud, depth_to_local_colored_point_cloud, to_rgb_array
+from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 
 
 def run_carla_client(host, port, save_images_to_disk, image_filename_format):
@@ -37,16 +39,10 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
     camera_local_rotation = [0, 0, 0]
     fov = 70
 
-    # We assume the CARLA server is already waiting for a client to connect at
-    # host:port. To create a connection we can use the `make_carla_client`
-    # context manager, it creates a CARLA client object and starts the
-    # connection. It will throw an exception if something goes wrong. The
-    # context manager makes sure the connection is always cleaned up on exit.
     with make_carla_client(host, port) as client:
         print('CarlaClient connected')
-        numpy.set_printoptions(precision=2)
-        # Start a new episode.
-        # Here we load the settings
+
+        # Here we load the settings.
         settings = CarlaSettings()
         settings.set(
             SynchronousMode=True,
@@ -85,16 +81,14 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
 
         camera_to_car_matrix = compute_transform_matrix(camera_to_car)
 
-        # Do the custom transformations
-        # Rotate -90 degrees in X (Roll)
-        rot_X = compute_transform_matrix_raw(roll=-90, yaw=90, sX=-1)
+        # Do the custom transformations.
+        to_unreal_matrix = compute_transform_matrix_raw(
+            roll=-90, yaw=90, sX=-1)
 
-        camera_to_car_matrix = camera_to_car_matrix * rot_X
+        camera_to_car_matrix = camera_to_car_matrix * to_unreal_matrix
 
         # Iterate every frame in the episode.
         for frame in range(0, number_of_frames):
-            print('Frame: {}'.format(frame))
-
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
 
@@ -104,74 +98,82 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
                     image.save_to_disk(
                         image_filename_format.format(episode, name, frame))
 
-            # 2d to (camera) local 3d ##########################################
-            t = StopWatch()
+            # Start transformations time mesure.
+            time = StopWatch()
+
             # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
             image_RGB = to_rgb_array(sensor_data['CameraRGB'])
-            # [[X0,Y0,Z0],..[Xn,Yn,Zn]]
-            # points_3d = depth_to_local_point_cloud(sensor_data['CameraDepth'])
 
-            # [[X0,Y0,Z0,r0,g0,b0],..[Xn,Yn,Zn,rn,gn,bn]]
-            points_3d = depth_to_local_colored_point_cloud(
-                sensor_data['CameraDepth'], image_RGB)
-            t.stop()
-            print('2D to 3D took {:.0f} ms'.format(t.milliseconds()))
-
-            # (camera) local 3d to world 3d ####################################
-            t = StopWatch()
-            # Separating the 3d point and its corresponding color
-            color_list = points_3d[:, 3:6]
-            points_3d = points_3d[:, 0:3]
-
-            # Get the player transformation
-            car_to_world = measurements.player_measurements.transform
-
-            # Compute the final transformation matrix
-            car_to_world_matrix = compute_transform_matrix(
-                car_to_world) * camera_to_car_matrix
-
-            # Car to World transformation given the 3D local points
-            # and the transformation matrix
-            points_3d = transform_points(car_to_world_matrix, points_3d)
-
-            # Merging again the 3D points (now in world space) with
-            # the previous colors
-            points_3d = numpy.concatenate((points_3d, color_list), axis=1)
-            # Now we have an array of 3D points and colors
-            # [ [X1,Y1,Z1,R1,G1,B1],
-            #   [X2,Y2,Z2,R2,G2,B2],
+            # 2d to (camera) local 3d
+            # We use the image_RGB to colorize each 3D point, this is optional.
+            # "max_depth" is used to keep only the points that are near to the
+            # camera, meaning 1.0 the farest points (sky)
+            points_3d = depth_to_local_point_cloud(
+                sensor_data['CameraDepth'], image_RGB, max_depth=0.2)
+            # This give us the following array of 3D points and colors:
+            # [ [X0,Y0,Z0,R0,G0,B0],
             #    ...,
             #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
 
-            t.stop()
-            print('Local 3D to world 3D took {:.0f} ms'.format(
-                t.milliseconds()))
+            # (Camera) local 3d to world 3d.
+            # Get the player transformation.
+            car_to_world = measurements.player_measurements.transform
 
-            t = StopWatch()
+            # Compute the final transformation matrix.
+            car_to_world_matrix = compute_transform_matrix(
+                car_to_world) * camera_to_car_matrix
 
-            # Save PLY to disk #################################################
-            print('Generaing PLY ...')
-            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
-                *p) for p in points_3d.tolist()])
+            # Here we split the 3d point and its corresponding color.
+            color_list = points_3d[:, 3:6]
+            points_3d = points_3d[:, 0:3]
 
-            # Create folder to save if does not exist
+            # Car to World transformation given the 3D points and the
+            # transformation matrix.
+            # 3D points must be in format:
+            # [ [X0,Y0,Z0],
+            #   ...,
+            #   [Xn,Yn,Zn] ]
+            points_3d = transform_points(car_to_world_matrix, points_3d)
+
+            # Merging again the 3D points (now in world space) with the
+            # previous colors
+            points_3d = numpy.concatenate((points_3d, color_list), axis=1)
+            # Now we have an array of 3D points and colors again:
+            # [ [X0,Y0,Z0,R0,G0,B0],
+            #    ...,
+            #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
+
+            # End transformations time mesure.
+            time.stop()
+
+            # Save PLY to disk
+            # This generates the PLY string with the 3D points and the RGB colors
+            # for each row of the file.
+            # ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
+            #     *p) for p in points_3d.tolist()])
+            ply = points_3d.tostring()
+            # Create folder to save if does not exist.
             if not os.path.isdir(output_folder):
                 os.makedirs(output_folder)
 
-            print('Saving PLY ...')
-            # Open the file and save with the specific PLY format
+            # Open the file and save with the specific PLY format.
             with open('{}/{:0>5}.ply'.format(output_folder, frame), 'w+') as f:
-                f.write(
-                    '\n'.join([construct_ply_header(len(points_3d), True), ply]))
-            t.stop()
-            print('Saving to disk took {:.2f} s'.format(t.seconds()))
+                f.write('\n'.join([construct_ply_header(len(points_3d), True), ply]))
 
-            print()
+            print_message(time.milliseconds(), len(points_3d), frame)
 
             client.send_control(
                 measurements.player_measurements.autopilot_control)
 
 
+def print_message(time, point_n, frame):
+    message = ' '.join([
+        'Transformations took {:>3.0f} ms.',
+        'Saved {:>6} points to "{:0>5}.ply."'
+    ]).format(time, point_n, frame)
+    print_over_same_line(message)
+
+
 def compute_transform_matrix(transform):
     return compute_transform_matrix_raw(
         transform.location.x,

From 6fb0f03dbe0c8712426fea2de84afd238526bac6 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Mon, 8 Jan 2018 17:35:21 +0100
Subject: [PATCH 017/108] Deleted 'episode' variable and deleted save option.

---
 PythonClient/point_cloud_example.py | 30 ++++++-----------------------
 1 file changed, 6 insertions(+), 24 deletions(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 02d6a72fc..29cb50f5b 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -30,7 +30,7 @@ from carla.util import print_over_same_line, StopWatch
 from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 
 
-def run_carla_client(host, port, save_images_to_disk, image_filename_format):
+def run_carla_client(host, port):
     # Here we will run 3 episodes with 300 frames each.
     number_of_frames = 3000
     output_folder = '_out'
@@ -92,12 +92,6 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
 
-            # Save the images to disk if requested.
-            if save_images_to_disk:
-                for name, image in sensor_data.items():
-                    image.save_to_disk(
-                        image_filename_format.format(episode, name, frame))
-
             # Start transformations time mesure.
             time = StopWatch()
 
@@ -149,9 +143,10 @@ def run_carla_client(host, port, save_images_to_disk, image_filename_format):
             # Save PLY to disk
             # This generates the PLY string with the 3D points and the RGB colors
             # for each row of the file.
-            # ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
-            #     *p) for p in points_3d.tolist()])
-            ply = points_3d.tostring()
+
+            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
+                *p) for p in points_3d.tolist()])
+
             # Create folder to save if does not exist.
             if not os.path.isdir(output_folder):
                 os.makedirs(output_folder)
@@ -257,11 +252,6 @@ def main():
         action='store_true',
         dest='debug',
         help='print debug information')
-    argparser.add_argument(
-        '-c', '--color',
-        action='store_true',
-        default='SceneFinal',
-        help='Color for the point cloud')
     argparser.add_argument(
         '--host',
         metavar='H',
@@ -273,10 +263,6 @@ def main():
         default=2000,
         type=int,
         help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-i', '--images-to-disk',
-        action='store_true',
-        help='save images to disk')
 
     args = argparser.parse_args()
 
@@ -287,11 +273,7 @@ def main():
 
     while True:
         try:
-            run_carla_client(
-                host=args.host,
-                port=args.port,
-                save_images_to_disk=args.images_to_disk,
-                image_filename_format='_images/episode_{:0>3d}/{:s}/image_{:0>5d}.png')
+            run_carla_client(host=args.host, port=args.port)
             print('Done.')
             return
 

From ee4f07125bedf4250bdb45e27fdefe7edf34e3ca Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 8 Jan 2018 17:43:32 +0100
Subject: [PATCH 018/108] Suppress pylint errors

---
 PythonClient/point_cloud_example.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 29cb50f5b..976c945fe 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -20,7 +20,6 @@ import os
 import random
 import sys
 import time
-from carla.carla_server_pb2 import Transform
 
 from carla.client import make_carla_client
 from carla.sensor import Camera
@@ -29,6 +28,12 @@ from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line, StopWatch
 from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 
+try:
+    from . import carla_server_pb2 as carla_protocol
+    from carla_protocol import Transform
+except ImportError:
+    raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
+
 
 def run_carla_client(host, port):
     # Here we will run 3 episodes with 300 frames each.

From bf7055368b37ac995a4a0255d3c29dd40148ad88 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 8 Jan 2018 18:23:40 +0100
Subject: [PATCH 019/108] Clean pylint warnings too

---
 PythonClient/point_cloud_example.py | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 976c945fe..60763778d 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -30,7 +30,6 @@ from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 
 try:
     from . import carla_server_pb2 as carla_protocol
-    from carla_protocol import Transform
 except ImportError:
     raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
 
@@ -70,13 +69,13 @@ def run_carla_client(host, port):
         camera2.set_rotation(*camera_local_rotation)
         settings.add_sensor(camera2)
 
-        scene = client.load_settings(settings)
+        client.load_settings(settings)
 
         # Start at location index id '0'
         client.start_episode(0)
 
         # Compute the camera transform matrix
-        camera_to_car = Transform()
+        camera_to_car = carla_protocol.Transform()
         camera_to_car.location.x = camera_local_pos[0]
         camera_to_car.location.y = camera_local_pos[1]
         camera_to_car.location.z = camera_local_pos[2]
@@ -98,7 +97,7 @@ def run_carla_client(host, port):
             measurements, sensor_data = client.read_data()
 
             # Start transformations time mesure.
-            time = StopWatch()
+            timer = StopWatch()
 
             # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
             image_RGB = to_rgb_array(sensor_data['CameraRGB'])
@@ -143,7 +142,7 @@ def run_carla_client(host, port):
             #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
 
             # End transformations time mesure.
-            time.stop()
+            timer.stop()
 
             # Save PLY to disk
             # This generates the PLY string with the 3D points and the RGB colors
@@ -160,17 +159,17 @@ def run_carla_client(host, port):
             with open('{}/{:0>5}.ply'.format(output_folder, frame), 'w+') as f:
                 f.write('\n'.join([construct_ply_header(len(points_3d), True), ply]))
 
-            print_message(time.milliseconds(), len(points_3d), frame)
+            print_message(timer.milliseconds(), len(points_3d), frame)
 
             client.send_control(
                 measurements.player_measurements.autopilot_control)
 
 
-def print_message(time, point_n, frame):
+def print_message(elapsed_time, point_n, frame):
     message = ' '.join([
         'Transformations took {:>3.0f} ms.',
         'Saved {:>6} points to "{:0>5}.ply."'
-    ]).format(time, point_n, frame)
+    ]).format(elapsed_time, point_n, frame)
     print_over_same_line(message)
 
 

From ec467a899c3ddfbb4b9a1b31edacb4a1bde5e3ba Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Thu, 11 Jan 2018 15:16:37 +0100
Subject: [PATCH 020/108] Fixed pylint warnings

---
 PythonClient/point_cloud_example.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 60763778d..cc49e85e0 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -18,7 +18,6 @@ import math
 import numpy
 import os
 import random
-import sys
 import time
 
 from carla.client import make_carla_client
@@ -284,9 +283,6 @@ def main():
         except TCPConnectionError as error:
             logging.error(error)
             time.sleep(1)
-        except Exception as exception:
-            logging.exception(exception)
-            sys.exit(1)
 
 
 if __name__ == '__main__':

From 0ce05cd8118523a363ba98b37bf91733f3f32c4f Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Thu, 11 Jan 2018 19:22:16 +0100
Subject: [PATCH 021/108] Unreal transformation matrix function explained

---
 PythonClient/point_cloud_example.py | 48 ++++++++++++++++++++++++++---
 1 file changed, 43 insertions(+), 5 deletions(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index cc49e85e0..2f0b80947 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -30,7 +30,8 @@ from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 try:
     from . import carla_server_pb2 as carla_protocol
 except ImportError:
-    raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
+    raise RuntimeError(
+        'cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
 
 
 def run_carla_client(host, port):
@@ -156,7 +157,8 @@ def run_carla_client(host, port):
 
             # Open the file and save with the specific PLY format.
             with open('{}/{:0>5}.ply'.format(output_folder, frame), 'w+') as f:
-                f.write('\n'.join([construct_ply_header(len(points_3d), True), ply]))
+                f.write(
+                    '\n'.join([construct_ply_header(len(points_3d), True), ply]))
 
             print_message(timer.milliseconds(), len(points_3d), frame)
 
@@ -183,7 +185,44 @@ def compute_transform_matrix(transform):
     )
 
 
-def compute_transform_matrix_raw(x=0, y=0, z=0, pitch=0, roll=0, yaw=0, sX=1, sY=1, sZ=1):
+def compute_transform_matrix_raw(
+        x=0, y=0, z=0,           # Translation
+        pitch=0, roll=0, yaw=0,  # Rotation
+        sX=1, sY=1, sZ=1):       # Scale
+    """
+    Unreal Transform Matrix:
+    m = Translation * Yaw * Pitch * Roll * Scale
+
+    # Translation ####
+    [  1   0   0   x ]
+    [  0   1   0   y ]
+    [  0   0   1   z ]
+    [  0   0   0   1 ]
+
+    # Yaw ############
+    [ cy -sy   0   0 ]
+    [ sy  cy   0   0 ]
+    [  0   0   1   0 ]
+    [  0   0   0   1 ]
+
+    # Pitch ##########
+    [ cp   0 -sp   0 ]
+    [  0   1   0   0 ]
+    [ sp   0  cp   0 ]
+    [  0   0   0   1 ]
+
+    # Roll ###########
+    [  1   0   0   0 ]
+    [  0  cr  sr   0 ]
+    [  0 -sr  cr   0 ]
+    [  0   0   0   1 ]
+
+    # Scale ##########
+    [ sX   0   0   0 ]
+    [  0  sY   0   0 ]
+    [  0   0  sZ   0 ]
+    [  0   0   0   1 ]
+    """
     # Yaw
     cy = math.cos(numpy.radians(yaw))
     sy = math.sin(numpy.radians(yaw))
@@ -199,7 +238,7 @@ def compute_transform_matrix_raw(x=0, y=0, z=0, pitch=0, roll=0, yaw=0, sX=1, sY
     m[0, 3] = x
     m[1, 3] = y
     m[2, 3] = z
-    # Rotation
+    # Scale and rotation
     m[0, 0] = sX * (cp * cy)
     m[0, 1] = sY * (cy * sp*sr - sy * cr)
     m[0, 2] = -sZ * (cy * sp * cr + sy * sr)
@@ -209,7 +248,6 @@ def compute_transform_matrix_raw(x=0, y=0, z=0, pitch=0, roll=0, yaw=0, sX=1, sY
     m[2, 0] = sX * (sp)
     m[2, 1] = -sY * (cp * sr)
     m[2, 2] = sZ * (cp * cr)
-
     return m
 
 

From 351832930341b64f93f2d09f77e1f7feadcbbbdb Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 12 Jan 2018 16:28:46 +0100
Subject: [PATCH 022/108] Add point-cloud sensor data to client API

---
 PythonClient/carla/sensor.py | 61 ++++++++++++++++++++++++++++++++++++
 1 file changed, 61 insertions(+)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 52b4ef7fc..889a48ecc 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -9,6 +9,20 @@
 
 import os
 
+from collections import namedtuple
+
+# ==============================================================================
+# -- Helpers -------------------------------------------------------------------
+# ==============================================================================
+
+
+Color = namedtuple('Color', 'r g b')
+Color.__new__.__defaults__ = (0, 0, 0)
+
+
+Point = namedtuple('Point', 'x y z color')
+Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
+
 
 # ==============================================================================
 # -- Sensor --------------------------------------------------------------------
@@ -121,3 +135,50 @@ class Image(SensorData):
         if not os.path.isdir(folder):
             os.makedirs(folder)
         image.save(filename)
+
+
+class PointCloud(SensorData):
+    """A list of points."""
+
+    def __init__(self, array):
+        self._array = array
+        self._has_colors = len(self) > 0 and len(self.array[0]) == 6
+
+    @property
+    def array(self):
+        """The numpy array holding the point-cloud."""
+        return self._array
+
+    def has_colors(self):
+        """Return whether the points have color."""
+        return self._has_colors
+
+    def save_to_disk(self, filename):
+        """Save this point-cloud to disk as PLY format."""
+        raise NotImplementedError
+
+    def __len__(self):
+        return len(self.array)
+
+    def __getitem__(self, key):
+        point = self.array[key]
+        if self._has_colors:
+            return Point(*point[:3], color=Color(*point[3:]))
+        return Point(*point)
+
+    def __iter__(self):
+        class PointIterator(object):
+            def __init__(self, point_cloud):
+                self.point_cloud = point_cloud
+                self.index = -1
+
+            def __next__(self):
+                self.index += 1
+                if self.index >= len(self.point_cloud):
+                    raise StopIteration
+                return self.point_cloud[self.index]
+
+        return PointIterator(self)
+
+    def __str__(self):
+        return str(self.array)

From 3805d1a571d43362c986db12f242d764b3c9805a Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 12 Jan 2018 17:43:53 +0100
Subject: [PATCH 023/108] Fix Python2 iterator

---
 PythonClient/carla/sensor.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 889a48ecc..652787077 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -178,6 +178,9 @@ class PointCloud(SensorData):
                     raise StopIteration
                 return self.point_cloud[self.index]
 
+            def next(self):
+                return self.__next__()
+
         return PointIterator(self)
 
     def __str__(self):

From cdd15c330fd4df7d5d320cdb39eab59242caa346 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 12 Jan 2018 18:06:10 +0100
Subject: [PATCH 024/108] Add transform class to Python API

---
 PythonClient/carla/transform.py | 77 +++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 PythonClient/carla/transform.py

diff --git a/PythonClient/carla/transform.py b/PythonClient/carla/transform.py
new file mode 100644
index 000000000..87d72e625
--- /dev/null
+++ b/PythonClient/carla/transform.py
@@ -0,0 +1,77 @@
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB), and the INTEL Visual Computing Lab.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+import math
+
+from collections import namedtuple
+
+try:
+    import numpy
+except ImportError:
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
+
+
+Translation = namedtuple('Translation', 'x y z')
+Translation.__new__.__defaults__ = (0.0, 0.0, 0.0)
+
+Rotation = namedtuple('Rotation', 'pitch yaw roll')
+Rotation.__new__.__defaults__ = (0.0, 0.0, 0.0)
+
+Scale = namedtuple('Scale', 'x y z')
+Scale.__new__.__defaults__ = (1.0, 1.0, 1.0)
+
+
+class Transform(object):
+    """A 3D transformation.
+
+    The transformation is applied in the order: scale, rotation, translation.
+    """
+
+    @staticmethod
+    def from_protobuf_transform(transform):
+        """Create a Transform from a Protobuf Transform object."""
+        return Transform(translation=transform.location, rotation=transform.rotation)
+
+    def __init__(self, *args, **kwargs):
+        if 'matrix' in kwargs:
+            self.matrix = kwargs['matrix']
+        else:
+            self.matrix = numpy.matrix(numpy.identity(4))
+            self.set(*args, **kwargs)
+
+    def set(self, translation=Translation(), rotation=Rotation(), scale=Scale()):
+        cy = math.cos(numpy.radians(rotation.yaw))
+        sy = math.sin(numpy.radians(rotation.yaw))
+        cr = math.cos(numpy.radians(rotation.roll))
+        sr = math.sin(numpy.radians(rotation.roll))
+        cp = math.cos(numpy.radians(rotation.pitch))
+        sp = math.sin(numpy.radians(rotation.pitch))
+        self.matrix[0, 3] = translation.x
+        self.matrix[1, 3] = translation.y
+        self.matrix[2, 3] = translation.z
+        self.matrix[0, 0] = scale.x * (cp * cy)
+        self.matrix[0, 1] = scale.y * (cy * sp * sr - sy * cr)
+        self.matrix[0, 2] = -scale.z * (cy * sp * cr + sy * sr)
+        self.matrix[1, 0] = scale.x * (sy * cp)
+        self.matrix[1, 1] = scale.y * (sy * sp * sr + cy * cr)
+        self.matrix[1, 2] = scale.z * (cy * sr - sy * sp * cr)
+        self.matrix[2, 0] = scale.x * (sp)
+        self.matrix[2, 1] = -scale.y * (cp * sr)
+        self.matrix[2, 2] = scale.z * (cp * cr)
+
+    def inverse(self):
+        """Return the inverse transform."""
+        return Transform(matrix=numpy.linalg.inv(self.matrix))
+
+    def transform_points(self, points):
+        """Transform a point-cloud."""
+        raise NotImplementedError
+
+    def __mul__(self, other):
+        return Transform(matrix=numpy.dot(self.matrix, other.matrix))
+
+    def __str__(self):
+        return str(self.matrix)

From 6dd7794696df7235109dd65bdcd6e1cc177c4aa4 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 12 Jan 2018 18:06:10 +0100
Subject: [PATCH 025/108] Changed code using the new 'Transform' and
 'PointCloud' classes

---
 PythonClient/carla/image_converter.py |   5 +-
 PythonClient/carla/sensor.py          |  85 +++++++++--
 PythonClient/carla/transform.py       | 153 +++++++++++++++++++
 PythonClient/point_cloud_example.py   | 210 ++++++--------------------
 4 files changed, 271 insertions(+), 182 deletions(-)
 create mode 100644 PythonClient/carla/transform.py

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index 665628a19..21d15a889 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -154,6 +154,7 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
     # Formating the output to:
     # [[X1,Y1,Z1,R1,G1,B1],[X2,Y2,Z2,R2,G2,B2], ... [Xn,Yn,Zn,Rn,Gn,Bn]]
     if color is not None:
-        return numpy.concatenate((numpy.transpose(p3d), color), axis=1)
+        # numpy.concatenate((numpy.transpose(p3d), color), axis=1)
+        return sensor.PointCloud(numpy.transpose(p3d), color_array=color)
     # [[X1,Y1,Z1],[X2,Y2,Z2], ... [Xn,Yn,Zn]]
-    return numpy.transpose(p3d)
\ No newline at end of file
+    return sensor.PointCloud(numpy.transpose(p3d))
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 652787077..ceebcae18 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -8,11 +8,12 @@
 
 
 import os
+import numpy
 
 from collections import namedtuple
 
 # ==============================================================================
-# -- Helpers -------------------------------------------------------------------
+# -- Helpers -------------------------------------------------------------
 # ==============================================================================
 
 
@@ -25,7 +26,7 @@ Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
 
 
 # ==============================================================================
-# -- Sensor --------------------------------------------------------------------
+# -- Sensor --------------------------------------------------------------
 # ==============================================================================
 
 
@@ -78,7 +79,7 @@ class Camera(Sensor):
 
 
 # ==============================================================================
-# -- SensorData ----------------------------------------------------------------
+# -- SensorData ----------------------------------------------------------
 # ==============================================================================
 
 
@@ -121,7 +122,8 @@ class Image(SensorData):
         try:
             from PIL import Image as PImage
         except ImportError:
-            raise RuntimeError('cannot import PIL, make sure pillow package is installed')
+            raise RuntimeError(
+                'cannot import PIL, make sure pillow package is installed')
 
         image = PImage.frombytes(
             mode='RGBA',
@@ -140,34 +142,93 @@ class Image(SensorData):
 class PointCloud(SensorData):
     """A list of points."""
 
-    def __init__(self, array):
+    def __init__(self, array, color_array=None):
         self._array = array
-        self._has_colors = len(self) > 0 and len(self.array[0]) == 6
+        self._color_array = color_array
+        self._has_colors = color_array is not None
 
     @property
     def array(self):
-        """The numpy array holding the point-cloud."""
+        """The numpy array holding the point-cloud.
+
+        3D points format for n elements:
+        [ [X0,Y0,Z0],
+          ...,
+          [Xn,Yn,Zn] ]
+        """
         return self._array
 
+    @property
+    def color_array(self):
+        """The numpy array holding the colors corresponding to each point.
+        It is None if there are no colors.
+
+        Colors format for n elements:
+        [ [R0,G0,B0],
+          ...,
+          [Rn,Gn,Bn] ]
+        """
+        return self._color_array
+
     def has_colors(self):
         """Return whether the points have color."""
         return self._has_colors
 
+    def apply_transform(self, transformation):
+        """Modify the PointCloud instance transforming its points"""
+        self._array = transformation.transform_points(self._array)
+
     def save_to_disk(self, filename):
         """Save this point-cloud to disk as PLY format."""
-        raise NotImplementedError
+
+        def construct_ply_header():
+            """Generates a PLY header given a total number of 3D points and
+            coloring property if specified
+            """
+            points = len(self)  # Total point number
+            header = ['ply',
+                      'format ascii 1.0',
+                      'element vertex {}',
+                      'property float32 x',
+                      'property float32 y',
+                      'property float32 z',
+                      'property uchar diffuse_red',
+                      'property uchar diffuse_green',
+                      'property uchar diffuse_blue',
+                      'end_header']
+            if not self._has_colors:
+                return '\n'.join(header[0:6] + [header[-1]]).format(points)
+            return '\n'.join(header).format(points)
+
+        if not self._has_colors:
+            ply = '\n'.join(['{:.2f} {:.2f} {:.2f}'.format(
+                *p) for p in self._array.tolist()])
+        else:
+            points_3d = numpy.concatenate((self._array, self._color_array), axis=1)
+            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
+                *p) for p in points_3d.tolist()])
+
+        # Create folder to save if does not exist.
+        folder = os.path.dirname(filename)
+        if not os.path.isdir(folder):
+            os.makedirs(folder)
+
+        # Open the file and save with the specific PLY format.
+        with open(filename, 'w+') as ply_file:
+            ply_file.write('\n'.join([construct_ply_header(), ply]))
 
     def __len__(self):
         return len(self.array)
 
     def __getitem__(self, key):
-        point = self.array[key]
-        if self._has_colors:
-            return Point(*point[:3], color=Color(*point[3:]))
-        return Point(*point)
+        color = None if self._color_array is None else Color(
+            *self._color_array[key])
+        return Point(*self._array[key], color=color)
 
     def __iter__(self):
         class PointIterator(object):
+            """Iterator class for PointCloud"""
+
             def __init__(self, point_cloud):
                 self.point_cloud = point_cloud
                 self.index = -1
diff --git a/PythonClient/carla/transform.py b/PythonClient/carla/transform.py
new file mode 100644
index 000000000..c2dbfa476
--- /dev/null
+++ b/PythonClient/carla/transform.py
@@ -0,0 +1,153 @@
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB), and the INTEL Visual Computing Lab.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+import math
+
+from collections import namedtuple
+
+try:
+    import numpy
+except ImportError:
+    raise RuntimeError(
+        'cannot import numpy, make sure numpy package is installed.')
+
+try:
+    from . import carla_server_pb2 as carla_protocol
+except ImportError:
+    raise RuntimeError('cannot import "carla_server_pb2.py", run '
+                       'the protobuf compiler to generate this file')
+
+
+Translation = namedtuple('Translation', 'x y z')
+Translation.__new__.__defaults__ = (0.0, 0.0, 0.0)
+
+Rotation = namedtuple('Rotation', 'pitch yaw roll')
+Rotation.__new__.__defaults__ = (0.0, 0.0, 0.0)
+
+Scale = namedtuple('Scale', 'x y z')
+Scale.__new__.__defaults__ = (1.0, 1.0, 1.0)
+
+
+class Transform(object):
+    """A 3D transformation.
+
+    The transformation is applied in the order: scale, rotation, translation.
+    """
+
+    @staticmethod
+    def _from_protobuf_transform(transform):
+        """Create a Transform from a Protobuf Transform object."""
+        return Transform(
+            Translation(
+                transform.location.x,
+                transform.location.y,
+                transform.location.z
+            ),
+            Rotation(
+                transform.rotation.pitch,
+                transform.rotation.yaw,
+                transform.rotation.roll
+            )
+        )
+
+    def __init__(self, *args, **kwargs):
+        if 'matrix' in kwargs:
+            self.matrix = kwargs['matrix']
+            return
+        if isinstance(args[0], carla_protocol.Transform):
+            args = [
+                Translation(
+                    args[0].location.x,
+                    args[0].location.y,
+                    args[0].location.z),
+                Rotation(
+                    args[0].rotation.pitch,
+                    args[0].rotation.yaw,
+                    args[0].rotation.roll)
+            ]
+        self.matrix = numpy.matrix(numpy.identity(4))
+        self.set(*args, **kwargs)
+
+    def set(self, *args):
+        """Builds the transform matrix given a Translate, Rotation
+        and Scale.
+        """
+        translation = Translation()
+        rotation = Rotation()
+        scale = Scale()
+
+        if len(args) > 3:
+            raise ValueError("'Transform' accepts 3 values as maximum.")
+
+        def get_single_obj_type(obj_type):
+            """Returns the unique object contained in the
+            arguments lists that is instance of 'obj_type'.
+            """
+            obj = [x for x in args if isinstance(x, obj_type)]
+            if len(obj) > 1:
+                raise ValueError("Transform only accepts one instances of " +
+                                 str(obj_type) + " as a parameter")
+            elif not obj:
+                # Create an instance of the type that is 'obj_type'
+                return obj_type()
+            return obj[0]
+
+        translation = get_single_obj_type(Translation)
+        rotation = get_single_obj_type(Rotation)
+        scale = get_single_obj_type(Scale)
+
+        for param in args:
+            if not isinstance(param, Translation) and \
+               not isinstance(param, Rotation) and \
+               not isinstance(param, Scale):
+                raise TypeError(
+                    "'" + str(type(param)) + "' type not match with \
+                    'Translation', 'Rotation' or 'Scale'")
+
+        # Transformation matrix
+        cy = math.cos(numpy.radians(rotation.yaw))
+        sy = math.sin(numpy.radians(rotation.yaw))
+        cr = math.cos(numpy.radians(rotation.roll))
+        sr = math.sin(numpy.radians(rotation.roll))
+        cp = math.cos(numpy.radians(rotation.pitch))
+        sp = math.sin(numpy.radians(rotation.pitch))
+        self.matrix[0, 3] = translation.x
+        self.matrix[1, 3] = translation.y
+        self.matrix[2, 3] = translation.z
+        self.matrix[0, 0] = scale.x * (cp * cy)
+        self.matrix[0, 1] = scale.y * (cy * sp * sr - sy * cr)
+        self.matrix[0, 2] = -scale.z * (cy * sp * cr + sy * sr)
+        self.matrix[1, 0] = scale.x * (sy * cp)
+        self.matrix[1, 1] = scale.y * (sy * sp * sr + cy * cr)
+        self.matrix[1, 2] = scale.z * (cy * sr - sy * sp * cr)
+        self.matrix[2, 0] = scale.x * (sp)
+        self.matrix[2, 1] = -scale.y * (cp * sr)
+        self.matrix[2, 2] = scale.z * (cp * cr)
+
+    def inverse(self):
+        """Return the inverse transform."""
+        return Transform(matrix=numpy.linalg.inv(self.matrix))
+
+    def transform_points(self, points):
+        """
+        Given a 4x4 transformation matrix, transform an array of 3D points.
+        Expected point foramt: [[X0,Y0,Z0],..[Xn,Yn,Zn]]
+        """
+        # Needed foramt: [[X0,..Xn],[Z0,..Zn],[Z0,..Zn]]. So let's transpose
+        # the point matrix.
+        points = points.transpose()
+        # Add 0s row: [[X0..,Xn],[Y0..,Yn],[Z0..,Zn],[0,..0]]
+        points = numpy.append(points, numpy.ones((1, points.shape[1])), axis=0)
+        # Point transformation
+        points = self.matrix * points
+        # Return all but last row
+        return points[0:3].transpose()
+
+    def __mul__(self, other):
+        return Transform(matrix=numpy.dot(self.matrix, other.matrix))
+
+    def __str__(self):
+        return str(self.matrix)
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 2f0b80947..11f033e9b 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -26,15 +26,16 @@ from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line, StopWatch
 from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
+from carla.transform import Transform, Translation, Rotation, Scale
 
 try:
-    from . import carla_server_pb2 as carla_protocol
+    from carla import carla_server_pb2 as carla_protocol
 except ImportError:
-    raise RuntimeError(
-        'cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
+    raise RuntimeError('cannot import "carla_server_pb2.py", run '
+                       'the protobuf compiler to generate this file')
 
 
-def run_carla_client(host, port):
+def run_carla_client(host, port, far):
     # Here we will run 3 episodes with 300 frames each.
     number_of_frames = 3000
     output_folder = '_out'
@@ -75,21 +76,18 @@ def run_carla_client(host, port):
         client.start_episode(0)
 
         # Compute the camera transform matrix
-        camera_to_car = carla_protocol.Transform()
-        camera_to_car.location.x = camera_local_pos[0]
-        camera_to_car.location.y = camera_local_pos[1]
-        camera_to_car.location.z = camera_local_pos[2]
-        camera_to_car.rotation.pitch = camera_local_rotation[0]
-        camera_to_car.rotation.yaw = camera_local_rotation[1]
-        camera_to_car.rotation.roll = camera_local_rotation[2]
-
-        camera_to_car_matrix = compute_transform_matrix(camera_to_car)
+        camera_to_car_transform = Transform(
+            Translation(*camera_local_pos),
+            Rotation(*camera_local_rotation)
+        )
 
         # Do the custom transformations.
-        to_unreal_matrix = compute_transform_matrix_raw(
-            roll=-90, yaw=90, sX=-1)
-
-        camera_to_car_matrix = camera_to_car_matrix * to_unreal_matrix
+        to_unreal_transform = Transform(
+            Rotation(roll=-90, yaw=90),
+            Scale(x=-1)
+        )
+        # And apply it.
+        camera_to_car_transform *= to_unreal_transform
 
         # Iterate every frame in the episode.
         for frame in range(0, number_of_frames):
@@ -106,40 +104,24 @@ def run_carla_client(host, port):
             # We use the image_RGB to colorize each 3D point, this is optional.
             # "max_depth" is used to keep only the points that are near to the
             # camera, meaning 1.0 the farest points (sky)
-            points_3d = depth_to_local_point_cloud(
-                sensor_data['CameraDepth'], image_RGB, max_depth=0.2)
-            # This give us the following array of 3D points and colors:
-            # [ [X0,Y0,Z0,R0,G0,B0],
-            #    ...,
-            #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
+            point_cloud = depth_to_local_point_cloud(
+                sensor_data['CameraDepth'],
+                image_RGB,
+                max_depth=far
+            )
 
             # (Camera) local 3d to world 3d.
-            # Get the player transformation.
-            car_to_world = measurements.player_measurements.transform
+            # Get the transform from the player protobuf transformation.
+            world_transform = Transform(
+                measurements.player_measurements.transform
+            )
 
             # Compute the final transformation matrix.
-            car_to_world_matrix = compute_transform_matrix(
-                car_to_world) * camera_to_car_matrix
-
-            # Here we split the 3d point and its corresponding color.
-            color_list = points_3d[:, 3:6]
-            points_3d = points_3d[:, 0:3]
+            car_to_world_transform = world_transform * camera_to_car_transform
 
             # Car to World transformation given the 3D points and the
             # transformation matrix.
-            # 3D points must be in format:
-            # [ [X0,Y0,Z0],
-            #   ...,
-            #   [Xn,Yn,Zn] ]
-            points_3d = transform_points(car_to_world_matrix, points_3d)
-
-            # Merging again the 3D points (now in world space) with the
-            # previous colors
-            points_3d = numpy.concatenate((points_3d, color_list), axis=1)
-            # Now we have an array of 3D points and colors again:
-            # [ [X0,Y0,Z0,R0,G0,B0],
-            #    ...,
-            #   [Xn,Yn,Zn,Rn,Gn,Bn] ]
+            point_cloud.apply_transform(car_to_world_transform)
 
             # End transformations time mesure.
             timer.stop()
@@ -147,20 +129,10 @@ def run_carla_client(host, port):
             # Save PLY to disk
             # This generates the PLY string with the 3D points and the RGB colors
             # for each row of the file.
+            point_cloud.save_to_disk(
+                '{}/{:0>5}.ply'.format(output_folder, frame))
 
-            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
-                *p) for p in points_3d.tolist()])
-
-            # Create folder to save if does not exist.
-            if not os.path.isdir(output_folder):
-                os.makedirs(output_folder)
-
-            # Open the file and save with the specific PLY format.
-            with open('{}/{:0>5}.ply'.format(output_folder, frame), 'w+') as f:
-                f.write(
-                    '\n'.join([construct_ply_header(len(points_3d), True), ply]))
-
-            print_message(timer.milliseconds(), len(points_3d), frame)
+            print_message(timer.milliseconds(), len(point_cloud), frame)
 
             client.send_control(
                 measurements.player_measurements.autopilot_control)
@@ -174,116 +146,12 @@ def print_message(elapsed_time, point_n, frame):
     print_over_same_line(message)
 
 
-def compute_transform_matrix(transform):
-    return compute_transform_matrix_raw(
-        transform.location.x,
-        transform.location.y,
-        transform.location.z,
-        transform.rotation.pitch,
-        transform.rotation.roll,
-        transform.rotation.yaw
-    )
-
-
-def compute_transform_matrix_raw(
-        x=0, y=0, z=0,           # Translation
-        pitch=0, roll=0, yaw=0,  # Rotation
-        sX=1, sY=1, sZ=1):       # Scale
-    """
-    Unreal Transform Matrix:
-    m = Translation * Yaw * Pitch * Roll * Scale
-
-    # Translation ####
-    [  1   0   0   x ]
-    [  0   1   0   y ]
-    [  0   0   1   z ]
-    [  0   0   0   1 ]
-
-    # Yaw ############
-    [ cy -sy   0   0 ]
-    [ sy  cy   0   0 ]
-    [  0   0   1   0 ]
-    [  0   0   0   1 ]
-
-    # Pitch ##########
-    [ cp   0 -sp   0 ]
-    [  0   1   0   0 ]
-    [ sp   0  cp   0 ]
-    [  0   0   0   1 ]
-
-    # Roll ###########
-    [  1   0   0   0 ]
-    [  0  cr  sr   0 ]
-    [  0 -sr  cr   0 ]
-    [  0   0   0   1 ]
-
-    # Scale ##########
-    [ sX   0   0   0 ]
-    [  0  sY   0   0 ]
-    [  0   0  sZ   0 ]
-    [  0   0   0   1 ]
-    """
-    # Yaw
-    cy = math.cos(numpy.radians(yaw))
-    sy = math.sin(numpy.radians(yaw))
-    # Pitch
-    cr = math.cos(numpy.radians(roll))
-    sr = math.sin(numpy.radians(roll))
-    # Roll
-    cp = math.cos(numpy.radians(pitch))
-    sp = math.sin(numpy.radians(pitch))
-    # (4 X 4) Identity matrix
-    m = numpy.matrix(numpy.identity(4))
-    # Translation
-    m[0, 3] = x
-    m[1, 3] = y
-    m[2, 3] = z
-    # Scale and rotation
-    m[0, 0] = sX * (cp * cy)
-    m[0, 1] = sY * (cy * sp*sr - sy * cr)
-    m[0, 2] = -sZ * (cy * sp * cr + sy * sr)
-    m[1, 0] = sX * (sy * cp)
-    m[1, 1] = sY * (sy * sp * sr + cy * cr)
-    m[1, 2] = sZ * (cy * sr - sy * sp * cr)
-    m[2, 0] = sX * (sp)
-    m[2, 1] = -sY * (cp * sr)
-    m[2, 2] = sZ * (cp * cr)
-    return m
-
-
-def transform_points(transform_matrix, points):
-    """
-    Given a 4x4 transformation matrix, transform an array of 3D points.
-    Expected foramt: [[X0,Y0,Z0],..[Xn,Yn,Zn]]
-    """
-    # Needed foramt: [[X0,..Xn],[Z0,..Zn],[Z0,..Zn]]
-    points = points.transpose()
-    # Add 0s row: [[X0..,Xn],[Y0..,Yn],[Z0..,Zn],[0,..0]]
-    points = numpy.append(points, numpy.ones((1, points.shape[1])), axis=0)
-    # Point transformation
-    points = transform_matrix * points
-    # Return all but last row
-    return points[0:3].transpose()
-
-
-def construct_ply_header(points_number, colors=False):
-    """
-    Generates a PLY header given a total number of 3D points and
-    coloring property if specified
-    """
-    header = ['ply',
-              'format ascii 1.0',
-              'element vertex {}',
-              'property float32 x',
-              'property float32 y',
-              'property float32 z',
-              'property uchar diffuse_red',
-              'property uchar diffuse_green',
-              'property uchar diffuse_blue',
-              'end_header']
-    if not colors:
-        return '\n'.join(header[0:6] + [header[-1]]).format(points_number)
-    return '\n'.join(header).format(points_number)
+def check_far(value):
+    fvalue = float(value)
+    if fvalue < 0.0 or fvalue > 1.0:
+        raise argparse.ArgumentTypeError(
+            "{} must be a float between 0.0 and 1.0")
+    return fvalue
 
 
 def main():
@@ -304,6 +172,12 @@ def main():
         default=2000,
         type=int,
         help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-f', '--far',
+        default=0.2,
+        type=check_far,
+        help='The maximum save distance of camera-point '
+             '[0.0 (near), 1.0 (far)] (default: 0.2)')
 
     args = argparser.parse_args()
 
@@ -314,7 +188,7 @@ def main():
 
     while True:
         try:
-            run_carla_client(host=args.host, port=args.port)
+            run_carla_client(host=args.host, port=args.port, far=args.far)
             print('Done.')
             return
 

From 869f2d436edaad6538d0dca44e494151590156f2 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Wed, 17 Jan 2018 17:03:39 +0100
Subject: [PATCH 026/108] Removed unused imports

---
 PythonClient/carla/sensor.py        | 14 ++++++++++----
 PythonClient/point_cloud_example.py |  9 ---------
 2 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index ceebcae18..9b48e150f 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -8,7 +8,12 @@
 
 
 import os
-import numpy
+
+try:
+    import numpy
+except ImportError:
+    raise RuntimeError(
+        'cannot import numpy, make sure numpy package is installed.')
 
 from collections import namedtuple
 
@@ -204,9 +209,10 @@ class PointCloud(SensorData):
             ply = '\n'.join(['{:.2f} {:.2f} {:.2f}'.format(
                 *p) for p in self._array.tolist()])
         else:
-            points_3d = numpy.concatenate((self._array, self._color_array), axis=1)
-            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'.format(
-                *p) for p in points_3d.tolist()])
+            points_3d = numpy.concatenate(
+                (self._array, self._color_array), axis=1)
+            ply = '\n'.join(['{:.2f} {:.2f} {:.2f} {:.0f} {:.0f} {:.0f}'
+                             .format(*p) for p in points_3d.tolist()])
 
         # Create folder to save if does not exist.
         folder = os.path.dirname(filename)
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 11f033e9b..e7c7413b5 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -14,9 +14,6 @@ from __future__ import print_function
 
 import argparse
 import logging
-import math
-import numpy
-import os
 import random
 import time
 
@@ -28,12 +25,6 @@ from carla.util import print_over_same_line, StopWatch
 from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
 from carla.transform import Transform, Translation, Rotation, Scale
 
-try:
-    from carla import carla_server_pb2 as carla_protocol
-except ImportError:
-    raise RuntimeError('cannot import "carla_server_pb2.py", run '
-                       'the protobuf compiler to generate this file')
-
 
 def run_carla_client(host, port, far):
     # Here we will run 3 episodes with 300 frames each.

From c8e87d1153241017e4ded2167092aa3963bd2522 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Wed, 24 Jan 2018 15:30:54 +0100
Subject: [PATCH 027/108] Adding tutorial to run carla headless

---
 Docs/carla_on_server.md | 79 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 Docs/carla_on_server.md

diff --git a/Docs/carla_on_server.md b/Docs/carla_on_server.md
new file mode 100644
index 000000000..843db5a9e
--- /dev/null
+++ b/Docs/carla_on_server.md
@@ -0,0 +1,79 @@
+Running CARLA Remotely and without Display
+------
+
+
+This tutorial is designed for: 
+- Remote server users that have several nvidia  graphical cards and want to effectively use CARLA on all GPUs.
+-  Desktop users who want to use the GPU that is not plugged on the screen for rendering CARLA.
+
+
+On this tutorial you will learn.
+- How to configure your server to have nvidia working on rendering without a display attached.
+-  How to use VNC + VGL to simulate a display connected to any GPU you have in your machine.
+- And Finally, how to run CARLA in this environment
+
+This tutorial was tested in Ubuntu 16.04 and using NVIDIA 384.11 drivers.
+## Preliminaries 
+
+A few things need to be working in your server before.
+ Latest NVIDIA Drivers, OpenGL,  VirtualGL(VGL), TurboVNC 2.11, ,
+#### NVIDIA Drivers
+Download and install NVIDIA-drivers with typical tutorials
+http://www.nvidia.es/Download/index.aspx
+### OpenGL
+Openg GL is necessary for Virtual GL. Normally OpenGL
+can be installed through apt.
+
+    sudo apt-get install freeglut3-dev mesa-utils
+####  VGL
+Follow this tutorial and install vgl
+https://virtualgl.org/vgldoc/2_2_1/#hd004001
+
+### TurboVNC
+Follow the tutorial below to install TurboVNC 2.11
+https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001
+
+WARNING: Take care on which VNC you install as it may not be compatible with Unreal. The one above was the only one that worked for me. 
+#### Extra Packages
+These extra packages were necessary to make unreal to work.
+    sudo apt install 11-xserver-utils libxrandr-dev
+
+
+
+
+### Configure your X
+
+You must generate a X compatible with your nvdia and compatible to run without display. For that, the following command worked:
+
+    sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
+
+
+
+## Emulating The Virtual Display
+
+Start by killing all Xorg servers. This command could change depending on your system.
+
+    sudo service lightdm stop
+
+Run our own X server. Here I use number 7, but in theory it could be labeled with any number.
+
+    sudo nohup Xorg :7 &
+
+Run an auxiliary remote VNC-Xserver. This will create a
+virtual display  "8".
+
+    /opt/TurboVNC/bin/vncserver :8
+
+If everything is working fine the following command
+should run smoothly.
+
+    DISPLAY=:8 vglrun -d :7.0 glxinfo
+Note. This will run glx info on Xserver 7, device 0. This means you are selecting the GPU 0 on your machine. To run on other GPU such as GPU 1 run:
+
+    DISPLAY=:8 vglrun -d :7.1 glxinfo
+
+## Running CARLA 
+
+Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH basiclly run.
+
+    DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4 

From a4622a4c5a737deba9c1d509939b30b92e19e56c Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Wed, 24 Jan 2018 15:34:11 +0100
Subject: [PATCH 028/108] Some details on format

---
 Docs/carla_on_server.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Docs/carla_on_server.md b/Docs/carla_on_server.md
index 843db5a9e..69918eb36 100644
--- a/Docs/carla_on_server.md
+++ b/Docs/carla_on_server.md
@@ -20,7 +20,7 @@ A few things need to be working in your server before.
 #### NVIDIA Drivers
 Download and install NVIDIA-drivers with typical tutorials
 http://www.nvidia.es/Download/index.aspx
-### OpenGL
+#### OpenGL
 Openg GL is necessary for Virtual GL. Normally OpenGL
 can be installed through apt.
 
@@ -29,7 +29,7 @@ can be installed through apt.
 Follow this tutorial and install vgl
 https://virtualgl.org/vgldoc/2_2_1/#hd004001
 
-### TurboVNC
+#### TurboVNC
 Follow the tutorial below to install TurboVNC 2.11
 https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001
 
@@ -41,7 +41,7 @@ These extra packages were necessary to make unreal to work.
 
 
 
-### Configure your X
+#### Configure your X
 
 You must generate a X compatible with your nvdia and compatible to run without display. For that, the following command worked:
 

From d9091aa5ae73fd0ba6a4c37a2e4441a1c8285c6d Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 29 Jan 2018 11:52:08 +0100
Subject: [PATCH 029/108] Make clearer that Unreal repo is private

---
 Docs/how_to_build_on_linux.md | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/Docs/how_to_build_on_linux.md b/Docs/how_to_build_on_linux.md
index 4358a0df2..2f6f2751c 100644
--- a/Docs/how_to_build_on_linux.md
+++ b/Docs/how_to_build_on_linux.md
@@ -20,13 +20,15 @@ change your default clang version to compile Unreal
 Build Unreal Engine
 -------------------
 
+!!! note
+    Unreal Engine repositories are set to private. In order to gain access you
+    need to add your GitHub username when you sign up at
+    [www.unrealengine.com](https://www.unrealengine.com).
+
 Download and compile Unreal Engine 4.17. Here we will assume you install it at
 "~/UnrealEngine_4.17", but you can install it anywhere, just replace the path
 where necessary.
 
-Unreal Engine repositories are set to private. In order to gain access you need
-to add your GitHub username when you sign up at https://unrealengine.com.
-
     $ git clone --depth=1 -b 4.17 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.17
     $ cd ~/UnrealEngine_4.17
     $ ./Setup.sh && ./GenerateProjectFiles.sh && make

From 2f4d3579f9e030e656faa7790909e0e2a952a786 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Mon, 29 Jan 2018 14:23:28 +0100
Subject: [PATCH 030/108] quick fix on extra packages

---
 Docs/carla_on_server.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Docs/carla_on_server.md b/Docs/carla_on_server.md
index 69918eb36..980837184 100644
--- a/Docs/carla_on_server.md
+++ b/Docs/carla_on_server.md
@@ -36,7 +36,8 @@ https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001
 WARNING: Take care on which VNC you install as it may not be compatible with Unreal. The one above was the only one that worked for me. 
 #### Extra Packages
 These extra packages were necessary to make unreal to work.
-    sudo apt install 11-xserver-utils libxrandr-dev
+
+    sudo apt install x11-xserver-utils libxrandr-dev
 
 
 

From 4ab41f0e778f30b33831887897f29dad17cef926 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Mon, 29 Jan 2018 17:45:26 +0100
Subject: [PATCH 031/108] Update carla_on_server.md

---
 Docs/carla_on_server.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Docs/carla_on_server.md b/Docs/carla_on_server.md
index 980837184..279616bfb 100644
--- a/Docs/carla_on_server.md
+++ b/Docs/carla_on_server.md
@@ -56,7 +56,7 @@ Start by killing all Xorg servers. This command could change depending on your s
 
     sudo service lightdm stop
 
-Run our own X server. Here I use number 7, but in theory it could be labeled with any number.
+Run your own Xorg. Here I use number 7, but it could be labeled with any free number.
 
     sudo nohup Xorg :7 &
 
@@ -69,12 +69,12 @@ If everything is working fine the following command
 should run smoothly.
 
     DISPLAY=:8 vglrun -d :7.0 glxinfo
-Note. This will run glx info on Xserver 7, device 0. This means you are selecting the GPU 0 on your machine. To run on other GPU such as GPU 1 run:
+Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting the GPU 0 on your machine. To run on other GPU, such as GPU 1 run:
 
     DISPLAY=:8 vglrun -d :7.1 glxinfo
 
 ## Running CARLA 
 
-Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH basiclly run.
+Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH, run.
 
     DISPLAY=:8 vglrun -d :7.<gpu_number> $CARLA_PATH/CarlaUE4/Binaries/Linux/CarlaUE4 

From b66d496912932987a1b3c8dde00ac8e45f38821b Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Wed, 31 Jan 2018 10:55:59 +0100
Subject: [PATCH 032/108] Update and rename carla_on_server.md to
 carla_headless.md

---
 Docs/{carla_on_server.md => carla_headless.md} | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
 rename Docs/{carla_on_server.md => carla_headless.md} (94%)

diff --git a/Docs/carla_on_server.md b/Docs/carla_headless.md
similarity index 94%
rename from Docs/carla_on_server.md
rename to Docs/carla_headless.md
index 279616bfb..453ea22a1 100644
--- a/Docs/carla_on_server.md
+++ b/Docs/carla_headless.md
@@ -1,10 +1,10 @@
-Running CARLA Remotely and without Display
+Running CARLA without Display and Selecting GPUs 
 ------
 
 
 This tutorial is designed for: 
 - Remote server users that have several nvidia  graphical cards and want to effectively use CARLA on all GPUs.
--  Desktop users who want to use the GPU that is not plugged on the screen for rendering CARLA.
+- Desktop users who want to use the GPU that is not plugged on the screen for rendering CARLA.
 
 
 On this tutorial you will learn.

From a2c92aec69c544655efb0871e5545c629603d59c Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Wed, 31 Jan 2018 10:56:37 +0100
Subject: [PATCH 033/108] Update index.md

---
 Docs/index.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Docs/index.md b/Docs/index.md
index 40491ec84..3a4224a5f 100644
--- a/Docs/index.md
+++ b/Docs/index.md
@@ -7,6 +7,7 @@ CARLA Documentation
   * [CARLA settings](carla_settings.md)
   * [Measurements](measurements.md)
   * [Cameras and sensors](cameras_and_sensors.md)
+  * [CARLA without Display and Selecting GPUs](carla_headless.md)
   * [Benchmark](benchmark.md)
   * [F.A.Q.](faq.md)
 

From ca9037f993f8364ea91bd6bd47bade98cea1cbd1 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Wed, 31 Jan 2018 11:02:55 +0100
Subject: [PATCH 034/108] adding the carla headless link

---
 mkdocs.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mkdocs.yml b/mkdocs.yml
index 6144dc8ed..6860f7a8d 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -9,6 +9,7 @@ pages:
   - 'CARLA Settings': 'carla_settings.md'
   - 'Measurements': 'measurements.md'
   - 'Cameras and sensors': 'cameras_and_sensors.md'
+  - 'CARLA without Display and Selecting GPUs': 'carla_headless.md'
   - 'Benchmark': 'benchmark.md'
   - 'F.A.Q.': 'faq.md'
 - Building from source:

From 549e23f9fe030ff27957b68c59566fe004aedc35 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 1 Feb 2018 11:53:46 +0100
Subject: [PATCH 035/108] Fix pylint errors

---
 PythonClient/carla/sensor.py   | 2 +-
 PythonClient/client_example.py | 1 -
 PythonClient/manual_control.py | 1 +
 3 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index f10776c8b..439545f7e 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -223,5 +223,5 @@ class LidarMeasurement(SensorData):
                 'horizontal_angle' : self.horizontal_angle,
                 'channels_count' : self.channels_count,
                 'points_count_by_channel' : self.points_count_by_channel.tolist(),
-                'points' : self._converted_data['points'].tolist()
+                'points' : self.data['points'].tolist()
             }))
diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index 733fd6288..0427e2b70 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -118,7 +118,6 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 if save_images_to_disk:
                     for name, measurement in sensor_data.items():
                         if isinstance(measurement, LidarMeasurement):
-                            measurement.data
                             measurement.save_to_disk(lidar_filename_format.format(episode, name, frame))
                         else:
                             measurement.save_to_disk(image_filename_format.format(episode, name, frame))
diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py
index 053c643ff..2830ffe71 100755
--- a/PythonClient/manual_control.py
+++ b/PythonClient/manual_control.py
@@ -137,6 +137,7 @@ class CarlaGame(object):
         self._main_image = None
         self._mini_view_image1 = None
         self._mini_view_image2 = None
+        self._lidar_measurement = None
         self._map_view = None
         self._is_on_reverse = False
         self._city_name = city_name

From 66756ba71290364783121e04778339e92b942909 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 1 Feb 2018 12:21:45 +0100
Subject: [PATCH 036/108] rename ai_control to autopilot_control, again

---
 .../Plugins/Carla/Source/Carla/Game/CarlaServer.cpp    | 10 +++++-----
 Util/CarlaServer/include/carla/carla_server.h          |  2 +-
 Util/CarlaServer/source/carla/server/CarlaEncoder.cpp  |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index a6c32c6e5..f0ff29051 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -372,11 +372,11 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
   Set(player.collision_other, PlayerState.GetCollisionIntensityOther());
   Set(player.intersection_otherlane, PlayerState.GetOtherLaneIntersectionFactor());
   Set(player.intersection_offroad, PlayerState.GetOffRoadIntersectionFactor());
-  Set(player.ai_control.steer, PlayerState.GetSteer());
-  Set(player.ai_control.throttle, PlayerState.GetThrottle());
-  Set(player.ai_control.brake, PlayerState.GetBrake());
-  Set(player.ai_control.hand_brake, PlayerState.GetHandBrake());
-  Set(player.ai_control.reverse, PlayerState.GetCurrentGear() < 0);
+  Set(player.autopilot_control.steer, PlayerState.GetSteer());
+  Set(player.autopilot_control.throttle, PlayerState.GetThrottle());
+  Set(player.autopilot_control.brake, PlayerState.GetBrake());
+  Set(player.autopilot_control.hand_brake, PlayerState.GetHandBrake());
+  Set(player.autopilot_control.reverse, PlayerState.GetCurrentGear() < 0);
 
   TArray<carla_agent> Agents;
   if (bSendNonPlayerAgentsInfo) {
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index e962cae9b..57b35ff99 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -153,7 +153,7 @@ extern "C" {
     /** Percentage of the car off-road. */
     float intersection_offroad;
     /** Vehicle's AI control that would apply this frame. */
-    struct carla_control ai_control;
+    struct carla_control autopilot_control;
   };
 
   /* ======================================================================== */
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 86c5eb377..39cb2e654 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -134,7 +134,7 @@ namespace server {
     player->set_collision_other(values.player_measurements.collision_other);
     player->set_intersection_otherlane(values.player_measurements.intersection_otherlane);
     player->set_intersection_offroad(values.player_measurements.intersection_offroad);
-    Set(player->mutable_autopilot_control(), values.player_measurements.ai_control);
+    Set(player->mutable_autopilot_control(), values.player_measurements.autopilot_control);
     // Non-player agents.
     message->clear_non_player_agents(); // we need to clear as we cache the message.
     for (auto &agent : agents(values)) {

From 1b55e1ff7fc53a4f9cf3fded7c2af759dd3d6da0 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 1 Feb 2018 17:02:05 +0100
Subject: [PATCH 037/108] Close #146, add common error to faq

---
 Docs/faq.md | 49 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/Docs/faq.md b/Docs/faq.md
index b87bd32d2..9ba884469 100644
--- a/Docs/faq.md
+++ b/Docs/faq.md
@@ -152,3 +152,52 @@ rebuild of all the project files with
 It takes a long time but fixes the issue. Sometimes a reboot is also needed.
 
 </details>
+
+<!-- ======================================================================= -->
+<details>
+  <summary><h5 style="display:inline">
+  Fatal error: 'carla/carla_server.h' file not found.
+  </h4></summary>
+
+This indicates that the CarlaServer dependency failed to compile.
+
+Please follow the instructions at
+[How to build on Linux](http://carla.readthedocs.io/en/latest/how_to_build_on_linux/).
+
+Make sure that the Setup script does print _"Success!"_ at the end
+
+    $ ./Setup.sh
+    ...
+    ...
+    ****************
+    *** Success! ***
+    ****************
+
+Then check if CarlaServer compiles without errors running make
+
+    $ make
+
+It should end printing something like
+
+```
+[1/1] Install the project...
+-- Install configuration: "Release"
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so.1
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so.1.0
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so.1
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so.1.0
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++.so
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/shared/libc++abi.so
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libc++abi.a
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libboost_system.a
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libprotobuf.a
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/include/carla
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/include/carla/carla_server.h
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/lib/libcarlaserver.a
+-- Installing: Unreal/CarlaUE4/Plugins/Carla/CarlaServer/bin/test_carlaserver
+-- Set runtime path of "Unreal/CarlaUE4/Plugins/Carla/CarlaServer/bin/test_carlaserver" to ""
+```
+
+If so you can safely run Rebuild.sh.
+
+</details>

From d118047e112333ed28ea24d60aa2d606a9efbfaf Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 10:52:59 +0100
Subject: [PATCH 038/108] Ask for more info in issue template

---
 Docs/issue_template.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Docs/issue_template.md b/Docs/issue_template.md
index 024be87e5..c9430fefa 100644
--- a/Docs/issue_template.md
+++ b/Docs/issue_template.md
@@ -6,4 +6,7 @@ If you are asking a question please make sure your question was not asked before
 by searching among the existing issues. Also make sure you have read our
 documentation and FAQ at carla.readthedocs.io.
 
+If you are reporting an issue, please provide the CARLA version number you are
+using and your Platform/OS.
+
 -->

From 0e694af2c98236d916e997354d7793710a8b13db Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 11:40:01 +0100
Subject: [PATCH 039/108] Add waffle badge

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 0988cfaab..a1206fa4e 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,7 @@ CARLA Simulator
 ===============
 
 [![Build Status](https://travis-ci.org/carla-simulator/carla.svg?branch=master)](https://travis-ci.org/carla-simulator/carla)
+[![Waffle.io - Columns and their card count](https://badge.waffle.io/carla-simulator/carla.svg?columns=Next,In%20Progress,Review)](https://waffle.io/carla-simulator/carla)
 
 CARLA is an open-source simulator for autonomous driving research. CARLA has
 been developed from the ground up to support development, training, and

From 6ce8766816a927610474a3d0709829988ad999ce Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 14:20:18 +0100
Subject: [PATCH 040/108] Close #144 add sample output images to docs

---
 Docs/cameras_and_sensors.md     |  18 ++++++++++++------
 Docs/img/capture_depth.png      | Bin 0 -> 94954 bytes
 Docs/img/capture_scenefinal.png | Bin 0 -> 131426 bytes
 Docs/img/capture_semseg.png     | Bin 0 -> 7515 bytes
 4 files changed, 12 insertions(+), 6 deletions(-)
 create mode 100644 Docs/img/capture_depth.png
 create mode 100644 Docs/img/capture_scenefinal.png
 create mode 100644 Docs/img/capture_semseg.png

diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md
index 441cf46aa..1c7345183 100644
--- a/Docs/cameras_and_sensors.md
+++ b/Docs/cameras_and_sensors.md
@@ -9,7 +9,7 @@ This document describes the details of the different cameras/sensors currently
 available as well as the resulting images produced by them.
 
 Although we plan to extend the sensor suite of CARLA in the near future, at the
-moment there are three different sensors available. These three sensors are
+moment there are only three different sensors available. These three sensors are
 implemented as different post-processing effects applied to scene capture
 cameras.
 
@@ -38,6 +38,8 @@ more human readable palette of colors. It can be found at
 Scene final
 -----------
 
+![SceneFinal](img/capture_scenefinal.png)<br>
+
 The "scene final" camera provides a view of the scene after applying some
 post-processing effects to create a more realistic feel. These are actually
 stored on the Level, in an actor called [PostProcessVolume][postprolink] and not
@@ -55,6 +57,8 @@ in the Camera. We use the following post process effects:
 Depth map
 ---------
 
+![Depth](img/capture_depth.png)
+
 The "depth map" camera provides an image with 24 bit floating precision point
 codified in the 3 channels of the RGB color space. The order from less to more
 significant bytes is R -> G -> B.
@@ -81,12 +85,14 @@ Our max render distance (far) is 1km.
 Semantic segmentation
 ---------------------
 
+![SemanticSegmentation](img/capture_semseg.png)
+
 The "semantic segmentation" camera classifies every object in the view by
 displaying it in a different color according to the object class. E.g.,
 pedestrians appear in a different color than vehicles.
 
-The server provides an image with the tag information encoded in the red
-channel. A pixel with a red value of x displays an object with tag x. The
+The server provides an image with the tag information **encoded in the red
+channel**. A pixel with a red value of x displays an object with tag x. The
 following tags are currently available
 
 Value | Tag
@@ -106,6 +112,6 @@ Value | Tag
   12  | TrafficSigns
 
 This is implemented by tagging every object in the scene before hand (either at
-begin play or on spawn). The objects are classified by their relative file
-system path in the project. E.g., every mesh stored in the "pedestrians" folder
-it's tagged as pedestrian.
+begin play or on spawn). The objects are classified by their relative file path
+in the project. E.g., every mesh stored in the "Content/Static/Pedestrians"
+folder it's tagged as pedestrian.
diff --git a/Docs/img/capture_depth.png b/Docs/img/capture_depth.png
new file mode 100644
index 0000000000000000000000000000000000000000..5157dd042c88adb8a633d9f342d5aec6ae8d4105
GIT binary patch
literal 94954
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HcmV?d00001


From 34331086b7c24a78796ecc09e7ca91e77bc2b47c Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 14:32:04 +0100
Subject: [PATCH 041/108] Close #175, note on adding new tags

---
 Docs/cameras_and_sensors.md | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md
index 1c7345183..08d141a4d 100644
--- a/Docs/cameras_and_sensors.md
+++ b/Docs/cameras_and_sensors.md
@@ -113,5 +113,12 @@ Value | Tag
 
 This is implemented by tagging every object in the scene before hand (either at
 begin play or on spawn). The objects are classified by their relative file path
-in the project. E.g., every mesh stored in the "Content/Static/Pedestrians"
-folder it's tagged as pedestrian.
+in the project. E.g., every mesh stored in the
+_"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
+
+!!! note
+    **Adding new tags**:
+    At the moment adding new tags is not very flexible and requires to modify
+    the C++ code. Add a new label to the `ECityObjectLabel` enum in "Tagger.h",
+    and its corresponding filepath check inside `GetLabelByFolderName()`
+    function in "Tagger.cpp".

From d01db971d44acdacd821e7ed4cb47a855dfbd976 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 14:39:29 +0100
Subject: [PATCH 042/108] Add readthedocs.io badge

---
 README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index a1206fa4e..ef87480d8 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,8 @@ CARLA Simulator
 ===============
 
 [![Build Status](https://travis-ci.org/carla-simulator/carla.svg?branch=master)](https://travis-ci.org/carla-simulator/carla)
-[![Waffle.io - Columns and their card count](https://badge.waffle.io/carla-simulator/carla.svg?columns=Next,In%20Progress,Review)](https://waffle.io/carla-simulator/carla)
+[![Documentation](https://readthedocs.org/projects/docs/badge/?version=latest)](https://carla.readthedocs.io)
+[![Waffle.io](https://badge.waffle.io/carla-simulator/carla.svg?columns=Next,In%20Progress,Review)](https://waffle.io/carla-simulator/carla)
 
 CARLA is an open-source simulator for autonomous driving research. CARLA has
 been developed from the ground up to support development, training, and

From c2b0f1ef50b584cae8aa5c858dff265375ea0378 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Fri, 2 Feb 2018 15:02:12 +0100
Subject: [PATCH 043/108] adding extra to the running headless tutorial

---
 Docs/carla_headless.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Docs/carla_headless.md b/Docs/carla_headless.md
index 453ea22a1..c5df0e2a3 100644
--- a/Docs/carla_headless.md
+++ b/Docs/carla_headless.md
@@ -73,6 +73,12 @@ Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting
 
     DISPLAY=:8 vglrun -d :7.1 glxinfo
 
+#### Extra
+
+If you want disable the need of sudo when creating the  'nohup Xorg'
+go to the '/etc/X11/Xwrapper.config'  file and change 'allowed_users=console' to 'allowed_users=anybody'
+
+
 ## Running CARLA 
 
 Now, finally, to run CARLA on a certain gpu_number placed in a certain $CARLA_PATH, run.

From 202f88f319407fb62893a2fd7ee7d16f83266955 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Fri, 2 Feb 2018 15:19:07 +0100
Subject: [PATCH 044/108] Some style improvements on running headles

---
 Docs/carla_headless.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Docs/carla_headless.md b/Docs/carla_headless.md
index c5df0e2a3..a0f716b9a 100644
--- a/Docs/carla_headless.md
+++ b/Docs/carla_headless.md
@@ -26,12 +26,12 @@ can be installed through apt.
 
     sudo apt-get install freeglut3-dev mesa-utils
 ####  VGL
-Follow this tutorial and install vgl
-https://virtualgl.org/vgldoc/2_2_1/#hd004001
+Follow this tutorial and install vgl: <br>
+[Installing VGL](https://virtualgl.org/vgldoc/2_2_1/#hd004001)
 
 #### TurboVNC
-Follow the tutorial below to install TurboVNC 2.11
-https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001
+Follow the tutorial below to install TurboVNC 2.11:<br>
+[Installing TurboVNC](https://cdn.rawgit.com/TurboVNC/turbovnc/2.1.1/doc/index.html#hd005001)
 
 WARNING: Take care on which VNC you install as it may not be compatible with Unreal. The one above was the only one that worked for me. 
 #### Extra Packages

From 7b3f07b4182ac2d779c944bb28304cb846bc34e0 Mon Sep 17 00:00:00 2001
From: felipecode <felipe.alcm@gmail.com>
Date: Fri, 2 Feb 2018 15:22:26 +0100
Subject: [PATCH 045/108] Stoping lightdm is optional

---
 Docs/carla_headless.md | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/Docs/carla_headless.md b/Docs/carla_headless.md
index a0f716b9a..095ab2bd7 100644
--- a/Docs/carla_headless.md
+++ b/Docs/carla_headless.md
@@ -52,9 +52,6 @@ You must generate a X compatible with your nvdia and compatible to run without d
 
 ## Emulating The Virtual Display
 
-Start by killing all Xorg servers. This command could change depending on your system.
-
-    sudo service lightdm stop
 
 Run your own Xorg. Here I use number 7, but it could be labeled with any free number.
 
@@ -78,6 +75,12 @@ Note. This will run glxinfo on Xserver 7, device 0. This means you are selecting
 If you want disable the need of sudo when creating the  'nohup Xorg'
 go to the '/etc/X11/Xwrapper.config'  file and change 'allowed_users=console' to 'allowed_users=anybody'
 
+It may be needed to stop all Xorg servers before running nohup Xorg.
+The command for that could change depending on your system. Generally for Ubuntu 16.04
+you should use:
+
+    sudo service lightdm stop
+
 
 ## Running CARLA 
 

From eb9403b4311622c6436ddd2033b4769e00269bce Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 15:48:46 +0100
Subject: [PATCH 046/108] Close #140 tips for learning Unreal

---
 Docs/CONTRIBUTING.md | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/Docs/CONTRIBUTING.md b/Docs/CONTRIBUTING.md
index 1f0c50781..bcd5e6bd7 100644
--- a/Docs/CONTRIBUTING.md
+++ b/Docs/CONTRIBUTING.md
@@ -63,6 +63,17 @@ please contact one of us (or send an email to carla.simulator@gmail.com).
 
 [projectslink]: https://github.com/carla-simulator/carla/projects/1
 
+#### Where can I learn more about Unreal Engine?
+
+A basic introduction to C++ programming with UE4 can be found at Unreal's
+[C++ Programming Tutorials][ue4tutorials]. Then, if you want to dive into UE4
+C++ development there are few paying options online. The
+[Unreal C++ Course at Udemy][ue4course] it's pretty complete and there are
+usually offers that make it very affordable.
+
+[ue4tutorials]: https://docs.unrealengine.com/latest/INT/Programming/Tutorials/
+[ue4course]: https://www.udemy.com/unrealcourse/
+
 #### What should I know before I get started?
 
 Check out the ["CARLA Design"](carla_design.md) document to get an idea on the
@@ -71,6 +82,27 @@ the new feature. We are aware the developers documentation is still scarce,
 please ask us in case of doubt, and of course don't hesitate to improve the
 current documentation if you feel confident enough.
 
+#### Are there any examples in CARLA to see how Unreal programming works?
+
+You can find an example of how C++ classes work in UE4 in
+[`ASceneCaptureToDiskCamera`][capturelink] (and its parent class
+`ASceneCaptureCamera`). This class creates an actor that can be dropped into the
+scene. In the editor, type _"Scene Capture To Disk"_ in the Modes tab, and drag
+and drop the actor into the scene. Now searching for its detail tab you can find
+all the `UPROPERTY` members reflected. This shows the basic mechanism to use C++
+classes in Unreal Editor.
+
+For a more advanced example on how to extend C++ classes with blueprints, you
+can take a look at the _"VehicleSpawner"_ blueprint. It derives from the C++
+class `AVehicleSpawnerBase`. The C++ class decides where and when it spawns a
+vehicle, then calls the function `SpawnVehicle()`, which is implemented in the
+blueprint. The blueprint then decides model and color of the vehicle being
+spawned. Note that the blueprint can call back C++ functions, for instance for
+getting the random engine. This way there is a back-and-forth communication
+between C++ code and blueprints.
+
+[capturelink]: https://github.com/carla-simulator/carla/blob/master/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h
+
 #### Coding standard
 
 Please follow the current [coding standard](coding_standard.md) when submitting

From c916d738fa3aa18f63969c2b96810917c4893783 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Feb 2018 18:24:32 +0100
Subject: [PATCH 047/108] Fix #187 and fix #193

---
 Util/ContentVersions.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt
index 3a6553be4..8b1e2ac5e 100644
--- a/Util/ContentVersions.txt
+++ b/Util/ContentVersions.txt
@@ -8,3 +8,4 @@
 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT
 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT
 0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq
+Latest: 1Coa1iX19TKR5DMxPPQSWsT83l-Ize0Jk

From 325062820517fed1247ed62fdec3427f168f507e Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 3 Feb 2018 12:15:39 +0100
Subject: [PATCH 048/108] Tip on running doxygen

---
 Docs/carla_design.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Docs/carla_design.md b/Docs/carla_design.md
index b61701d36..a912c4911 100644
--- a/Docs/carla_design.md
+++ b/Docs/carla_design.md
@@ -12,6 +12,10 @@ CARLA is composed by the following modules
     - Carla plugin for Unreal Engine: "Unreal/CarlaUE4/Plugins/Carla"
     - CarlaServer: "Util/CarlaServer"
 
+!!! tip
+    Documentation for the C++ code can be generated by running
+    [Doxygen](http://www.doxygen.org) in the main folder of CARLA project.
+
 Python client API
 -----------------
 

From ba0bd9917dd82a53c442a50d29876260344bc34e Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 3 Feb 2018 14:35:14 +0100
Subject: [PATCH 049/108] Fix merging errors

---
 PythonClient/carla/client.py |  2 +-
 PythonClient/carla/sensor.py | 11 +++++------
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
index ef7a67460..80fed70eb 100644
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@@ -179,7 +179,7 @@ class CarlaClient(object):
         total_size = len(raw_data) / 4
         index = 0
         while index < total_size:
-            sensor_type = gettype(getval(index + 2))
+            sensor_type = gettype(getint(index + 2))
             if sensor_type == 'Lidar':
                 horizontal_angle = getdouble(index)
                 channels_count = getint(index + 3)
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 6dde1d341..b7d19a0b1 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -7,9 +7,8 @@
 """CARLA sensors."""
 
 
-import os
-import numpy as np
 import json
+import os
 
 try:
     import numpy
@@ -311,9 +310,9 @@ class LidarMeasurement(SensorData):
 
         points_count_by_channel_size = channels_count * 4
         points_count_by_channel_bytes = raw_data[4*4:4*4 + points_count_by_channel_size]
-        self.points_count_by_channel = np.frombuffer(points_count_by_channel_bytes, dtype=np.dtype('uint32'))
+        self.points_count_by_channel = numpy.frombuffer(points_count_by_channel_bytes, dtype=numpy.dtype('uint32'))
 
-        self.points_size = int(np.sum(self.points_count_by_channel) * 3 * 8)  # three floats X, Y, Z
+        self.points_size = int(numpy.sum(self.points_count_by_channel) * 3 * 8)  # three floats X, Y, Z
         begin = 4*4 + points_count_by_channel_size  # 4*4 is horizontal_angle, type, channels_count
         end = begin + self.points_size
         self.points_data = raw_data[begin:end]
@@ -333,8 +332,8 @@ class LidarMeasurement(SensorData):
         if self._converted_data is None:
 
             points_in_one_channel = self.points_count_by_channel[0]
-            points = np.frombuffer(self.points_data[:self.points_size], dtype='float')
-            points = np.reshape(points, (self.channels_count, points_in_one_channel, 3))
+            points = numpy.frombuffer(self.points_data[:self.points_size], dtype='float')
+            points = numpy.reshape(points, (self.channels_count, points_in_one_channel, 3))
 
             self._converted_data = {
                 'horizontal_angle' : self.horizontal_angle,

From ba1dc589d42d54ef6eceaad39e69638f4fe2cbbb Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 3 Feb 2018 15:12:18 +0100
Subject: [PATCH 050/108] Add base class for sensors

---
 .../Carla/Source/Carla/Game/CarlaServer.cpp   |  2 +-
 .../Carla/Game/CarlaVehicleController.cpp     |  4 ++--
 .../Carla/Source/Carla/{ => Sensor}/Lidar.cpp |  3 ++-
 .../Carla/Source/Carla/{ => Sensor}/Lidar.h   |  6 +++---
 .../Source/Carla/{ => Sensor}/LidarLaser.cpp  |  0
 .../Source/Carla/{ => Sensor}/LidarLaser.h    |  0
 .../Carla/{ => Sensor}/SceneCaptureCamera.cpp |  0
 .../Carla/{ => Sensor}/SceneCaptureCamera.h   |  4 ++--
 .../{ => Sensor}/SceneCaptureToDiskCamera.cpp |  0
 .../{ => Sensor}/SceneCaptureToDiskCamera.h   |  0
 .../Carla/Source/Carla/Sensor/Sensor.cpp      | 12 +++++++++++
 .../Carla/Source/Carla/Sensor/Sensor.h        | 21 +++++++++++++++++++
 12 files changed, 43 insertions(+), 9 deletions(-)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/Lidar.cpp (96%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/Lidar.h (93%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/LidarLaser.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/LidarLaser.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/SceneCaptureCamera.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/SceneCaptureCamera.h (96%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/SceneCaptureToDiskCamera.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Sensor}/SceneCaptureToDiskCamera.h (100%)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index 22ebc8664..ded37d2a1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -12,7 +12,7 @@
 #include "CarlaPlayerState.h"
 #include "CarlaVehicleController.h"
 #include "CarlaWheeledVehicle.h"
-#include "SceneCaptureCamera.h"
+#include "Sensor/SceneCaptureCamera.h"
 #include "Settings/CarlaSettings.h"
 
 #include <carla/carla_server.h>
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
index 2fe9fce97..1e9814e45 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
@@ -7,8 +7,8 @@
 #include "Carla.h"
 #include "CarlaVehicleController.h"
 
-#include "SceneCaptureCamera.h"
-#include "Lidar.h"
+#include "Sensor/Lidar.h"
+#include "Sensor/SceneCaptureCamera.h"
 
 #include "Components/BoxComponent.h"
 #include "EngineUtils.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
similarity index 96%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
index bc2f9d7a4..ed9b9a23b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@@ -6,7 +6,8 @@
 #include "StaticMeshResources.h"
 
 // Sets default values
-ALidar::ALidar()
+ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
+  Super(ObjectInitializer)
 {
   // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
   PrimaryActorTick.bCanEverTick = true;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
similarity index 93%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
index 58205f77d..90555376b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
@@ -3,20 +3,20 @@
 #pragma once
 
 #include "CoreMinimal.h"
-#include "GameFramework/Actor.h"
+#include "Sensor.h"
 #include "LidarLaser.h"
 #include "Settings/LidarDescription.h"
 #include "Game/CapturedLidarSegment.h"
 #include "Lidar.generated.h"
 
 UCLASS()
-class CARLA_API ALidar : public AActor
+class CARLA_API ALidar : public ASensor
 {
   GENERATED_BODY()
 
 public:
   // Sets default values for this actor's properties
-  ALidar();
+  ALidar(const FObjectInitializer& ObjectInitializer);
 
   void Set(const FLidarDescription &LidarDescription);
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/LidarLaser.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
similarity index 96%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
index 27c3ee196..2c446bacb 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "GameFramework/Actor.h"
+#include "Sensor.h"
 #include "StaticMeshResources.h"
 #include "Settings/CameraDescription.h"
 #include "SceneCaptureCamera.generated.h"
@@ -19,7 +19,7 @@ class UTextureRenderTarget2D;
 /// Own SceneCapture, re-implementing some of the methods since ASceneCapture
 /// cannot be subclassed.
 UCLASS(hidecategories=(Collision, Attachment, Actor))
-class CARLA_API ASceneCaptureCamera : public AActor
+class CARLA_API ASceneCaptureCamera : public ASensor
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
new file mode 100644
index 000000000..3701dddf7
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
@@ -0,0 +1,12 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Sensor.h"
+
+ASensor::ASensor(const FObjectInitializer& ObjectInitializer) :
+  Super(ObjectInitializer)
+{}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
new file mode 100644
index 000000000..555da755e
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -0,0 +1,21 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "GameFramework/Actor.h"
+#include "Sensor.generated.h"
+
+/// Base class for sensors.
+UCLASS(Abstract, hidecategories=(Collision, Attachment, Actor))
+class CARLA_API ASensor : public AActor
+{
+  GENERATED_BODY()
+
+public:
+
+  ASensor(const FObjectInitializer& ObjectInitializer);
+};

From dc5aab9e20b4364302ebe9b46d4f852a5b1f8190 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 6 Feb 2018 11:19:52 +0100
Subject: [PATCH 051/108] News update

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index ef87480d8..e2c7f25a8 100644
--- a/README.md
+++ b/README.md
@@ -27,6 +27,7 @@ paper, check out
 News
 ----
 
+- 05.02.2018 CARLA 0.7.1 available for Windows too, [release](https://github.com/carla-simulator/carla/releases/tag/0.7.1).
 - 25.01.2018 CARLA 0.7.1 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-071), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.1).
 - 22.01.2018 Job opening: [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1).
 - 28.11.2017 CARLA 0.7.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-070), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.0).

From b07409210bc9dc936a94ec4122eeb89fb8bab941 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 7 Feb 2018 16:56:52 +0100
Subject: [PATCH 052/108] New class SensorDataInbox

---
 Util/CarlaServer/include/carla/carla_server.h | 16 ++++
 .../source/carla/server/SensorDataInbox.h     | 59 +++++++++++++
 .../source/carla/server/SensorDataMessage.cpp | 48 +++++++++++
 .../source/carla/server/SensorDataMessage.h   | 41 +++++++++
 Util/CarlaServer/source/test/Sensor.cpp       | 49 +++++++++++
 Util/CarlaServer/source/test/Sensor.h         | 50 +++++++++++
 .../source/test/Test_SensorDataInbox.cpp      | 83 +++++++++++++++++++
 7 files changed, 346 insertions(+)
 create mode 100644 Util/CarlaServer/source/carla/server/SensorDataInbox.h
 create mode 100644 Util/CarlaServer/source/carla/server/SensorDataMessage.cpp
 create mode 100644 Util/CarlaServer/source/carla/server/SensorDataMessage.h
 create mode 100644 Util/CarlaServer/source/test/Sensor.cpp
 create mode 100644 Util/CarlaServer/source/test/Sensor.h
 create mode 100644 Util/CarlaServer/source/test/Test_SensorDataInbox.cpp

diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 21c4729dd..3a89458ca 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -34,6 +34,21 @@ extern "C" {
     float roll;
   };
 
+// >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+  struct carla_sensor_definition {
+    uint32_t id;
+    uint32_t type;
+    const char *name;
+  };
+
+  struct carla_sensor_data {
+    uint32_t id;
+    const void *header;
+    uint32_t header_size;
+    const void *data;
+    uint32_t data_size;
+  };
+// -----------------------------------------------------------------------------
   struct carla_image {
     uint32_t width;
     uint32_t height;
@@ -48,6 +63,7 @@ extern "C" {
     const uint32_t *points_count_by_channel;
     const double *data;
   };
+// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 
   struct carla_transform {
     struct carla_vector3d location;
diff --git a/Util/CarlaServer/source/carla/server/SensorDataInbox.h b/Util/CarlaServer/source/carla/server/SensorDataInbox.h
new file mode 100644
index 000000000..ca23d3605
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/SensorDataInbox.h
@@ -0,0 +1,59 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Debug.h"
+#include "carla/NonCopyable.h"
+#include "carla/server/DoubleBuffer.h"
+#include "carla/server/SensorDataMessage.h"
+
+#include <unordered_map>
+
+struct carla_sensor_data;
+struct carla_sensor_definition;
+
+namespace carla {
+namespace server {
+
+  /// Stores the data received from the sensors (asynchronously) to be sent next
+  /// on next tick.
+  ///
+  /// Each sensor has a double-buffer for one producer and one consumer per
+  /// sensor. Several threads can simultaneously write as long as they write to
+  /// different buffers, i.e. each sensor can have its own producer and consumer
+  /// threads.
+  class SensorDataInbox : private NonCopyable {
+  public:
+
+    /// We need to initialize the map before hand so it remains constant and
+    /// doesn't need a lock.
+    ///
+    /// @warning This function is not thread-safe.
+    void RegisterSensor(const carla_sensor_definition &sensor) {
+      _buffers[sensor.id];
+    }
+
+    void Write(const carla_sensor_data &data) {
+      auto message = _buffers.at(data.id).MakeWriter();
+      message->Write(data);
+    }
+
+    /// Tries to acquire a reader on the buffer of the given sensor. See
+    /// DoubleBuffer.
+    auto TryMakeReader(uint32_t sensor_id) {
+      return _buffers.at(sensor_id).TryMakeReader(timeout_t::milliseconds(0u));
+    }
+
+  private:
+
+    using DataBuffer = DoubleBuffer<SensorDataMessage>;
+
+    std::unordered_map<uint32_t, DataBuffer> _buffers;
+  };
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/SensorDataMessage.cpp b/Util/CarlaServer/source/carla/server/SensorDataMessage.cpp
new file mode 100644
index 000000000..7cafa5579
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/SensorDataMessage.cpp
@@ -0,0 +1,48 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/server/SensorDataMessage.h"
+
+#include "carla/Logging.h"
+#include "carla/server/CarlaServerAPI.h"
+
+namespace carla {
+namespace server {
+
+  void SensorDataMessage::Write(const carla_sensor_data &data) {
+    // The buffer contains id + data-header + data.
+    const uint32_t buffer_size =
+        sizeof(uint32_t) +
+        data.header_size +
+        data.data_size;
+    // The message is prepended by the size of the buffer.
+    Reset(sizeof(uint32_t) + buffer_size);
+
+    auto begin = _buffer.get();
+
+    std::memcpy(begin, &buffer_size, sizeof(uint32_t));
+    begin += sizeof(uint32_t);
+
+    std::memcpy(begin, &data.id, sizeof(uint32_t));
+    begin += sizeof(uint32_t);
+
+    std::memcpy(begin, data.header, data.header_size);
+    begin += data.header_size;
+
+    std::memcpy(begin, data.data, data.data_size);
+  }
+
+  void SensorDataMessage::Reset(uint32_t count) {
+    if (_capacity < count) {
+      log_debug("allocating sensor buffer of", count, "bytes");
+      _buffer = std::make_unique<unsigned char[]>(count);
+      _capacity = count;
+    }
+    _size = count;
+  }
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/SensorDataMessage.h b/Util/CarlaServer/source/carla/server/SensorDataMessage.h
new file mode 100644
index 000000000..f29527d0b
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/SensorDataMessage.h
@@ -0,0 +1,41 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/NonCopyable.h"
+#include "carla/server/ServerTraits.h"
+
+#include <memory>
+
+struct carla_sensor_data;
+struct carla_sensor_definition;
+
+namespace carla {
+namespace server {
+
+  class SensorDataMessage : private NonCopyable {
+  public:
+
+    void Write(const carla_sensor_data &data);
+
+    const_buffer buffer() const {
+      return boost::asio::buffer(_buffer.get(), _size);
+    }
+
+  private:
+
+    void Reset(uint32_t count);
+
+    std::unique_ptr<unsigned char[]> _buffer = nullptr;
+
+    uint32_t _size = 0u;
+
+    uint32_t _capacity = 0u;
+  };
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/test/Sensor.cpp b/Util/CarlaServer/source/test/Sensor.cpp
new file mode 100644
index 000000000..ef121338b
--- /dev/null
+++ b/Util/CarlaServer/source/test/Sensor.cpp
@@ -0,0 +1,49 @@
+#include "Sensor.h"
+
+#include <gtest/gtest.h>
+
+#include <random>
+
+namespace test {
+
+  static uint32_t ID_COUNT = 0u;
+
+  Sensor::Sensor() : Sensor(++ID_COUNT) {}
+
+  Sensor::Sensor(const uint32_t id)
+    : _name(std::string("Sensor") + std::to_string(id)),
+      _definition({id, 0u, _name.c_str()}),
+      _data({id, nullptr, 0u, nullptr, 0u}) {}
+
+  carla_sensor_data Sensor::MakeRandomData() {
+    std::lock_guard<std::mutex> lock(_mutex);
+    std::random_device device;
+    std::default_random_engine rng(device());
+    std::uniform_int_distribution<uint32_t> dist(1, 10000);
+
+    _data.header_size = dist(rng);
+    _data.data_size = dist(rng);
+
+    _header = std::make_unique<const unsigned char[]>(_data.header_size);
+    _buffer = std::make_unique<const unsigned char[]>(_data.data_size);
+
+    _data.header = _header.get();
+    _data.data = _buffer.get();
+
+    return _data;
+  }
+
+  void Sensor::CheckData(boost::asio::const_buffer buffer) const {
+    std::lock_guard<std::mutex> lock(_mutex);
+    const auto size = boost::asio::buffer_size(buffer);
+    const auto begin = boost::asio::buffer_cast<const unsigned char *>(buffer);
+    const auto header_begin = begin + 2u * sizeof(uint32_t);
+    const auto data_begin = header_begin + _data.header_size;
+
+    const auto expected_size = 2u * sizeof(uint32_t) + _data.header_size + _data.data_size;
+    ASSERT_EQ(size, expected_size);
+    ASSERT_EQ(0, std::memcmp(header_begin, _header.get(), _data.header_size));
+    ASSERT_EQ(0, std::memcmp(data_begin, _buffer.get(), _data.data_size));
+  }
+
+} // test
diff --git a/Util/CarlaServer/source/test/Sensor.h b/Util/CarlaServer/source/test/Sensor.h
new file mode 100644
index 000000000..745cc1587
--- /dev/null
+++ b/Util/CarlaServer/source/test/Sensor.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <carla/carla_server.h>
+
+#include "carla/server/ServerTraits.h"
+
+#include <boost/asio/buffer.hpp>
+
+#include <memory>
+#include <mutex>
+#include <string>
+
+namespace test {
+
+  /// A class for testing usage of sensor data.
+  class Sensor {
+  public:
+
+    Sensor();
+
+    uint32_t id() const {
+      return _definition.id;
+    }
+
+    const carla_sensor_definition &definition() const {
+      return _definition;
+    }
+
+    carla_sensor_data MakeRandomData();
+
+    void CheckData(boost::asio::const_buffer buffer) const;
+
+  private:
+
+    Sensor(uint32_t id);
+
+    mutable std::mutex _mutex;
+
+    const std::string _name;
+
+    const carla_sensor_definition _definition;
+
+    std::unique_ptr<const unsigned char[]> _header;
+
+    std::unique_ptr<const unsigned char[]> _buffer;
+
+    carla_sensor_data _data;
+  };
+
+} // test
diff --git a/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp b/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp
new file mode 100644
index 000000000..3b902d87a
--- /dev/null
+++ b/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp
@@ -0,0 +1,83 @@
+#include <iostream>
+
+#include <gtest/gtest.h>
+
+#include <carla/carla_server.h>
+
+#include "carla/server/SensorDataInbox.h"
+
+#include "Sensor.h"
+
+#include <array>
+#include <atomic>
+#include <future>
+
+TEST(SensorDataInbox, SyncSingleSensor) {
+  using namespace carla::server;
+  test::Sensor sensor0;
+  SensorDataInbox inbox;
+  inbox.RegisterSensor(sensor0.definition());
+  for (auto j = 0u; j < 1000u; ++j) {
+    auto data = sensor0.MakeRandomData();
+    inbox.Write(data);
+    auto buffer = inbox.TryMakeReader(sensor0.id());
+    ASSERT_TRUE(buffer != nullptr);
+    sensor0.CheckData(buffer->buffer());
+  }
+}
+
+TEST(SensorDataInbox, SyncMultipleSensors) {
+  using namespace carla::server;
+  std::array<test::Sensor, 50u> sensors;
+  SensorDataInbox inbox;
+  for (auto &sensor : sensors)
+    inbox.RegisterSensor(sensor.definition());
+  for (auto j = 0u; j < 1000u; ++j) {
+    for (auto &sensor : sensors) {
+      inbox.Write(sensor.MakeRandomData());
+      auto buffer = inbox.TryMakeReader(sensor.id());
+      ASSERT_TRUE(buffer != nullptr);
+      sensor.CheckData(buffer->buffer());
+    }
+  }
+}
+
+TEST(SensorDataInbox, Async) {
+  using namespace carla::server;
+  std::array<test::Sensor, 50u> sensors;
+  SensorDataInbox inbox;
+  for (auto &sensor : sensors)
+    inbox.RegisterSensor(sensor.definition());
+
+  constexpr auto numberOfWrites = 200u;
+
+  std::atomic_bool done{false};
+
+  auto result_writer = std::async(std::launch::async, [&](){
+    for (size_t i = 0u; i < numberOfWrites; ++i) {
+      for (auto &sensor : sensors) {
+        inbox.Write(sensor.MakeRandomData());
+      }
+      std::this_thread::sleep_for(std::chrono::milliseconds(10u));
+    };
+    std::this_thread::sleep_for(std::chrono::milliseconds(200u));
+    done = true;
+  });
+
+  auto result_reader = std::async(std::launch::async, [&](){
+    auto readings = 0u;
+    while (!done && (readings < numberOfWrites * sensors.size())) {
+      for (auto &sensor : sensors) {
+        auto buffer = inbox.TryMakeReader(sensor.id());
+        if (buffer != nullptr) {
+          sensor.CheckData(buffer->buffer());
+          ++readings;
+        }
+      }
+    }
+    ASSERT_EQ(numberOfWrites * sensors.size(), readings);
+  });
+
+  result_reader.get();
+  result_writer.get();
+}

From 129a963e6a8dc985bff37bd3aaebc1afa4d0c726 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 7 Feb 2018 20:08:43 +0100
Subject: [PATCH 053/108] Common interface for sensors, plus allow sensors to
 be captured asynchronously (wip)

---
 PythonClient/carla/carla_server_pb2.py        | 156 +++++++++++++++---
 .../Carla/Source/Carla/Game/CarlaServer.cpp   |   3 +
 Util/CarlaServer/include/carla/carla_server.h |  79 +++++----
 .../source/carla/server/AgentServer.cpp       |  29 ++++
 .../source/carla/server/AgentServer.h         |  31 +---
 .../source/carla/server/CarlaEncoder.cpp      |  23 +++
 .../source/carla/server/CarlaServer.cpp       |  27 +--
 .../source/carla/server/DoubleBuffer.h        |   4 +
 .../source/carla/server/EncoderServer.h       |  23 ++-
 .../source/carla/server/ImagesMessage.cpp     |  68 --------
 .../source/carla/server/ImagesMessage.h       |  43 -----
 .../carla/server/LidarMeasurementsMessage.cpp |  78 ---------
 .../carla/server/LidarMeasurementsMessage.h   |  27 ---
 .../carla/server/MeasurementsMessage.cpp      |  22 ---
 .../source/carla/server/MeasurementsMessage.h |  44 +----
 .../source/carla/server/SensorDataInbox.h     |  68 ++++++--
 .../source/carla/server/WorldServer.cpp       |  12 +-
 .../source/carla/server/WorldServer.h         |   2 +
 .../source/test/Test_CarlaServer.cpp          |  30 ++--
 .../source/test/Test_SensorDataInbox.cpp      |  25 ++-
 Util/Proto/carla_server.proto                 |  24 +++
 21 files changed, 407 insertions(+), 411 deletions(-)
 delete mode 100644 Util/CarlaServer/source/carla/server/ImagesMessage.cpp
 delete mode 100644 Util/CarlaServer/source/carla/server/ImagesMessage.h
 delete mode 100644 Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
 delete mode 100644 Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
 delete mode 100644 Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp

diff --git a/PythonClient/carla/carla_server_pb2.py b/PythonClient/carla/carla_server_pb2.py
index 258015ba1..175ff05f0 100644
--- a/PythonClient/carla/carla_server_pb2.py
+++ b/PythonClient/carla/carla_server_pb2.py
@@ -19,11 +19,49 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   name='carla_server.proto',
   package='carla_server',
   syntax='proto3',
-  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"G\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x8a\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc9\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
+  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\xd3\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"\x85\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x0f\n\x0b\x43\x41MERA_NONE\x10\x01\x12\x16\n\x12\x43\x41MERA_SCENE_FINAL\x10\x02\x12\x10\n\x0c\x43\x41MERA_DEPTH\x10\x03\x12 \n\x1c\x43\x41MERA_SEMANTIC_SEGMENTATION\x10\x04\x12\x13\n\x0fLIDAR_RAY_TRACE\x10\x05\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x8a\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc9\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
 )
 
 
 
+_SENSOR_TYPE = _descriptor.EnumDescriptor(
+  name='Type',
+  full_name='carla_server.Sensor.Type',
+  filename=None,
+  file=DESCRIPTOR,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='UNKNOWN', index=0, number=0,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CAMERA_NONE', index=1, number=1,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CAMERA_SCENE_FINAL', index=2, number=2,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CAMERA_DEPTH', index=3, number=3,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='CAMERA_SEMANTIC_SEGMENTATION', index=4, number=4,
+      options=None,
+      type=None),
+    _descriptor.EnumValueDescriptor(
+      name='LIDAR_RAY_TRACE', index=5, number=5,
+      options=None,
+      type=None),
+  ],
+  containing_type=None,
+  options=None,
+  serialized_start=365,
+  serialized_end=498,
+)
+_sym_db.RegisterEnumDescriptor(_SENSOR_TYPE)
+
 _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor(
   name='State',
   full_name='carla_server.TrafficLight.State',
@@ -45,8 +83,8 @@ _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   options=None,
-  serialized_start=643,
-  serialized_end=682,
+  serialized_start=857,
+  serialized_end=896,
 )
 _sym_db.RegisterEnumDescriptor(_TRAFFICLIGHT_STATE)
 
@@ -186,6 +224,52 @@ _TRANSFORM = _descriptor.Descriptor(
 )
 
 
+_SENSOR = _descriptor.Descriptor(
+  name='Sensor',
+  full_name='carla_server.Sensor',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='carla_server.Sensor.id', index=0,
+      number=1, type=7, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='type', full_name='carla_server.Sensor.type', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+    _descriptor.FieldDescriptor(
+      name='name', full_name='carla_server.Sensor.name', index=2,
+      number=3, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=_b("").decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _SENSOR_TYPE,
+  ],
+  options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=287,
+  serialized_end=498,
+)
+
+
 _VEHICLE = _descriptor.Descriptor(
   name='Vehicle',
   full_name='carla_server.Vehicle',
@@ -226,8 +310,8 @@ _VEHICLE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=286,
-  serialized_end=406,
+  serialized_start=500,
+  serialized_end=620,
 )
 
 
@@ -271,8 +355,8 @@ _PEDESTRIAN = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=408,
-  serialized_end=531,
+  serialized_start=622,
+  serialized_end=745,
 )
 
 
@@ -310,8 +394,8 @@ _TRAFFICLIGHT = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=534,
-  serialized_end=682,
+  serialized_start=748,
+  serialized_end=896,
 )
 
 
@@ -348,8 +432,8 @@ _SPEEDLIMITSIGN = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=684,
-  serialized_end=765,
+  serialized_start=898,
+  serialized_end=979,
 )
 
 
@@ -410,8 +494,8 @@ _AGENT = _descriptor.Descriptor(
       name='agent', full_name='carla_server.Agent.agent',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=768,
-  serialized_end=997,
+  serialized_start=982,
+  serialized_end=1211,
 )
 
 
@@ -441,8 +525,8 @@ _REQUESTNEWEPISODE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=999,
-  serialized_end=1036,
+  serialized_start=1213,
+  serialized_end=1250,
 )
 
 
@@ -460,6 +544,13 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       options=None),
+    _descriptor.FieldDescriptor(
+      name='sensors', full_name='carla_server.SceneDescription.sensors', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      options=None),
   ],
   extensions=[
   ],
@@ -472,8 +563,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1038,
-  serialized_end=1109,
+  serialized_start=1252,
+  serialized_end=1362,
 )
 
 
@@ -503,8 +594,8 @@ _EPISODESTART = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1111,
-  serialized_end=1158,
+  serialized_start=1364,
+  serialized_end=1411,
 )
 
 
@@ -534,8 +625,8 @@ _EPISODEREADY = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1160,
-  serialized_end=1189,
+  serialized_start=1413,
+  serialized_end=1442,
 )
 
 
@@ -593,8 +684,8 @@ _CONTROL = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1191,
-  serialized_end=1285,
+  serialized_start=1444,
+  serialized_end=1538,
 )
 
 
@@ -680,8 +771,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1481,
-  serialized_end=1810,
+  serialized_start=1734,
+  serialized_end=2063,
 )
 
 _MEASUREMENTS = _descriptor.Descriptor(
@@ -731,13 +822,15 @@ _MEASUREMENTS = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1288,
-  serialized_end=1810,
+  serialized_start=1541,
+  serialized_end=2063,
 )
 
 _TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
 _TRANSFORM.fields_by_name['orientation'].message_type = _VECTOR3D
 _TRANSFORM.fields_by_name['rotation'].message_type = _ROTATION3D
+_SENSOR.fields_by_name['type'].enum_type = _SENSOR_TYPE
+_SENSOR_TYPE.containing_type = _SENSOR
 _VEHICLE.fields_by_name['transform'].message_type = _TRANSFORM
 _VEHICLE.fields_by_name['box_extent'].message_type = _VECTOR3D
 _PEDESTRIAN.fields_by_name['transform'].message_type = _TRANSFORM
@@ -763,6 +856,7 @@ _AGENT.oneofs_by_name['agent'].fields.append(
   _AGENT.fields_by_name['speed_limit_sign'])
 _AGENT.fields_by_name['speed_limit_sign'].containing_oneof = _AGENT.oneofs_by_name['agent']
 _SCENEDESCRIPTION.fields_by_name['player_start_spots'].message_type = _TRANSFORM
+_SCENEDESCRIPTION.fields_by_name['sensors'].message_type = _SENSOR
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['transform'].message_type = _TRANSFORM
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['acceleration'].message_type = _VECTOR3D
 _MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['autopilot_control'].message_type = _CONTROL
@@ -772,6 +866,7 @@ _MEASUREMENTS.fields_by_name['non_player_agents'].message_type = _AGENT
 DESCRIPTOR.message_types_by_name['Vector3D'] = _VECTOR3D
 DESCRIPTOR.message_types_by_name['Rotation3D'] = _ROTATION3D
 DESCRIPTOR.message_types_by_name['Transform'] = _TRANSFORM
+DESCRIPTOR.message_types_by_name['Sensor'] = _SENSOR
 DESCRIPTOR.message_types_by_name['Vehicle'] = _VEHICLE
 DESCRIPTOR.message_types_by_name['Pedestrian'] = _PEDESTRIAN
 DESCRIPTOR.message_types_by_name['TrafficLight'] = _TRAFFICLIGHT
@@ -806,6 +901,13 @@ Transform = _reflection.GeneratedProtocolMessageType('Transform', (_message.Mess
   ))
 _sym_db.RegisterMessage(Transform)
 
+Sensor = _reflection.GeneratedProtocolMessageType('Sensor', (_message.Message,), dict(
+  DESCRIPTOR = _SENSOR,
+  __module__ = 'carla_server_pb2'
+  # @@protoc_insertion_point(class_scope:carla_server.Sensor)
+  ))
+_sym_db.RegisterMessage(Sensor)
+
 Vehicle = _reflection.GeneratedProtocolMessageType('Vehicle', (_message.Message,), dict(
   DESCRIPTOR = _VEHICLE,
   __module__ = 'carla_server_pb2'
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index ded37d2a1..b07a7f7b6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -262,6 +262,9 @@ CarlaServer::ErrorCode CarlaServer::SendSceneDescription(
   carla_scene_description scene;
   scene.player_start_spots = StartSpots.Get();
   scene.number_of_player_start_spots = NumberOfStartSpots;
+  /// @todo Add the sensors here.
+  scene.sensors = nullptr;
+  scene.number_of_sensors = 0u;
 
   return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
 }
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 3a89458ca..046a37a55 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -34,43 +34,16 @@ extern "C" {
     float roll;
   };
 
-// >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-  struct carla_sensor_definition {
-    uint32_t id;
-    uint32_t type;
-    const char *name;
-  };
-
-  struct carla_sensor_data {
-    uint32_t id;
-    const void *header;
-    uint32_t header_size;
-    const void *data;
-    uint32_t data_size;
-  };
-// -----------------------------------------------------------------------------
-  struct carla_image {
-    uint32_t width;
-    uint32_t height;
-    uint32_t type;
-    float fov;
-    const uint32_t *data;
-  };
-
-  struct carla_lidar_measurement {
-    float horizontal_angle;
-    int channels_count;
-    const uint32_t *points_count_by_channel;
-    const double *data;
-  };
-// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-
   struct carla_transform {
     struct carla_vector3d location;
     struct carla_vector3d orientation;
     struct carla_rotation3d rotation;
   };
 
+  /* ======================================================================== */
+  /* -- agents -------------------------------------------------------------- */
+  /* ======================================================================== */
+
 #define CARLA_SERVER_AGENT_UNKNOWN            0u
 #define CARLA_SERVER_AGENT_VEHICLE           10u
 #define CARLA_SERVER_AGENT_PEDESTRIAN        20u
@@ -94,6 +67,33 @@ extern "C" {
     float forward_speed;
   };
 
+  /* ======================================================================== */
+  /* -- sensors ------------------------------------------------------------- */
+  /* ======================================================================== */
+
+#define CARLA_SERVER_CAMERA_NONE                   100u
+#define CARLA_SERVER_CAMERA_SCENE_FINAL            101u
+#define CARLA_SERVER_CAMERA_DEPTH                  102u
+#define CARLA_SERVER_CAMERA_SEMANTIC_SEGMENTATION  103u
+#define CARLA_SERVER_LIDAR_RAY_TRACE               104u
+
+  struct carla_sensor_definition {
+    /** Id of the sensor. */
+    uint32_t id;
+    /** Type of the sensor (one of the above defines). */
+    uint32_t type;
+    /** Display name of the sensor. */
+    const char *name;
+  };
+
+  struct carla_sensor_data {
+    uint32_t id;
+    const void *header;
+    uint32_t header_size;
+    const void *data;
+    uint32_t data_size;
+  };
+
   /* ======================================================================== */
   /* -- carla_request_new_episode ------------------------------------------- */
   /* ======================================================================== */
@@ -118,6 +118,9 @@ extern "C" {
     /** Collection of the initial player start locations. */
     const struct carla_transform *player_start_spots;
     uint32_t number_of_player_start_spots;
+    /** Definitions of the sensors present in the scene. */
+    const struct carla_sensor_definition *sensors;
+    uint32_t number_of_sensors;
   };
 
   /* ======================================================================== */
@@ -278,17 +281,21 @@ extern "C" {
       carla_control &values,
       uint32_t timeout_milliseconds);
 
+  /** Return values:
+    *   CARLA_SERVER_SUCCESS Value was posted for sending.
+    *   CARLA_SERVER_OPERATION_ABORTED Agent server is missing.
+    */
+  CARLA_SERVER_API int32_t carla_write_sensor_data(
+      CarlaServerPtr self,
+      const carla_sensor_data &data);
+
   /** Return values:
     *   CARLA_SERVER_SUCCESS Value was posted for sending.
     *   CARLA_SERVER_OPERATION_ABORTED Agent server is missing.
     */
   CARLA_SERVER_API int32_t carla_write_measurements(
       CarlaServerPtr self,
-      const carla_measurements &values,
-      const struct carla_image *images,
-      const struct carla_lidar_measurement *lidar_measurements,
-      const uint32_t number_of_images,
-      const uint32_t number_of_lidar_measurements);
+      const carla_measurements &values);
 
 #ifdef __cplusplus
 }
diff --git a/Util/CarlaServer/source/carla/server/AgentServer.cpp b/Util/CarlaServer/source/carla/server/AgentServer.cpp
index 6eac5bd94..458f6ccb3 100644
--- a/Util/CarlaServer/source/carla/server/AgentServer.cpp
+++ b/Util/CarlaServer/source/carla/server/AgentServer.cpp
@@ -13,9 +13,11 @@ namespace server {
       CarlaEncoder &encoder,
       const uint32_t out_port,
       const uint32_t in_port,
+      const SensorDataInbox::Sensors &sensors,
       const time_duration timeout)
       : _out(encoder),
         _in(encoder),
+        _sensor_inbox(sensors),
         _measurements(timeout),
         _control(timeout) {
     _out.Connect(out_port, timeout);
@@ -24,5 +26,32 @@ namespace server {
     _in.Execute(_control);
   }
 
+  error_code AgentServer::WriteSensorData(const carla_sensor_data &data) {
+    _sensor_inbox.Write(data);
+    return errc::success();
+  }
+
+  error_code AgentServer::WriteMeasurements(const carla_measurements &measurements) {
+    error_code ec;
+    if (!_control.TryGetResult(ec)) { /// @todo Why _control here?? is it a bug?
+      auto writer = _measurements.buffer()->MakeWriter();
+      writer->Write(measurements, _sensor_inbox);
+      ec = errc::success();
+    }
+    return ec;
+  };
+
+  error_code AgentServer::ReadControl(carla_control &control, timeout_t timeout) {
+    error_code ec = errc::try_again();
+    if (!_control.TryGetResult(ec)) {
+      auto reader = _control.buffer()->TryMakeReader(timeout);
+      if (reader != nullptr) {
+        control = *reader;
+        ec = errc::success();
+      }
+    }
+    return ec;
+  }
+
 } // namespace server
 } // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/AgentServer.h b/Util/CarlaServer/source/carla/server/AgentServer.h
index a690c0242..ecaad7b91 100644
--- a/Util/CarlaServer/source/carla/server/AgentServer.h
+++ b/Util/CarlaServer/source/carla/server/AgentServer.h
@@ -9,6 +9,7 @@
 #include "carla/NonCopyable.h"
 #include "carla/server/AsyncServer.h"
 #include "carla/server/EncoderServer.h"
+#include "carla/server/SensorDataInbox.h"
 #include "carla/server/TCPServer.h"
 
 namespace carla {
@@ -23,32 +24,14 @@ namespace server {
         CarlaEncoder &encoder,
         uint32_t out_port,
         uint32_t in_port,
+        const SensorDataInbox::Sensors &sensors,
         time_duration timeout);
 
-    error_code WriteMeasurements(
-        const carla_measurements &measurements,
-        const_array_view<carla_image> images,
-        const_array_view<carla_lidar_measurement> lidar_measurements) {
-      error_code ec;
-      if (!_control.TryGetResult(ec)) {
-        auto writer = _measurements.buffer()->MakeWriter();
-        writer->Write(measurements, images, lidar_measurements);
-        ec = errc::success();
-      }
-      return ec;
-    };
+    error_code WriteSensorData(const carla_sensor_data &data);
 
-    error_code ReadControl(carla_control &control, timeout_t timeout) {
-      error_code ec = errc::try_again();
-      if (!_control.TryGetResult(ec)) {
-        auto reader = _control.buffer()->TryMakeReader(timeout);
-        if (reader != nullptr) {
-          control = *reader;
-          ec = errc::success();
-        }
-      }
-      return ec;
-    }
+    error_code WriteMeasurements(const carla_measurements &measurements);
+
+    error_code ReadControl(carla_control &control, timeout_t timeout);
 
   private:
 
@@ -56,6 +39,8 @@ namespace server {
 
     AsyncServer<EncoderServer<TCPServer>> _in;
 
+    SensorDataInbox _sensor_inbox;
+
     StreamWriteTask<MeasurementsMessage> _measurements;
 
     StreamReadTask<carla_control> _control;
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 39cb2e654..68df5940d 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -23,6 +23,10 @@ namespace server {
     return array_view::make_const(values.player_start_spots, values.number_of_player_start_spots);
   }
 
+  static auto sensors(const carla_scene_description &values) {
+    return array_view::make_const(values.sensors, values.number_of_sensors);
+  }
+
   static auto agents(const carla_measurements &values) {
     return array_view::make_const(values.non_player_agents, values.number_of_non_player_agents);
   }
@@ -48,6 +52,22 @@ namespace server {
     Set(lhs->mutable_rotation(), rhs.rotation);
   }
 
+  static void Set(cs::Sensor *lhs, const carla_sensor_definition &rhs) {
+    DEBUG_ASSERT(lhs != nullptr);
+    lhs->set_id(rhs.id);
+    lhs->set_name(std::string(rhs.name));
+    lhs->set_type([&](){
+      switch (rhs.type) {
+        case CARLA_SERVER_CAMERA_NONE:                  return cs::Sensor::CAMERA_NONE;
+        case CARLA_SERVER_CAMERA_SCENE_FINAL:           return cs::Sensor::CAMERA_SCENE_FINAL;
+        case CARLA_SERVER_CAMERA_DEPTH:                 return cs::Sensor::CAMERA_DEPTH;
+        case CARLA_SERVER_CAMERA_SEMANTIC_SEGMENTATION: return cs::Sensor::CAMERA_SEMANTIC_SEGMENTATION;
+        case CARLA_SERVER_LIDAR_RAY_TRACE:              return cs::Sensor::LIDAR_RAY_TRACE;
+        default:                                        return cs::Sensor::UNKNOWN;
+      }
+    }());
+  }
+
   static void Set(cs::Control *lhs, const carla_control &rhs) {
     DEBUG_ASSERT(lhs != nullptr);
     lhs->set_steer(rhs.steer);
@@ -108,6 +128,9 @@ namespace server {
     for (auto &spot : start_spots(values)) {
       Set(message->add_player_start_spots(), spot);
     }
+    for (auto &sensor : sensors(values)) {
+      Set(message->add_sensors(), sensor);
+    }
     return Protobuf::Encode(*message);
   }
 
diff --git a/Util/CarlaServer/source/carla/server/CarlaServer.cpp b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
index d220fb831..d7670f369 100644
--- a/Util/CarlaServer/source/carla/server/CarlaServer.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaServer.cpp
@@ -116,23 +116,28 @@ int32_t carla_read_control(
   return agent->ReadControl(values, timeout_t::milliseconds(timeout)).value();
 }
 
+int32_t carla_write_sensor_data(
+    CarlaServerPtr self,
+    const carla_sensor_data &sensor_data) {
+  CARLA_PROFILE_SCOPE(C_API, WriteSensorData);
+  auto agent = Cast(self)->GetAgentServer();
+  if (agent == nullptr) {
+    log_debug("trying to write sensor data but agent server is missing");
+    return CARLA_SERVER_OPERATION_ABORTED;
+  } else {
+    return agent->WriteSensorData(sensor_data).value();
+  }
+}
+
 int32_t carla_write_measurements(
-      CarlaServerPtr self,
-      const carla_measurements &values,
-      const struct carla_image *images,
-      const struct carla_lidar_measurement *lidar_measurements,
-      const uint32_t number_of_images,
-      const uint32_t number_of_lidar_measurements) {
+    CarlaServerPtr self,
+    const carla_measurements &measurements) {
   CARLA_PROFILE_SCOPE(C_API, WriteMeasurements);
   auto agent = Cast(self)->GetAgentServer();
   if (agent == nullptr) {
     log_debug("trying to write measurements but agent server is missing");
     return CARLA_SERVER_OPERATION_ABORTED;
   } else {
-    return agent->WriteMeasurements(
-        values,
-        carla::const_array_view<carla_image>(images, number_of_images),
-        carla::const_array_view<carla_lidar_measurement>(lidar_measurements, number_of_lidar_measurements)
-      ).value();
+    return agent->WriteMeasurements(measurements).value();
   }
 }
diff --git a/Util/CarlaServer/source/carla/server/DoubleBuffer.h b/Util/CarlaServer/source/carla/server/DoubleBuffer.h
index a9172e823..7f7f49709 100644
--- a/Util/CarlaServer/source/carla/server/DoubleBuffer.h
+++ b/Util/CarlaServer/source/carla/server/DoubleBuffer.h
@@ -92,6 +92,10 @@ namespace detail {
       return std::unique_ptr<const T, decltype(deleter)>(pointer, deleter);
     }
 
+    auto TryMakeReader() {
+      return TryMakeReader(timeout_t::milliseconds(0u));
+    }
+
     /// Returns an unique_ptr to the buffer to be written. The given buffer
     /// will be locked for writing until the unique_ptr is destroyed.
     ///
diff --git a/Util/CarlaServer/source/carla/server/EncoderServer.h b/Util/CarlaServer/source/carla/server/EncoderServer.h
index f1f98f12d..244f8c8ff 100644
--- a/Util/CarlaServer/source/carla/server/EncoderServer.h
+++ b/Util/CarlaServer/source/carla/server/EncoderServer.h
@@ -6,10 +6,11 @@
 
 #pragma once
 
-#include "carla/NonCopyable.h"
 #include "carla/Logging.h"
+#include "carla/NonCopyable.h"
 #include "carla/server/CarlaEncoder.h"
 #include "carla/server/MeasurementsMessage.h"
+#include "carla/server/SensorDataInbox.h"
 #include "carla/server/ServerTraits.h"
 
 namespace carla {
@@ -58,19 +59,33 @@ namespace server {
       return _server.Write(boost::asio::buffer(string), timeout);
     }
 
-    /// @warning This operation consists of two Writes, the timeout applies to
-    /// each individual Write. Effectively, it may wait twice the timeout.
+    /// @warning This operation consists of several Writes, the timeout applies
+    /// to each individual Write. Effectively, it may wait the timeout for each
+    /// sensor.
     error_code Write(const MeasurementsMessage &values, time_duration timeout) {
       const auto string = _encoder.Encode(values.measurements());
       auto ec = _server.Write(boost::asio::buffer(string), timeout);
       if (!ec) {
-        ec = _server.Write(values.buffer(), timeout);
+        ec = Write(values.sensor_inbox(), timeout);
       }
       return ec;
     }
 
   private:
 
+    error_code Write(SensorDataInbox &inbox, time_duration timeout) {
+      error_code ec;
+      for (auto &sensor_buffer : inbox) {
+        auto reader = sensor_buffer.TryMakeReader();
+        if (reader != nullptr) {
+          auto ec = _server.Write(reader->buffer(), timeout);
+          if (ec)
+            return ec;
+        }
+      }
+      return errc::success();
+    }
+
     error_code ReadString(std::string &string, time_duration timeout) {
        // Get the message's size.
       uint32_t message_size;
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp b/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
deleted file mode 100644
index dfc36784e..000000000
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.cpp
+++ /dev/null
@@ -1,68 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "carla/server/ImagesMessage.h"
-
-#include <cstring>
-
-#include "carla/Debug.h"
-#include "carla/Logging.h"
-
-namespace carla {
-namespace server {
-
-  static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size!");
-
-  static size_t GetSizeOfBuffer(const_array_view<carla_image> images) {
-    size_t total = 0u;
-    for (const auto &image : images) {
-      total += 4u; // width, height, type, fov.
-      total += image.width * image.height;
-    }
-    return total * sizeof(uint32_t);
-  }
-
-  static size_t WriteSizeToBuffer(unsigned char *buffer, const uint32_t size) {
-    std::memcpy(buffer, &size, sizeof(uint32_t));
-    return sizeof(uint32_t);
-  }
-
-  static size_t WriteFloatToBuffer(unsigned char *buffer, const float value) {
-    std::memcpy(buffer, &value, sizeof(float));
-    return sizeof(float);
-  }
-
-  static size_t WriteImageToBuffer(unsigned char *buffer, const carla_image &image) {
-    const auto size = sizeof(uint32_t) * image.width * image.height;
-    DEBUG_ASSERT(image.data != nullptr);
-    std::memcpy(buffer, image.data, size);
-    return size;
-  }
-
-  size_t ImagesMessage::GetSize(const_array_view<carla_image> images) {
-    return GetSizeOfBuffer(images);
-  }
-
-  size_t ImagesMessage::Write(
-    const_array_view<carla_image> images,
-    unsigned char *buffer
-  ) {
-    long buffer_size = GetSizeOfBuffer(images);
-
-    auto begin = buffer;
-    for (const auto &image : images) {
-      begin += WriteSizeToBuffer(begin, image.width);
-      begin += WriteSizeToBuffer(begin, image.height);
-      begin += WriteSizeToBuffer(begin, image.type);
-      begin += WriteFloatToBuffer(begin, image.fov);
-      begin += WriteImageToBuffer(begin, image);
-    }
-    DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
-    return buffer_size;
-  }
-
-} // namespace server
-} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/ImagesMessage.h b/Util/CarlaServer/source/carla/server/ImagesMessage.h
deleted file mode 100644
index 7665b43b4..000000000
--- a/Util/CarlaServer/source/carla/server/ImagesMessage.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include <cstdint>
-#include <memory>
-
-#include "carla/ArrayView.h"
-#include "carla/NonCopyable.h"
-#include "carla/server/CarlaServerAPI.h"
-#include "carla/server/ServerTraits.h"
-
-namespace carla {
-namespace server {
-
-  /// Encodes the given images as binary array to be sent to the client.
-  ///
-  /// The message consists of an array of uint32's in the following layout
-  ///
-  ///    {
-  ///      total size,
-  ///      width, height, type, FOV, color[0], color[1],...,     <- first image
-  ///      width, height, type, FOV, color[0], color[1],...,     <- second image
-  ///      ...
-  ///    }
-  ///
-  class ImagesMessage : private NonCopyable {
-  public:
-
-    size_t Write(
-      const_array_view<carla_image> images,
-      unsigned char *buffer
-    );
-
-    size_t GetSize(const_array_view<carla_image> images);
-  };
-
-} // namespace server
-} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
deleted file mode 100644
index a6e173fa6..000000000
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-
-#include "carla/server/LidarMeasurementsMessage.h"
-
-#include <cstring>
-
-#include "carla/Debug.h"
-#include "carla/Logging.h"
-
-namespace carla {
-namespace server {
-
-  static size_t GetSizeOfLidarPointsCounts(const carla_lidar_measurement& lidar_measurement) {
-    return sizeof(uint32_t) * lidar_measurement.channels_count;
-  }
-
-  static size_t GetSizeOfLidarPoints(const carla_lidar_measurement& lidar_measurement) {
-    size_t total_points = 0;
-    for(int i=0; i<lidar_measurement.channels_count; i++)
-    {
-      total_points += lidar_measurement.points_count_by_channel[i];
-    }
-    return total_points * 3 * sizeof(double);
-  }
-
-  static size_t GetSizeOfBuffer(const_array_view<carla_lidar_measurement> lidar_measurements) {
-    size_t total = 0u;
-    for (const auto &lidar_measurement : lidar_measurements) {
-      total += sizeof(double); // horizontal_angle
-      total += 2 * sizeof(uint32_t); // type_of_the_message, channels_count
-      total += GetSizeOfLidarPointsCounts(lidar_measurement);
-      total += GetSizeOfLidarPoints(lidar_measurement);
-    }
-    return total;
-  }
-
-  static size_t WriteIntToBuffer(unsigned char *buffer, uint32_t size) {
-    std::memcpy(buffer, &size, sizeof(uint32_t));
-    return sizeof(uint32_t);
-  }
-
-  static size_t WriteDoubleToBuffer(unsigned char *buffer, double val) {
-    std::memcpy(buffer, &val, sizeof(double));
-    return sizeof(double);
-  }
-
-  static size_t WriteLidarMeasurementToBuffer(unsigned char *buffer, const carla_lidar_measurement &lidar_measurement) {
-    const auto points_counts_size = GetSizeOfLidarPointsCounts(lidar_measurement);
-    const auto points_size = GetSizeOfLidarPoints(lidar_measurement);
-    DEBUG_ASSERT(lidar_measurement.points_count_by_channel != nullptr);
-    DEBUG_ASSERT(lidar_measurement.data != nullptr);
-    std::memcpy(buffer, lidar_measurement.points_count_by_channel, points_counts_size);
-    std::memcpy(buffer + points_counts_size, lidar_measurement.data, points_size);
-    return points_counts_size + points_size;
-  }
-
-  size_t LidarMeasurementsMessage::GetSize(const_array_view<carla_lidar_measurement> lidar_measurements) {
-    return GetSizeOfBuffer(lidar_measurements);
-  }
-
-  size_t LidarMeasurementsMessage::Write(
-    const_array_view<carla_lidar_measurement> lidar_measurements,
-    unsigned char *buffer
-  ) {
-    long buffer_size = GetSizeOfBuffer(lidar_measurements);
-
-    auto begin = buffer;
-    for (const auto &lidar_measurement : lidar_measurements) {
-      begin += WriteDoubleToBuffer(begin, lidar_measurement.horizontal_angle);
-      begin += WriteIntToBuffer(begin, 4); // type of lidar message
-      begin += WriteIntToBuffer(begin, lidar_measurement.channels_count);
-      begin += WriteLidarMeasurementToBuffer(begin, lidar_measurement);
-    }
-    DEBUG_ASSERT(std::distance(buffer, begin) == buffer_size);
-    return buffer_size;
-  }
-
-} // namespace server
-} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h b/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
deleted file mode 100644
index 919bf3a17..000000000
--- a/Util/CarlaServer/source/carla/server/LidarMeasurementsMessage.h
+++ /dev/null
@@ -1,27 +0,0 @@
-
-#pragma once
-
-#include <cstdint>
-#include <memory>
-
-#include "carla/ArrayView.h"
-#include "carla/NonCopyable.h"
-#include "carla/server/CarlaServerAPI.h"
-#include "carla/server/ServerTraits.h"
-
-namespace carla {
-namespace server {
-
-  class LidarMeasurementsMessage : private NonCopyable {
-  public:
-
-    size_t Write(
-      const_array_view<carla_lidar_measurement> lidar_measurements,
-      unsigned char *buffer
-    );
-
-    size_t GetSize(const_array_view<carla_lidar_measurement> lidar_measurements);
-  };
-
-} // namespace server
-} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp b/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp
deleted file mode 100644
index 5672d564f..000000000
--- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-
-#include "carla/server/MeasurementsMessage.h"
-
-#include <cstring>
-
-#include "carla/Debug.h"
-#include "carla/Logging.h"
-
-namespace carla {
-namespace server {
-
-void MeasurementsMessage::Reset(const uint32_t count) {
-  if (_capacity < count) {
-    log_info("allocating image buffer of", count, "bytes");
-    _buffer = std::make_unique<unsigned char[]>(count);
-    _capacity = count;
-  }
-  _size = count;
-}
-
-}
-}
diff --git a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
index 2d91a65de..fae6a7fc4 100644
--- a/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
+++ b/Util/CarlaServer/source/carla/server/MeasurementsMessage.h
@@ -6,66 +6,40 @@
 
 #pragma once
 
+#include "carla/Debug.h"
 #include "carla/NonCopyable.h"
 #include "carla/server/CarlaMeasurements.h"
 #include "carla/server/CarlaServerAPI.h"
-#include "carla/server/ImagesMessage.h"
-#include "carla/server/LidarMeasurementsMessage.h"
 
 namespace carla {
 namespace server {
 
+  class SensorDataInbox;
+
   class MeasurementsMessage : private NonCopyable {
   public:
 
-    /// Allocates a new buffer if the capacity is not enough to hold the images and
-    /// lidar measurements, but it does not allocate a smaller one if the capacity is
-    /// greater than the size of the images.
-    ///
-    /// @note The expected usage of this class is to mantain a constant size
-    /// buffer of images, so memory allocation occurs only once.
     void Write(
         const carla_measurements &measurements,
-        const_array_view<carla_image> images,
-        const_array_view<carla_lidar_measurement> lidar_measurements) {
-
+        SensorDataInbox &sensor_inbox) {
       _measurements.Write(measurements);
-
-      uint32_t buffer_size = _images.GetSize(images) + _lidar_measurements.GetSize(lidar_measurements);
-      Reset(sizeof(uint32_t) + buffer_size); // header + buffer
-      auto begin = _buffer.get();
-      std::memcpy(begin, &buffer_size, sizeof(uint32_t));
-      begin += sizeof(uint32_t);
-
-      begin += _images.Write(images, begin);
-      _lidar_measurements.Write(lidar_measurements, begin);
+      _sensor_inbox = &sensor_inbox;
     }
 
     const carla_measurements &measurements() const {
       return _measurements.measurements();
     }
 
-    const_buffer buffer() const {
-      return boost::asio::buffer(_buffer.get(), _size);
+    SensorDataInbox &sensor_inbox() const {
+      DEBUG_ASSERT(_sensor_inbox != nullptr);
+      return *_sensor_inbox;
     }
 
-  protected:
-
-    void Reset(uint32_t count);
-
   private:
 
     CarlaMeasurements _measurements;
 
-    ImagesMessage _images;
-
-    LidarMeasurementsMessage _lidar_measurements;
-
-    std::unique_ptr<unsigned char[]> _buffer = nullptr;
-
-    uint32_t _size = 0u;
-
-    uint32_t _capacity = 0u;
+    SensorDataInbox *_sensor_inbox = nullptr;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/SensorDataInbox.h b/Util/CarlaServer/source/carla/server/SensorDataInbox.h
index ca23d3605..67cd6c12a 100644
--- a/Util/CarlaServer/source/carla/server/SensorDataInbox.h
+++ b/Util/CarlaServer/source/carla/server/SensorDataInbox.h
@@ -11,7 +11,9 @@
 #include "carla/server/DoubleBuffer.h"
 #include "carla/server/SensorDataMessage.h"
 
+#include <type_traits>
 #include <unordered_map>
+#include <vector>
 
 struct carla_sensor_data;
 struct carla_sensor_definition;
@@ -19,6 +21,34 @@ struct carla_sensor_definition;
 namespace carla {
 namespace server {
 
+namespace detail {
+
+  template <typename IT>
+  class value_iterator {
+  public:
+
+    value_iterator(IT original_iterator) : _it(original_iterator) {}
+
+    value_iterator &operator++() {
+      ++_it;
+      return *this;
+    }
+
+    auto &operator*() {
+      return _it->second;
+    }
+
+    bool operator!=(value_iterator rhs) {
+      return _it != rhs._it;
+    }
+
+  private:
+
+    IT _it;
+  };
+
+} // detail
+
   /// Stores the data received from the sensors (asynchronously) to be sent next
   /// on next tick.
   ///
@@ -27,32 +57,46 @@ namespace server {
   /// different buffers, i.e. each sensor can have its own producer and consumer
   /// threads.
   class SensorDataInbox : private NonCopyable {
+
+    using DataBuffer = DoubleBuffer<SensorDataMessage>;
+
+    using Map = std::unordered_map<uint32_t, DataBuffer>;
+
   public:
 
-    /// We need to initialize the map before hand so it remains constant and
-    /// doesn't need a lock.
-    ///
-    /// @warning This function is not thread-safe.
-    void RegisterSensor(const carla_sensor_definition &sensor) {
-      _buffers[sensor.id];
+    using Sensors = std::vector<carla_sensor_definition>;
+
+    using buffer_iterator = detail::value_iterator<Map::iterator>;
+
+    explicit SensorDataInbox(const Sensors &sensors) {
+      // We need to initialize the map before hand so it remains constant and
+      // doesn't need a lock.
+      for (auto &sensor : sensors)
+        _buffers[sensor.id];
     }
 
     void Write(const carla_sensor_data &data) {
-      auto message = _buffers.at(data.id).MakeWriter();
-      message->Write(data);
+      auto writer = _buffers.at(data.id).MakeWriter();
+      writer->Write(data);
     }
 
     /// Tries to acquire a reader on the buffer of the given sensor. See
     /// DoubleBuffer.
     auto TryMakeReader(uint32_t sensor_id) {
-      return _buffers.at(sensor_id).TryMakeReader(timeout_t::milliseconds(0u));
+      return _buffers.at(sensor_id).TryMakeReader();
+    }
+
+    buffer_iterator begin() {
+      return _buffers.begin();
+    }
+
+    buffer_iterator end() {
+      return _buffers.end();
     }
 
   private:
 
-    using DataBuffer = DoubleBuffer<SensorDataMessage>;
-
-    std::unordered_map<uint32_t, DataBuffer> _buffers;
+    Map _buffers;
   };
 
 } // namespace server
diff --git a/Util/CarlaServer/source/carla/server/WorldServer.cpp b/Util/CarlaServer/source/carla/server/WorldServer.cpp
index 55377af82..7eafa8be4 100644
--- a/Util/CarlaServer/source/carla/server/WorldServer.cpp
+++ b/Util/CarlaServer/source/carla/server/WorldServer.cpp
@@ -91,6 +91,10 @@ namespace server {
 
   std::future<error_code> WorldServer::Write(
       const carla_scene_description &scene_description) {
+    decltype(_sensor_definitions) defs(
+        scene_description.sensors,
+        scene_description.sensors + scene_description.number_of_sensors);
+    _sensor_definitions = std::move(defs);
     return carla::server::Write(_protocol.scene_description, scene_description);
   }
 
@@ -106,11 +110,17 @@ namespace server {
   }
 
   void WorldServer::StartAgentServer() {
-    _agent_server = std::make_unique<AgentServer>(_encoder, _port + 1u, _port + 2u, _timeout);
+    _agent_server = std::make_unique<AgentServer>(
+        _encoder,
+        _port + 1u,
+        _port + 2u,
+        _sensor_definitions,
+        _timeout);
   }
 
   void WorldServer::KillAgentServer() {
     _agent_server = nullptr;
+    _sensor_definitions.clear();
   }
 
   void WorldServer::ResetProtocol() {
diff --git a/Util/CarlaServer/source/carla/server/WorldServer.h b/Util/CarlaServer/source/carla/server/WorldServer.h
index 87cfeb145..3ec88dd7f 100644
--- a/Util/CarlaServer/source/carla/server/WorldServer.h
+++ b/Util/CarlaServer/source/carla/server/WorldServer.h
@@ -75,6 +75,8 @@ namespace server {
 
     AsyncServer<EncoderServer<TCPServer>> _world_server;
 
+    std::vector<carla_sensor_definition> _sensor_definitions;
+
     std::unique_ptr<AgentServer> _agent_server;
 
     RequestNewEpisode _new_episode_data;
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index 0922fb5e1..e040e0f24 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -8,6 +8,8 @@
 #include "carla/Logging.h"
 #include "carla/server/ServerTraits.h"
 
+#include "Sensor.h"
+
 using namespace carla::server;
 using namespace boost::posix_time;
 
@@ -48,18 +50,13 @@ TEST(CarlaServerAPI, SimBlocking) {
   CarlaServerPtr CarlaServer = CarlaServerGuard.get();
   ASSERT_TRUE(CarlaServer != nullptr);
 
-  constexpr uint32_t ImageSizeX = 300u;
-  constexpr uint32_t ImageSizeY = 200u;
-  const uint32_t image0[ImageSizeX*ImageSizeY] = {0u};
-  const carla_image images[] = {
-    {ImageSizeX, ImageSizeY, 1u, 0u, image0}
-  };
+  std::array<test::Sensor, 5u> sensors;
 
-  const uint32_t points_count_by_channel[32] = {1u};
-  const double lidar_data[32 * 3] = {1};
-  const carla_lidar_measurement lidar_measurements[] = {
-    {10, 32, points_count_by_channel, lidar_data}
-  };
+  carla_sensor_definition sensor_definitions[sensors.size()];
+
+  for (auto i = 0u; i < sensors.size(); ++i) {
+    sensor_definitions[i] = sensors[i].definition();
+  }
 
   const carla_transform start_locations[] = {
     {carla_vector3d{0.0f, 0.0f, 0.0f}, carla_vector3d{0.0f, 0.0f, 0.0f}, carla_rotation3d{0.0f, 0.0f, 0.0f}},
@@ -88,7 +85,9 @@ TEST(CarlaServerAPI, SimBlocking) {
       test_log("sending scene description...");
       const carla_scene_description values{
           start_locations,
-          SIZE_OF_ARRAY(start_locations)};
+          SIZE_OF_ARRAY(start_locations),
+          sensor_definitions,
+          SIZE_OF_ARRAY(sensor_definitions)};
       ASSERT_EQ(S, carla_write_scene_description(CarlaServer, values, TIMEOUT));
     }
     {
@@ -111,9 +110,10 @@ TEST(CarlaServerAPI, SimBlocking) {
           carla_measurements measurements;
           measurements.non_player_agents = agents_data.data();
           measurements.number_of_non_player_agents = agents_data.size();
-          auto ec = carla_write_measurements(
-            CarlaServer, measurements, images, lidar_measurements,
-            SIZE_OF_ARRAY(images), SIZE_OF_ARRAY(lidar_measurements));
+          for (auto &sensor : sensors) {
+            carla_write_sensor_data(CarlaServer, sensor.MakeRandomData());
+          }
+          auto ec = carla_write_measurements(CarlaServer, measurements);
           if (ec != S)
             break;
         }
diff --git a/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp b/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp
index 3b902d87a..dfdbc1ce9 100644
--- a/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp
+++ b/Util/CarlaServer/source/test/Test_SensorDataInbox.cpp
@@ -15,12 +15,13 @@
 TEST(SensorDataInbox, SyncSingleSensor) {
   using namespace carla::server;
   test::Sensor sensor0;
-  SensorDataInbox inbox;
-  inbox.RegisterSensor(sensor0.definition());
+  SensorDataInbox::Sensors defs;
+  defs.push_back(sensor0.definition());
+  SensorDataInbox inbox(defs);
   for (auto j = 0u; j < 1000u; ++j) {
     auto data = sensor0.MakeRandomData();
     inbox.Write(data);
-    auto buffer = inbox.TryMakeReader(sensor0.id());
+    auto buffer = (*inbox.begin()).TryMakeReader();
     ASSERT_TRUE(buffer != nullptr);
     sensor0.CheckData(buffer->buffer());
   }
@@ -29,9 +30,12 @@ TEST(SensorDataInbox, SyncSingleSensor) {
 TEST(SensorDataInbox, SyncMultipleSensors) {
   using namespace carla::server;
   std::array<test::Sensor, 50u> sensors;
-  SensorDataInbox inbox;
-  for (auto &sensor : sensors)
-    inbox.RegisterSensor(sensor.definition());
+  SensorDataInbox::Sensors defs;
+  defs.reserve(sensors.size());
+  std::for_each(sensors.begin(), sensors.end(), [&](auto &s){
+    defs.push_back(s.definition());
+  });
+  SensorDataInbox inbox(defs);
   for (auto j = 0u; j < 1000u; ++j) {
     for (auto &sensor : sensors) {
       inbox.Write(sensor.MakeRandomData());
@@ -45,9 +49,12 @@ TEST(SensorDataInbox, SyncMultipleSensors) {
 TEST(SensorDataInbox, Async) {
   using namespace carla::server;
   std::array<test::Sensor, 50u> sensors;
-  SensorDataInbox inbox;
-  for (auto &sensor : sensors)
-    inbox.RegisterSensor(sensor.definition());
+  SensorDataInbox::Sensors defs;
+  defs.reserve(sensors.size());
+  std::for_each(sensors.begin(), sensors.end(), [&](auto &s){
+    defs.push_back(s.definition());
+  });
+  SensorDataInbox inbox(defs);
 
   constexpr auto numberOfWrites = 200u;
 
diff --git a/Util/Proto/carla_server.proto b/Util/Proto/carla_server.proto
index 1ce3a8296..43a5ba17c 100644
--- a/Util/Proto/carla_server.proto
+++ b/Util/Proto/carla_server.proto
@@ -32,6 +32,29 @@ message Transform {
   Rotation3D rotation = 3;
 }
 
+// =============================================================================
+// -- Sensors ------------------------------------------------------------------
+// =============================================================================
+
+message Sensor {
+  enum Type {
+    UNKNOWN = 0;
+    CAMERA_NONE = 1;
+    CAMERA_SCENE_FINAL = 2;
+    CAMERA_DEPTH = 3;
+    CAMERA_SEMANTIC_SEGMENTATION = 4;
+    LIDAR_RAY_TRACE = 5;
+  }
+
+  fixed32 id = 1;
+  Type type = 2;
+  string name = 3;
+}
+
+// =============================================================================
+// -- Agents -------------------------------------------------------------------
+// =============================================================================
+
 message Vehicle {
   Transform transform = 1;
   Vector3D box_extent = 2;
@@ -79,6 +102,7 @@ message RequestNewEpisode {
 
 message SceneDescription {
   repeated Transform player_start_spots = 1;
+  repeated Sensor sensors = 2;
 }
 
 message EpisodeStart {

From 2172a8ad98734eed41a5f261b6da7d705575c5c2 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 7 Feb 2018 20:14:59 +0100
Subject: [PATCH 054/108] Fix docs badge

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index e2c7f25a8..38055be28 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@ CARLA Simulator
 ===============
 
 [![Build Status](https://travis-ci.org/carla-simulator/carla.svg?branch=master)](https://travis-ci.org/carla-simulator/carla)
-[![Documentation](https://readthedocs.org/projects/docs/badge/?version=latest)](https://carla.readthedocs.io)
+[![Documentation](https://readthedocs.org/projects/carla/badge/?version=latest)](http://carla.readthedocs.io)
 [![Waffle.io](https://badge.waffle.io/carla-simulator/carla.svg?columns=Next,In%20Progress,Review)](https://waffle.io/carla-simulator/carla)
 
 CARLA is an open-source simulator for autonomous driving research. CARLA has

From 0bb56450363885e07f3e5e7d9e126606ad880ba6 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Thu, 8 Feb 2018 15:02:30 +0100
Subject: [PATCH 055/108] Clarifying semantic segmentation and depth images in
 the documentation.

---
 Docs/img/capture_depth.png  | Bin 94954 -> 145900 bytes
 Docs/img/capture_semseg.png | Bin 7515 -> 36608 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Docs/img/capture_depth.png b/Docs/img/capture_depth.png
index 5157dd042c88adb8a633d9f342d5aec6ae8d4105..41ddd005913b41fe51bf2ffcbfd0b8bcfc5ffbd0 100644
GIT binary patch
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From 751f9a74bf0019a4a0b89c4533769aff49ca0f91 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Fri, 9 Feb 2018 18:45:56 +0100
Subject: [PATCH 056/108] Fixed local camera rotation bug and added some more
 adjustments

---
 PythonClient/carla/sensor.py        |  45 ++++++++++--
 PythonClient/carla/transform.py     |  16 -----
 PythonClient/point_cloud_example.py | 106 ++++++++++++++--------------
 3 files changed, 93 insertions(+), 74 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index b7d19a0b1..e2489ec54 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -17,6 +17,7 @@ except ImportError:
         'cannot import numpy, make sure numpy package is installed.')
 
 from collections import namedtuple
+from .transform import Transform, Translation, Rotation, Scale
 
 # ==============================================================================
 # -- Helpers -------------------------------------------------------------
@@ -69,18 +70,54 @@ class Camera(Sensor):
         self.set(**kwargs)
 
     def set_image_size(self, pixels_x, pixels_y):
+        '''Sets the image size in pixels'''
         self.ImageSizeX = pixels_x
         self.ImageSizeY = pixels_y
 
     def set_position(self, x, y, z):
+        '''Sets a position to the camera in cm'''
         self.CameraPositionX = x
         self.CameraPositionY = y
         self.CameraPositionZ = z
 
-    def set_rotation(self, pitch, roll, yaw):
+    def set_rotation(self, pitch, yaw, roll):
+        '''Sets a rotation to the camera'''
         self.CameraRotationPitch = pitch
-        self.CameraRotationRoll = roll
         self.CameraRotationYaw = yaw
+        self.CameraRotationRoll = roll
+
+    def get_transform(self):
+        '''
+        Returns the camera to [whatever the camera is
+        attached to] transformation.
+        '''
+        return Transform(
+            Translation(
+                self.CameraPositionX,
+                self.CameraPositionY,
+                self.CameraPositionZ
+            ),
+            Rotation(
+                self.CameraRotationPitch,
+                self.CameraRotationYaw,
+                self.CameraRotationRoll
+            )
+        )
+
+    def get_unreal_transform(self):
+        '''
+        Returns the camera to [whatever the camera is
+        attached to] transformation with the Unreal
+        necessary corrections applied.
+        '''
+        # Do the custom transformations.
+        to_unreal_transform = Transform(
+            Rotation(roll=-90, yaw=90),
+            Scale(x=-1)
+        )
+        # Apply and return it.
+        return self.get_transform() * to_unreal_transform
+
 
 
 class Lidar(Sensor):
@@ -180,8 +217,8 @@ class Image(SensorData):
             size=(self.width, self.height),
             data=self.raw_data,
             decoder_name='raw')
-        b, g, r, _ = image.split()
-        image = PImage.merge("RGB", (r, g, b))
+        color = image.split()
+        image = PImage.merge("RGB", color[2::-1])
 
         folder = os.path.dirname(filename)
         if not os.path.isdir(folder):
diff --git a/PythonClient/carla/transform.py b/PythonClient/carla/transform.py
index c2dbfa476..d17597e79 100644
--- a/PythonClient/carla/transform.py
+++ b/PythonClient/carla/transform.py
@@ -37,22 +37,6 @@ class Transform(object):
     The transformation is applied in the order: scale, rotation, translation.
     """
 
-    @staticmethod
-    def _from_protobuf_transform(transform):
-        """Create a Transform from a Protobuf Transform object."""
-        return Transform(
-            Translation(
-                transform.location.x,
-                transform.location.y,
-                transform.location.z
-            ),
-            Rotation(
-                transform.rotation.pitch,
-                transform.rotation.yaw,
-                transform.rotation.roll
-            )
-        )
-
     def __init__(self, *args, **kwargs):
         if 'matrix' in kwargs:
             self.matrix = kwargs['matrix']
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index e7c7413b5..4ae8c283c 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -14,6 +14,7 @@ from __future__ import print_function
 
 import argparse
 import logging
+import os
 import random
 import time
 
@@ -27,14 +28,16 @@ from carla.transform import Transform, Translation, Rotation, Scale
 
 
 def run_carla_client(host, port, far):
-    # Here we will run 3 episodes with 300 frames each.
+    # Here we will run a single episode with 300 frames.
     number_of_frames = 3000
+    frame_step = 100  # Save one image every 100 frames
     output_folder = '_out'
     image_size = [800, 600]
-    camera_local_pos = [30, 0, 130]
-    camera_local_rotation = [0, 0, 0]
+    camera_local_pos = [30, 0, 130]  # [X, Y, Z]
+    camera_local_rotation = [0, 0, 0]  # [pitch(Y), yaw(Z), roll(X)]
     fov = 70
 
+    # Connect with the server
     with make_carla_client(host, port) as client:
         print('CarlaClient connected')
 
@@ -48,14 +51,17 @@ def run_carla_client(host, port, far):
             WeatherId=random.choice([1, 3, 7, 8, 14]))
         settings.randomize_seeds()
 
-        camera1 = Camera('CameraDepth', PostProcessing='Depth', CameraFOV=fov)
+        camera1 = Camera(
+            'CameraDepth', PostProcessing='Depth', CameraFOV=fov
+        )
         camera1.set_image_size(*image_size)
         camera1.set_position(*camera_local_pos)
         camera1.set_rotation(*camera_local_rotation)
         settings.add_sensor(camera1)
 
         camera2 = Camera(
-            'CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov)
+            'CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov
+        )
         camera2.set_image_size(*image_size)
         camera2.set_position(*camera_local_pos)
         camera2.set_rotation(*camera_local_rotation)
@@ -67,72 +73,64 @@ def run_carla_client(host, port, far):
         client.start_episode(0)
 
         # Compute the camera transform matrix
-        camera_to_car_transform = Transform(
-            Translation(*camera_local_pos),
-            Rotation(*camera_local_rotation)
-        )
+        camera_to_car_transform = camera2.get_unreal_transform()
 
-        # Do the custom transformations.
-        to_unreal_transform = Transform(
-            Rotation(roll=-90, yaw=90),
-            Scale(x=-1)
-        )
-        # And apply it.
-        camera_to_car_transform *= to_unreal_transform
-
-        # Iterate every frame in the episode.
-        for frame in range(0, number_of_frames):
+        # Iterate every frame in the episode except for the first one.
+        for frame in range(1, number_of_frames):
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
+            # Save one image every 'frame_step' frames
+            if not frame % frame_step:
+                # Start transformations time mesure.
+                timer = StopWatch()
 
-            # Start transformations time mesure.
-            timer = StopWatch()
+                # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
+                image_RGB = to_rgb_array(sensor_data['CameraRGB'])
 
-            # RGB image [[[r,g,b],..[r,g,b]],..[[r,g,b],..[r,g,b]]]
-            image_RGB = to_rgb_array(sensor_data['CameraRGB'])
+                # 2d to (camera) local 3d
+                # We use the image_RGB to colorize each 3D point, this is optional.
+                # "max_depth" is used to keep only the points that are near to the
+                # camera, meaning 1.0 the farest points (sky)
+                point_cloud = depth_to_local_point_cloud(
+                    sensor_data['CameraDepth'],
+                    image_RGB,
+                    max_depth=far
+                )
 
-            # 2d to (camera) local 3d
-            # We use the image_RGB to colorize each 3D point, this is optional.
-            # "max_depth" is used to keep only the points that are near to the
-            # camera, meaning 1.0 the farest points (sky)
-            point_cloud = depth_to_local_point_cloud(
-                sensor_data['CameraDepth'],
-                image_RGB,
-                max_depth=far
-            )
+                # (Camera) local 3d to world 3d.
+                # Get the transform from the player protobuf transformation.
+                world_transform = Transform(
+                    measurements.player_measurements.transform
+                )
 
-            # (Camera) local 3d to world 3d.
-            # Get the transform from the player protobuf transformation.
-            world_transform = Transform(
-                measurements.player_measurements.transform
-            )
+                # Compute the final transformation matrix.
+                car_to_world_transform = world_transform * camera_to_car_transform
 
-            # Compute the final transformation matrix.
-            car_to_world_transform = world_transform * camera_to_car_transform
+                # Car to World transformation given the 3D points and the
+                # transformation matrix.
+                point_cloud.apply_transform(car_to_world_transform)
 
-            # Car to World transformation given the 3D points and the
-            # transformation matrix.
-            point_cloud.apply_transform(car_to_world_transform)
+                # End transformations time mesure.
+                timer.stop()
 
-            # End transformations time mesure.
-            timer.stop()
+                # Save PLY to disk
+                # This generates the PLY string with the 3D points and the RGB colors
+                # for each row of the file.
+                point_cloud.save_to_disk(os.path.join(
+                    output_folder, '{:0>5}.ply'.format(frame))
+                )
 
-            # Save PLY to disk
-            # This generates the PLY string with the 3D points and the RGB colors
-            # for each row of the file.
-            point_cloud.save_to_disk(
-                '{}/{:0>5}.ply'.format(output_folder, frame))
-
-            print_message(timer.milliseconds(), len(point_cloud), frame)
+                print_message(timer.milliseconds(), len(point_cloud), frame)
 
             client.send_control(
-                measurements.player_measurements.autopilot_control)
+                measurements.player_measurements.autopilot_control
+            )
 
 
 def print_message(elapsed_time, point_n, frame):
     message = ' '.join([
         'Transformations took {:>3.0f} ms.',
-        'Saved {:>6} points to "{:0>5}.ply."'
+        'Saved {:>6} points to "{:0>5}.ply".'
     ]).format(elapsed_time, point_n, frame)
     print_over_same_line(message)
 
@@ -180,7 +178,7 @@ def main():
     while True:
         try:
             run_carla_client(host=args.host, port=args.port, far=args.far)
-            print('Done.')
+            print('\nDone!')
             return
 
         except TCPConnectionError as error:

From 8fc2b120320204d6570ed1e98e9678f42152ecd5 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 12 Feb 2018 12:14:17 +0100
Subject: [PATCH 057/108] News update

---
 README.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/README.md b/README.md
index 38055be28..2d32f729d 100644
--- a/README.md
+++ b/README.md
@@ -29,7 +29,6 @@ News
 
 - 05.02.2018 CARLA 0.7.1 available for Windows too, [release](https://github.com/carla-simulator/carla/releases/tag/0.7.1).
 - 25.01.2018 CARLA 0.7.1 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-071), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.1).
-- 22.01.2018 Job opening: [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1).
 - 28.11.2017 CARLA 0.7.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-070), [release](https://github.com/carla-simulator/carla/releases/tag/0.7.0).
 - 15.11.2017 CARLA 0.6.0 released: [change log](https://github.com/carla-simulator/carla/blob/master/CHANGELOG.md#carla-060), [release](https://github.com/carla-simulator/carla/releases/tag/0.6.0).
 

From 51a42cdfa2a7aa8c018089e31ce0b8244337a997 Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Mon, 12 Feb 2018 12:43:01 +0100
Subject: [PATCH 058/108] Removed unused imports on point cloud example

---
 PythonClient/point_cloud_example.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 4ae8c283c..57ac3f5f7 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -24,7 +24,7 @@ from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line, StopWatch
 from carla.image_converter import depth_to_local_point_cloud, to_rgb_array
-from carla.transform import Transform, Translation, Rotation, Scale
+from carla.transform import Transform
 
 
 def run_carla_client(host, port, far):
@@ -79,6 +79,7 @@ def run_carla_client(host, port, far):
         for frame in range(1, number_of_frames):
             # Read the data produced by the server this frame.
             measurements, sensor_data = client.read_data()
+
             # Save one image every 'frame_step' frames
             if not frame % frame_step:
                 # Start transformations time mesure.

From cffd944c466026a1fca1ea1f711b86c96117acee Mon Sep 17 00:00:00 2001
From: Marc Garcia Puig <mgarcia@cvc.uab.es>
Date: Mon, 12 Feb 2018 17:06:51 +0100
Subject: [PATCH 059/108] Changed comment type in the point cloud example

---
 PythonClient/point_cloud_example.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index 57ac3f5f7..b597e1085 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -6,9 +6,9 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
-# Basic CARLA client to generate point cloud in PLY format that you
-# can visualize with MeshLab (meshlab.net) for instance. Please
-# refer to client_example.py for a simpler and more documented example.
+"""Basic CARLA client to generate point cloud in PLY format that you
+   can visualize with MeshLab (meshlab.net) for instance. Please
+   refer to client_example.py for a simpler and more documented example."""
 
 from __future__ import print_function
 

From a54dff076ff144e3e934d59832444755339f373b Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 13 Feb 2018 10:26:21 +0100
Subject: [PATCH 060/108] Send zero length message to end sensor data
 transmission

---
 Util/CarlaServer/source/carla/server/EncoderServer.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Util/CarlaServer/source/carla/server/EncoderServer.h b/Util/CarlaServer/source/carla/server/EncoderServer.h
index 244f8c8ff..f79d9e82d 100644
--- a/Util/CarlaServer/source/carla/server/EncoderServer.h
+++ b/Util/CarlaServer/source/carla/server/EncoderServer.h
@@ -83,7 +83,8 @@ namespace server {
             return ec;
         }
       }
-      return errc::success();
+      const uint32_t end_message = 0u;
+      return _server.Write(boost::asio::buffer(&end_message, sizeof(end_message)), timeout);;
     }
 
     error_code ReadString(std::string &string, time_duration timeout) {

From cb43190184b40f035ec09e51d8922cde6a6eb41b Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 13 Feb 2018 10:26:57 +0100
Subject: [PATCH 061/108] Test sending sensor data asynchronously

---
 .../source/test/Test_CarlaServer.cpp          | 20 ++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index e040e0f24..9d8b0bb7a 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -104,15 +104,14 @@ TEST(CarlaServerAPI, SimBlocking) {
     std::array<carla_agent, 10u> agents_data;
 
     std::atomic_bool done{false};
-    auto agent_thread_result = std::async(std::launch::async, [&](){
+
+    // Simulate game thread.
+    auto game_thread_result = std::async(std::launch::async, [&](){
       while (!done) {
         {
           carla_measurements measurements;
           measurements.non_player_agents = agents_data.data();
           measurements.number_of_non_player_agents = agents_data.size();
-          for (auto &sensor : sensors) {
-            carla_write_sensor_data(CarlaServer, sensor.MakeRandomData());
-          }
           auto ec = carla_write_measurements(CarlaServer, measurements);
           if (ec != S)
             break;
@@ -128,6 +127,16 @@ TEST(CarlaServerAPI, SimBlocking) {
       }
     });
 
+    // Simulate render thread.
+    auto render_thread_result = std::async(std::launch::async, [&](){
+      while (!done) {
+        for (auto &sensor : sensors) {
+          carla_write_sensor_data(CarlaServer, sensor.MakeRandomData());
+          std::this_thread::sleep_for(std::chrono::microseconds(150));
+        }
+      };
+    });
+
     for (;;) {
       carla_request_new_episode new_episode;
       auto ec = carla_read_request_new_episode(CarlaServer, new_episode, 0);
@@ -141,7 +150,8 @@ TEST(CarlaServerAPI, SimBlocking) {
     }
 
     test_log("waiting for async's future");
-    agent_thread_result.get();
+    game_thread_result.get();
+    render_thread_result.get();
   }
   test_log("###### End Test ######");
 }

From e96a414e30364d0c8db3fdb115756ff93e2e50a8 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 13 Feb 2018 20:54:50 +0100
Subject: [PATCH 062/108] Sensor factory (wip)

---
 .../Source/Carla/Game/CarlaGameModeBase.cpp   |  11 +-
 .../Source/Carla/Game/CarlaPlayerState.cpp    |   4 -
 .../Source/Carla/Game/CarlaPlayerState.h      |  46 ------
 .../Carla/Source/Carla/Game/CarlaServer.cpp   | 154 ++++++++----------
 .../Carla/Game/CarlaVehicleController.cpp     |  84 ----------
 .../Carla/Game/CarlaVehicleController.h       |  29 +---
 .../Carla/Source/Carla/Sensor/Lidar.cpp       |   2 +-
 .../Plugins/Carla/Source/Carla/Sensor/Lidar.h |   2 +-
 .../Carla/Sensor/SceneCaptureCamera.cpp       |  31 ++--
 .../Source/Carla/Sensor/SceneCaptureCamera.h  |   6 +-
 .../Carla/Source/Carla/Sensor/Sensor.cpp      |  20 ++-
 .../Carla/Source/Carla/Sensor/Sensor.h        |  25 +++
 .../Source/Carla/Sensor/SensorFactory.cpp     |  54 ++++++
 .../Carla/Source/Carla/Sensor/SensorFactory.h |  34 ++++
 .../Source/Carla/Settings/CameraDescription.h |  22 +--
 .../Source/Carla/Settings/CarlaSettings.cpp   |  81 ++++-----
 .../Source/Carla/Settings/CarlaSettings.h     |  20 +--
 .../Source/Carla/Settings/LidarDescription.h  |  34 ++--
 .../Source/Carla/Settings/SensorDescription.h |  28 ++++
 .../Carla/Settings/SensorDescriptionVisitor.h |  19 +++
 20 files changed, 344 insertions(+), 362 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescriptionVisitor.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index 99a1df415..aab4a76a1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -18,6 +18,8 @@
 #include "CarlaHUD.h"
 #include "CarlaPlayerState.h"
 #include "CarlaVehicleController.h"
+#include "Sensor/Sensor.h"
+#include "Sensor/SensorFactory.h"
 #include "Settings/CarlaSettings.h"
 #include "Tagger.h"
 #include "TaggerDelegate.h"
@@ -222,12 +224,9 @@ void ACarlaGameModeBase::AttachCaptureCamerasToPlayer()
     OverridePostProcessParameters = &Weather->CameraPostProcessParameters;
   }
 
-  for (const auto &Item : Settings.CameraDescriptions) {
-    PlayerController->AddSceneCaptureCamera(Item.Value, OverridePostProcessParameters);
-  }
-
-  for (const auto &Item : Settings.LidarDescriptions) {
-    PlayerController->AddSceneCaptureLidar(Item.Value);
+  for (const auto &Item : Settings.SensorDescriptions) {
+    auto *Sensor = FSensorFactory::Make(Item.Key, *Item.Value, *GetWorld());
+    Sensor->AttachToActor(PlayerController->GetPawn());
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
index 26a169e70..03eb98d08 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
@@ -15,8 +15,6 @@ void ACarlaPlayerState::Reset()
   CollisionIntensityCars = 0.0f;
   CollisionIntensityPedestrians = 0.0f;
   CollisionIntensityOther = 0.0f;
-  Images.Empty();
-  LidarSegments.Empty();
 }
 
 void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
@@ -45,8 +43,6 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
       CollisionIntensityOther = Other->CollisionIntensityOther;
       OtherLaneIntersectionFactor = Other->OtherLaneIntersectionFactor;
       OffRoadIntersectionFactor = Other->OffRoadIntersectionFactor;
-      Images = Other->Images;
-      LidarSegments = Other->LidarSegments;
       UE_LOG(LogCarla, Log, TEXT("Copied properties of ACarlaPlayerState"));
     }
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
index c1a6ebde5..66f075693 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
@@ -184,46 +184,6 @@ public:
     return OffRoadIntersectionFactor;
   }
 
-  /// @}
-  // ===========================================================================
-  /// @name Images
-  // ===========================================================================
-  /// @{
-
-  UFUNCTION(BlueprintCallable)
-  int32 GetNumberOfImages() const
-  {
-    return Images.Num();
-  }
-
-  UFUNCTION(BlueprintCallable)
-  bool HasImages() const
-  {
-    return GetNumberOfImages() > 0;
-  }
-
-  UFUNCTION(BlueprintCallable)
-  int32 GetNumberOfLidarsMeasurements() const
-  {
-    return LidarSegments.Num();
-  }
-
-  UFUNCTION(BlueprintCallable)
-  bool HasLidarsMeasurements() const
-  {
-    return GetNumberOfLidarsMeasurements() > 0;
-  }
-
-  const TArray<FCapturedImage> &GetImages() const
-  {
-    return Images;
-  }
-
-  const TArray<FCapturedLidarSegment> &GetLidarSegments() const
-  {
-    return LidarSegments;
-  }
-
   /// @}
   // ===========================================================================
   // -- Modifiers --------------------------------------------------------------
@@ -301,10 +261,4 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   float OffRoadIntersectionFactor = 0.0f;
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FCapturedImage> Images;
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FCapturedLidarSegment> LidarSegments;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
index b07a7f7b6..8d8c5faf7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
@@ -70,78 +70,78 @@ static inline void Set(carla_transform &lhs, const FTransform &rhs)
   Set(lhs.rotation, rhs.Rotator());
 }
 
-static void Set(carla_image &cImage, const FCapturedImage &uImage)
-{
-  if (uImage.BitMap.Num() > 0) {
-    cImage.width = uImage.SizeX;
-    cImage.height = uImage.SizeY;
-    cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
-    cImage.fov = uImage.FOVAngle;
-    cImage.data = &uImage.BitMap.GetData()->DWColor();
+// static void Set(carla_image &cImage, const FCapturedImage &uImage)
+// {
+//   if (uImage.BitMap.Num() > 0) {
+//     cImage.width = uImage.SizeX;
+//     cImage.height = uImage.SizeY;
+//     cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
+//     cImage.fov = uImage.FOVAngle;
+//     cImage.data = &uImage.BitMap.GetData()->DWColor();
 
-#ifdef CARLA_SERVER_EXTRA_LOG
-    {
-      const auto Size = uImage.BitMap.Num();
-      UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
-    }
-  } else {
-    UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
-#endif // CARLA_SERVER_EXTRA_LOG
-  }
-}
+// #ifdef CARLA_SERVER_EXTRA_LOG
+//     {
+//       const auto Size = uImage.BitMap.Num();
+//       UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
+//     }
+//   } else {
+//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
+// #endif // CARLA_SERVER_EXTRA_LOG
+//   }
+// }
 
-struct carla_lidar_measurement_data {
-  TUniquePtr<uint32_t[]> points_count_by_channel;
-  TUniquePtr<double[]> points;
-};
+// struct carla_lidar_measurement_data {
+//   TUniquePtr<uint32_t[]> points_count_by_channel;
+//   TUniquePtr<double[]> points;
+// };
 
-static void Set(
-  carla_lidar_measurement &cLidarMeasurement,
-  const FCapturedLidarSegment &uLidarSegment,
-  carla_lidar_measurement_data &cLidarMeasurementData)
-{
+// static void Set(
+//   carla_lidar_measurement &cLidarMeasurement,
+//   const FCapturedLidarSegment &uLidarSegment,
+//   carla_lidar_measurement_data &cLidarMeasurementData)
+// {
 
-  if (uLidarSegment.LidarLasersSegments.Num() > 0) {
+//   if (uLidarSegment.LidarLasersSegments.Num() > 0) {
 
-    cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
-    cLidarMeasurement.channels_count = uLidarSegment.LidarLasersSegments.Num();
+//     cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
+//     cLidarMeasurement.channels_count = uLidarSegment.LidarLasersSegments.Num();
 
-    cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
-    size_t total_points = 0;
-    for(int i=0; i<cLidarMeasurement.channels_count; i++)
-    {
-      size_t points_count = uLidarSegment.LidarLasersSegments[0].Points.Num();
-      cLidarMeasurementData.points_count_by_channel[i] = points_count;
-      total_points += points_count;
-    }
-    cLidarMeasurementData.points = MakeUnique<double[]>(3 * total_points);
-    size_t points_filled = 0;
-    for(int i=0; i<cLidarMeasurement.channels_count; i++)
-    {
-      size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
-      auto& laser_points = uLidarSegment.LidarLasersSegments[i].Points;
-      for(int pi=0; pi<points_count; pi++)
-      {
-        cLidarMeasurementData.points[3 * (pi + points_filled)] = laser_points[pi].X;
-        cLidarMeasurementData.points[3 * (pi + points_filled) + 1] = laser_points[pi].Y;
-        cLidarMeasurementData.points[3 * (pi + points_filled) + 2] = laser_points[pi].Z;
-      }
-      points_filled += points_count;
-    }
+//     cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
+//     size_t total_points = 0;
+//     for(int i=0; i<cLidarMeasurement.channels_count; i++)
+//     {
+//       size_t points_count = uLidarSegment.LidarLasersSegments[0].Points.Num();
+//       cLidarMeasurementData.points_count_by_channel[i] = points_count;
+//       total_points += points_count;
+//     }
+//     cLidarMeasurementData.points = MakeUnique<double[]>(3 * total_points);
+//     size_t points_filled = 0;
+//     for(int i=0; i<cLidarMeasurement.channels_count; i++)
+//     {
+//       size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
+//       auto& laser_points = uLidarSegment.LidarLasersSegments[i].Points;
+//       for(int pi=0; pi<points_count; pi++)
+//       {
+//         cLidarMeasurementData.points[3 * (pi + points_filled)] = laser_points[pi].X;
+//         cLidarMeasurementData.points[3 * (pi + points_filled) + 1] = laser_points[pi].Y;
+//         cLidarMeasurementData.points[3 * (pi + points_filled) + 2] = laser_points[pi].Z;
+//       }
+//       points_filled += points_count;
+//     }
 
-    cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
-    cLidarMeasurement.data = cLidarMeasurementData.points.Get();
+//     cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
+//     cLidarMeasurement.data = cLidarMeasurementData.points.Get();
 
-#ifdef CARLA_SERVER_EXTRA_LOG
-    {
-      const auto Size = uImage.BitMap.Num();
-      UE_LOG(LogCarlaServer, Log, TEXT("Sending lidar measurement %d x %d"), uLidarSegment.LidarLasersSegments.Num(), uLidarSegment.LidarLasersSegments[0].Points.Num());
-    }
-  } else {
-    UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty lidar measurement"));
-#endif // CARLA_SERVER_EXTRA_LOG
-  }
-}
+// #ifdef CARLA_SERVER_EXTRA_LOG
+//     {
+//       const auto Size = uImage.BitMap.Num();
+//       UE_LOG(LogCarlaServer, Log, TEXT("Sending lidar measurement %d x %d"), uLidarSegment.LidarLasersSegments.Num(), uLidarSegment.LidarLasersSegments[0].Points.Num());
+//     }
+//   } else {
+//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty lidar measurement"));
+// #endif // CARLA_SERVER_EXTRA_LOG
+//   }
+// }
 
 static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
 {
@@ -393,29 +393,5 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
   UE_LOG(LogCarlaServer, Log, TEXT("Sending data of %d agents"), values.number_of_non_player_agents);
 #endif // CARLA_SERVER_EXTRA_LOG
 
-  // Images.
-  const auto NumberOfImages = PlayerState.GetNumberOfImages();
-  TUniquePtr<carla_image[]> images;
-  if (NumberOfImages > 0) {
-    images = MakeUnique<carla_image[]>(NumberOfImages);
-    for (auto i = 0; i < NumberOfImages; ++i) {
-      Set(images[i], PlayerState.GetImages()[i]);
-    }
-  }
-
-  // Lidars.
-  auto NumberOfLidarMeasurements = PlayerState.GetNumberOfLidarsMeasurements();
-  TUniquePtr<carla_lidar_measurement[]> lidar_measurements;
-  TUniquePtr<carla_lidar_measurement_data[]> lidar_measurements_data;
-  if (NumberOfLidarMeasurements > 0) {
-    lidar_measurements = MakeUnique<carla_lidar_measurement[]>(NumberOfLidarMeasurements);
-    lidar_measurements_data = MakeUnique<carla_lidar_measurement_data[]>(NumberOfLidarMeasurements);
-    for (auto i = 0; i < NumberOfLidarMeasurements; ++i) {
-      Set(lidar_measurements[i], PlayerState.GetLidarSegments()[i], lidar_measurements_data[i]);
-    }
-  }
-
-  return ParseErrorCode(carla_write_measurements(
-    Server, values, images.Get(), lidar_measurements.Get(),
-    NumberOfImages, NumberOfLidarMeasurements));
+  return ParseErrorCode(carla_write_measurements(Server, values));
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
index 1e9814e45..a5d41e16e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
@@ -56,33 +56,6 @@ void ACarlaVehicleController::Possess(APawn *aPawn)
 // -- AActor -------------------------------------------------------------------
 // =============================================================================
 
-void ACarlaVehicleController::BeginPlay()
-{
-  Super::BeginPlay();
-
-  if (CarlaPlayerState != nullptr) {
-    CarlaPlayerState->Images.Empty();
-    const auto NumberOfCameras = SceneCaptureCameras.Num();
-    if (NumberOfCameras > 0) {
-      CarlaPlayerState->Images.AddDefaulted(NumberOfCameras);
-      for (auto i = 0; i < NumberOfCameras; ++i) {
-        auto *Camera = SceneCaptureCameras[i];
-        check(Camera != nullptr);
-        auto &Image = CarlaPlayerState->Images[i];
-        Image.SizeX = Camera->GetImageSizeX();
-        Image.SizeY = Camera->GetImageSizeY();
-        Image.FOVAngle = Camera->GetFOVAngle();
-        Image.PostProcessEffect = Camera->GetPostProcessEffect();
-      }
-    }
-    // Lidars
-    const auto NumberOfLidars = SceneCaptureLidars.Num();
-    if (NumberOfLidars > 0) {
-      CarlaPlayerState->LidarSegments.AddDefaulted(NumberOfLidars);
-    }
-  }
-}
-
 void ACarlaVehicleController::Tick(float DeltaTime)
 {
   Super::Tick(DeltaTime);
@@ -104,66 +77,9 @@ void ACarlaVehicleController::Tick(float DeltaTime)
     CarlaPlayerState->SpeedLimit = GetSpeedLimit();
     CarlaPlayerState->TrafficLightState = GetTrafficLightState();
     IntersectPlayerWithRoadMap();
-    const auto NumberOfCameras = SceneCaptureCameras.Num();
-    check(NumberOfCameras == CarlaPlayerState->Images.Num());
-    for (auto i = 0; i < NumberOfCameras; ++i) {
-      auto &Image = CarlaPlayerState->Images[i];
-      if (!SceneCaptureCameras[i]->ReadPixels(Image.BitMap)) {
-        Image.BitMap.Empty();
-      }
-    }
-    // Capture lidars
-    const auto NumberOfLidars = SceneCaptureLidars.Num();
-    check(NumberOfLidars == CarlaPlayerState->LidarSegments.Num());
-    for (auto i = 0; i < NumberOfLidars; ++i) {
-      auto &LidarSegment = CarlaPlayerState->LidarSegments[i];
-      SceneCaptureLidars[i]->ReadPoints(DeltaTime, LidarSegment);
-    }
   }
 }
 
-// =============================================================================
-// -- Scene capture ------------------------------------------------------------
-// =============================================================================
-
-void ACarlaVehicleController::AddSceneCaptureCamera(
-    const FCameraDescription &Description,
-    const FCameraPostProcessParameters *OverridePostProcessParameters)
-{
-  auto Camera = GetWorld()->SpawnActor<ASceneCaptureCamera>(Description.Position, Description.Rotation);
-  if (OverridePostProcessParameters != nullptr) {
-    Camera->Set(Description, *OverridePostProcessParameters);
-  } else {
-    Camera->Set(Description);
-  }
-  Camera->AttachToActor(GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
-  Camera->SetOwner(GetPawn());
-  AddTickPrerequisiteActor(Camera);
-  SceneCaptureCameras.Add(Camera);
-  UE_LOG(
-      LogCarla,
-      Log,
-      TEXT("Created capture camera %d with postprocess \"%s\""),
-      SceneCaptureCameras.Num() - 1,
-      *PostProcessEffect::ToString(Camera->GetPostProcessEffect()));
-}
-
-void ACarlaVehicleController::AddSceneCaptureLidar(
-    const FLidarDescription &Description)
-{
-  auto Lidar = GetWorld()->SpawnActor<ALidar>(Description.Position, Description.Rotation);
-  Lidar->Set(Description);
-  Lidar->AttachToActor(GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
-  Lidar->SetOwner(GetPawn());
-  AddTickPrerequisiteActor(Lidar);
-  SceneCaptureLidars.Add(Lidar);
-  UE_LOG(
-      LogCarla,
-      Log,
-      TEXT("Created lidar %d"),
-      SceneCaptureLidars.Num() - 1);
-}
-
 // =============================================================================
 // -- Events -------------------------------------------------------------------
 // =============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
index 9b7354251..ef1b176db 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
@@ -11,10 +11,11 @@
 
 class ACarlaHUD;
 class ACarlaPlayerState;
-class ASceneCaptureCamera;
 class ALidar;
-struct FCameraDescription;
-struct FLidarDescription;
+class ASceneCaptureCamera;
+class UCameraDescription;
+class ULidarDescription;
+struct FCameraPostProcessParameters;
 
 /// The CARLA player controller.
 UCLASS()
@@ -48,8 +49,6 @@ public:
   /// @{
 public:
 
-  virtual void BeginPlay() override;
-
   virtual void Tick(float DeltaTime) override;
 
   /// @}
@@ -76,20 +75,6 @@ public:
     return *CarlaPlayerState;
   }
 
-  /// @}
-  // ===========================================================================
-  /// @name Scene Capture
-  // ===========================================================================
-  /// @{
-public:
-
-  void AddSceneCaptureCamera(
-      const FCameraDescription &CameraDescription,
-      const FCameraPostProcessParameters *OverridePostProcessParameters);
-
-  void AddSceneCaptureLidar(
-      const FLidarDescription &LidarDescription);
-
   /// @}
   // ===========================================================================
   /// @name Events
@@ -119,12 +104,6 @@ private:
   // ===========================================================================
 private:
 
-  UPROPERTY()
-  TArray<ASceneCaptureCamera *> SceneCaptureCameras;
-
-  UPROPERTY()
-  TArray<ALidar *> SceneCaptureLidars;
-
   // Cast for quick access to the custom player state.
   UPROPERTY()
   ACarlaPlayerState *CarlaPlayerState;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
index ed9b9a23b..f37c2779c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@@ -22,7 +22,7 @@ ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
   CreateLasers();
 }
 
-void ALidar::Set(const FLidarDescription &LidarDescription)
+void ALidar::Set(const ULidarDescription &LidarDescription)
 {
   Channels = LidarDescription.Channels;
   Range = LidarDescription.Range;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
index 90555376b..7725f0464 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
@@ -18,7 +18,7 @@ public:
   // Sets default values for this actor's properties
   ALidar(const FObjectInitializer& ObjectInitializer);
 
-  void Set(const FLidarDescription &LidarDescription);
+  void Set(const ULidarDescription &LidarDescription);
 
 protected:
   // Called when the game starts or when spawned
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index cc6e6125e..57e246c2f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -155,29 +155,26 @@ void ASceneCaptureCamera::SetTargetGamma(const float TargetGamma)
   CaptureRenderTarget->TargetGamma = TargetGamma;
 }
 
-void ASceneCaptureCamera::Set(const FCameraDescription &CameraDescription)
+void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)
 {
+  /// @todo What to do with OverridePostProcessParameters?
+  // if (CameraDescription.OverridePostProcessParameters != nullptr) {
+  //   auto Override = *CameraDescription.OverridePostProcessParameters;
+  //   auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
+  //   PostProcessSettings.bOverride_AutoExposureMethod = true;
+  //   PostProcessSettings.AutoExposureMethod = Override.AutoExposureMethod;
+  //   PostProcessSettings.bOverride_AutoExposureMinBrightness = true;
+  //   PostProcessSettings.AutoExposureMinBrightness = Override.AutoExposureMinBrightness;
+  //   PostProcessSettings.bOverride_AutoExposureMaxBrightness = true;
+  //   PostProcessSettings.AutoExposureMaxBrightness = Override.AutoExposureMaxBrightness;
+  //   PostProcessSettings.bOverride_AutoExposureBias = true;
+  //   PostProcessSettings.AutoExposureBias = Override.AutoExposureBias;
+  // }
   SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
   SetPostProcessEffect(CameraDescription.PostProcessEffect);
   SetFOVAngle(CameraDescription.FOVAngle);
 }
 
-void ASceneCaptureCamera::Set(
-    const FCameraDescription &CameraDescription,
-    const FCameraPostProcessParameters &OverridePostProcessParameters)
-{
-  auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
-  PostProcessSettings.bOverride_AutoExposureMethod = true;
-  PostProcessSettings.AutoExposureMethod = OverridePostProcessParameters.AutoExposureMethod;
-  PostProcessSettings.bOverride_AutoExposureMinBrightness = true;
-  PostProcessSettings.AutoExposureMinBrightness = OverridePostProcessParameters.AutoExposureMinBrightness;
-  PostProcessSettings.bOverride_AutoExposureMaxBrightness = true;
-  PostProcessSettings.AutoExposureMaxBrightness = OverridePostProcessParameters.AutoExposureMaxBrightness;
-  PostProcessSettings.bOverride_AutoExposureBias = true;
-  PostProcessSettings.AutoExposureBias = OverridePostProcessParameters.AutoExposureBias;
-  Set(CameraDescription);
-}
-
 bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
 {
   FTextureRenderTargetResource* RTResource = CaptureRenderTarget->GameThread_GetRenderTargetResource();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
index 2c446bacb..51468a7ae 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
@@ -60,11 +60,7 @@ public:
 
   void SetTargetGamma(float TargetGamma);
 
-  void Set(const FCameraDescription &CameraDescription);
-
-  void Set(
-      const FCameraDescription &CameraDescription,
-      const FCameraPostProcessParameters &OverridePostProcessParameters);
+  void Set(const UCameraDescription &CameraDescription);
 
   bool ReadPixels(TArray<FColor> &BitMap) const;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
index 3701dddf7..7316af109 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
@@ -7,6 +7,20 @@
 #include "Carla.h"
 #include "Sensor.h"
 
-ASensor::ASensor(const FObjectInitializer& ObjectInitializer) :
-  Super(ObjectInitializer)
-{}
+static uint32 GetNextSensorId()
+{
+  static uint32 COUNT = 0u;
+  return ++COUNT;
+}
+
+ASensor::ASensor(const FObjectInitializer& ObjectInitializer)
+  : Super(ObjectInitializer),
+    Id(GetNextSensorId()) {}
+
+void ASensor::AttachToActor(AActor *Actor)
+{
+  check(Actor != nullptr);
+  Super::AttachToActor(Actor, FAttachmentTransformRules::KeepRelativeTransform);
+  SetOwner(Actor);
+  Actor->AddTickPrerequisiteActor(this);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index 555da755e..7cd16d393 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -18,4 +18,29 @@ class CARLA_API ASensor : public AActor
 public:
 
   ASensor(const FObjectInitializer& ObjectInitializer);
+
+  uint32 GetId() const
+  {
+    return Id;
+  }
+
+  void SetName(FString InName)
+  {
+    Name = InName;
+  }
+
+  const FString &GetName() const
+  {
+    return Name;
+  }
+
+  void AttachToActor(AActor *Actor);
+
+private:
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 Id;
+
+  UPROPERTY(VisibleAnywhere)
+  FString Name;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
new file mode 100644
index 000000000..5bacccef1
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
@@ -0,0 +1,54 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "SensorFactory.h"
+
+#include "Lidar.h"
+#include "SceneCaptureCamera.h"
+#include "Settings/CameraDescription.h"
+#include "Settings/LidarDescription.h"
+
+ASensor *FSensorFactory::Make(
+    const FString &Name,
+    const USensorDescription &Description,
+    UWorld &World)
+{
+  FSensorFactory Visitor(World);
+  Description.AcceptVisitor(Visitor);
+  check(Visitor.Sensor != nullptr);
+  Visitor.Sensor->SetName(Name);
+  return Visitor.Sensor;
+}
+
+FSensorFactory::FSensorFactory(UWorld &World) : World(World) {}
+
+void FSensorFactory::Visit(const UCameraDescription &Description)
+{
+  auto Camera = World.SpawnActor<ASceneCaptureCamera>(Description.Position, Description.Rotation);
+  Camera->Set(Description);
+  UE_LOG(
+      LogCarla,
+      Log,
+      TEXT("Created Capture Camera %d with postprocess \"%s\""),
+      Camera->GetId(),
+      *PostProcessEffect::ToString(Camera->GetPostProcessEffect()));
+  Sensor = Camera;
+}
+
+void FSensorFactory::Visit(const ULidarDescription &Description)
+{
+  auto Lidar = World.SpawnActor<ALidar>(Description.Position, Description.Rotation);
+  Lidar->Set(Description);
+  UE_LOG(
+      LogCarla,
+      Log,
+      TEXT("Created LiDAR %d"),
+      Lidar->GetId());
+  Sensor = Lidar;
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
new file mode 100644
index 000000000..53a8c5e2d
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
@@ -0,0 +1,34 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Settings/SensorDescriptionVisitor.h"
+
+class ASensor;
+class UWorld;
+
+class FSensorFactory : private ISensorDescriptionVisitor
+{
+public:
+
+  static ASensor *Make(
+      const FString &Name,
+      const USensorDescription &Description,
+      UWorld &World);
+
+private:
+
+  FSensorFactory(UWorld &World);
+
+  virtual void Visit(const UCameraDescription &) final;
+
+  virtual void Visit(const ULidarDescription &) final;
+
+  UWorld &World;
+
+  ASensor *Sensor = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
index d10650fc8..bf927a1f0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
@@ -7,12 +7,20 @@
 #pragma once
 
 #include "PostProcessEffect.h"
+#include "SensorDescription.h"
 #include "CameraDescription.generated.h"
 
-USTRUCT()
-struct FCameraDescription
+UCLASS()
+class UCameraDescription : public USensorDescription
 {
-  GENERATED_USTRUCT_BODY()
+  GENERATED_BODY()
+
+public:
+
+  virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
 
   /** X size in pixels of the captured image. */
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
@@ -22,14 +30,6 @@ struct FCameraDescription
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
   uint32 ImageSizeY = 512u;
 
-  /** Position relative to the player. */
-  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
-  FVector Position = {170.0f, 0.0f, 150.0f};
-
-  /** Rotation relative to the player. */
-  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
-  FRotator Rotation = {0.0f, 0.0f, 0.0f};
-
   /** Post-process effect to be applied to the captured image. */
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
   EPostProcessEffect PostProcessEffect = EPostProcessEffect::SceneFinal;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 109c9b6f7..4e56b1755 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -5,12 +5,14 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "Carla.h"
+#include "CarlaSettings.h"
 
 #include "CommandLine.h"
 #include "UnrealMathUtility.h"
 
 #include "DynamicWeather.h"
-#include "Settings/CarlaSettings.h"
+#include "Settings/CameraDescription.h"
+#include "Settings/LidarDescription.h"
 #include "Util/IniFile.h"
 
 // INI file sections.
@@ -56,7 +58,7 @@ public:
 static void GetCameraDescription(
     const MyIniFile &ConfigFile,
     const TCHAR* Section,
-    FCameraDescription &Camera)
+    UCameraDescription &Camera)
 {
   ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
   ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
@@ -70,14 +72,14 @@ static void GetCameraDescription(
   ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
 }
 
-static void ValidateCameraDescription(FCameraDescription &Camera)
+static void ValidateCameraDescription(UCameraDescription &Camera)
 {
   FMath::Clamp(Camera.FOVAngle, 0.001f, 360.0f);
   Camera.ImageSizeX = (Camera.ImageSizeX == 0u ? 720u : Camera.ImageSizeX);
   Camera.ImageSizeY = (Camera.ImageSizeY == 0u ? 512u : Camera.ImageSizeY);
 }
 
-static bool RequestedSemanticSegmentation(const FCameraDescription &Camera)
+static bool RequestedSemanticSegmentation(const UCameraDescription &Camera)
 {
   return (Camera.PostProcessEffect == EPostProcessEffect::SemanticSegmentation);
 }
@@ -85,7 +87,7 @@ static bool RequestedSemanticSegmentation(const FCameraDescription &Camera)
 static void GetLidarDescription(
     const MyIniFile &ConfigFile,
     const TCHAR* Section,
-    FLidarDescription &Lidar)
+    ULidarDescription &Lidar)
 {
   ConfigFile.GetInt(Section, TEXT("LidarPositionX"), Lidar.Position.X);
   ConfigFile.GetInt(Section, TEXT("LidarPositionY"), Lidar.Position.Y);
@@ -129,8 +131,9 @@ static void LoadSettingsFromConfig(
   TArray<FString> CameraNames;
   Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
   for (FString &Name : CameraNames) {
-    FCameraDescription &Camera = Settings.CameraDescriptions.FindOrAdd(Name);
-    GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, Camera);
+    auto *Camera = NewObject<UCameraDescription>(&Settings);
+    check(Camera != nullptr);
+    GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Camera);
 
     TArray<FString> SubSections;
     Name.ParseIntoArray(SubSections, TEXT("/"), true);
@@ -139,11 +142,12 @@ static void LoadSettingsFromConfig(
     for (FString &SubSection : SubSections) {
       Section += TEXT("/");
       Section += SubSection;
-      GetCameraDescription(ConfigFile, *Section, Camera);
+      GetCameraDescription(ConfigFile, *Section, *Camera);
     }
 
-    ValidateCameraDescription(Camera);
-    Settings.bSemanticSegmentationEnabled |= RequestedSemanticSegmentation(Camera);
+    ValidateCameraDescription(*Camera);
+    Settings.bSemanticSegmentationEnabled |= RequestedSemanticSegmentation(*Camera);
+    Settings.SensorDescriptions.Add(Name, Camera);
   }
   // Lidars.
   FString Lidars;
@@ -151,8 +155,9 @@ static void LoadSettingsFromConfig(
   TArray<FString> LidarNames;
   Lidars.ParseIntoArray(LidarNames, TEXT(","), true);
   for (FString &Name : LidarNames) {
-    FLidarDescription &Lidar = Settings.LidarDescriptions.FindOrAdd(Name);
-    GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, Lidar);
+    auto *Lidar = NewObject<ULidarDescription>(&Settings);
+    check(Lidar != nullptr);
+    GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Lidar);
 
     TArray<FString> SubSections;
     Name.ParseIntoArray(SubSections, TEXT("/"), true);
@@ -161,8 +166,10 @@ static void LoadSettingsFromConfig(
     for (FString &SubSection : SubSections) {
       Section += TEXT("/");
       Section += SubSection;
-      GetLidarDescription(ConfigFile, *Section, Lidar);
+      GetLidarDescription(ConfigFile, *Section, *Lidar);
     }
+
+    Settings.SensorDescriptions.Add(Name, Lidar);
   }
 }
 
@@ -213,8 +220,7 @@ void UCarlaSettings::LoadSettings()
 void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from string"));
-  ResetCameraDescriptions();
-  ResetLidarDescriptions();
+  ResetSensorDescriptions();
   MyIniFile ConfigFile;
   ConfigFile.ProcessInputFileContents(INIFileContents);
   constexpr bool bLoadCarlaServerSection = false;
@@ -260,23 +266,24 @@ void UCarlaSettings::LogSettings() const
     UE_LOG(LogCarla, Log, TEXT("  * %d - %s"), i, *WeatherDescriptions[i].Name);
   }
   UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
-  UE_LOG(LogCarla, Log, TEXT("Added %d cameras."), CameraDescriptions.Num());
+  UE_LOG(LogCarla, Log, TEXT("Added %d sensors."), SensorDescriptions.Num());
   UE_LOG(LogCarla, Log, TEXT("Semantic Segmentation = %s"), EnabledDisabled(bSemanticSegmentationEnabled));
-  for (auto &Item : CameraDescriptions) {
-    UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
-    UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Item.Value.ImageSizeX, Item.Value.ImageSizeY);
-    UE_LOG(LogCarla, Log, TEXT("FOV = %f"), Item.Value.FOVAngle);
-    UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Item.Value.Position.ToString());
-    UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
-    UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
-  }
-  UE_LOG(LogCarla, Log, TEXT("Added %d lidars."), LidarDescriptions.Num());
-  for (auto &Item : LidarDescriptions) {
-    UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
-    UE_LOG(LogCarla, Log, TEXT("Lidar params = ch %f range %f pts %f"), Item.Value.Channels, Item.Value.Range, Item.Value.PointsPerSecond);
-    UE_LOG(LogCarla, Log, TEXT("Lidar Position = (%s)"), *Item.Value.Position.ToString());
-    UE_LOG(LogCarla, Log, TEXT("Lidar Rotation = (%s)"), *Item.Value.Rotation.ToString());
-  }
+  /// @todo Log sensors
+  // for (auto &Item : CameraDescriptions) {
+  //   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
+  //   UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Item.Value.ImageSizeX, Item.Value.ImageSizeY);
+  //   UE_LOG(LogCarla, Log, TEXT("FOV = %f"), Item.Value.FOVAngle);
+  //   UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Item.Value.Position.ToString());
+  //   UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
+  //   UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
+  // }
+  // UE_LOG(LogCarla, Log, TEXT("Added %d lidars."), LidarDescriptions.Num());
+  // for (auto &Item : LidarDescriptions) {
+  //   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
+  //   UE_LOG(LogCarla, Log, TEXT("Lidar params = ch %f range %f pts %f"), Item.Value.Channels, Item.Value.Range, Item.Value.PointsPerSecond);
+  //   UE_LOG(LogCarla, Log, TEXT("Lidar Position = (%s)"), *Item.Value.Position.ToString());
+  //   UE_LOG(LogCarla, Log, TEXT("Lidar Rotation = (%s)"), *Item.Value.Rotation.ToString());
+  // }
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
 }
 
@@ -304,23 +311,17 @@ const FWeatherDescription &UCarlaSettings::GetWeatherDescriptionByIndex(int32 In
   return WeatherDescriptions[Index];
 }
 
-void UCarlaSettings::ResetCameraDescriptions()
+void UCarlaSettings::ResetSensorDescriptions()
 {
-  CameraDescriptions.Empty();
+  SensorDescriptions.Empty();
   bSemanticSegmentationEnabled = false;
 }
 
-void UCarlaSettings::ResetLidarDescriptions()
-{
-  LidarDescriptions.Empty();
-}
-
 void UCarlaSettings::LoadSettingsFromFile(const FString &FilePath, const bool bLogOnFailure)
 {
   if (FPaths::FileExists(FilePath)) {
     UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FilePath);
-    ResetCameraDescriptions();
-    ResetLidarDescriptions();
+    ResetSensorDescriptions();
     const MyIniFile ConfigFile(FilePath);
     constexpr bool bLoadCarlaServerSection = true;
     LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
index 93b7205b4..fefa7c565 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
@@ -6,13 +6,13 @@
 
 #pragma once
 
-#include "CameraDescription.h"
 #include "WeatherDescription.h"
-#include "LidarDescription.h"
 
 #include "UObject/NoExportTypes.h"
 #include "CarlaSettings.generated.h"
 
+class USensorDescription;
+
 /// Global settings for CARLA.
 UCLASS()
 class CARLA_API UCarlaSettings : public UObject
@@ -57,9 +57,7 @@ private:
 
   void LoadSettingsFromFile(const FString &FilePath, bool bLogOnFailure);
 
-  void ResetCameraDescriptions();
-
-  void ResetLidarDescriptions();
+  void ResetSensorDescriptions();
 
   /** File name of the settings file used to load this settings. Empty if none used. */
   UPROPERTY(Category = "CARLA Settings|Debug", VisibleAnywhere)
@@ -130,25 +128,21 @@ public:
 
   /// @}
   // ===========================================================================
-  /// @name Scene Capture
+  /// @name Sensors
   // ===========================================================================
   /// @{
 public:
 
   /** Descriptions of the cameras to be attached to the player. */
-  UPROPERTY(Category = "Scene Capture", VisibleAnywhere)
-  TMap<FString, FCameraDescription> CameraDescriptions;
+  UPROPERTY(Category = "Sensors", VisibleAnywhere)
+  TMap<FString, USensorDescription *> SensorDescriptions;
 
   /** Whether semantic segmentation should be activated. The mechanisms for
     * semantic segmentation impose some performance penalties even if it is not
     * used, we only enable it if necessary.
     */
-  UPROPERTY(Category = "Scene Capture", VisibleAnywhere)
+  UPROPERTY(Category = "Sensors", VisibleAnywhere)
   bool bSemanticSegmentationEnabled = false;
 
-  /** Descriptions of the lidars to be attached to the player. */
-  UPROPERTY(Category = "Scene Capture", VisibleAnywhere)
-  TMap<FString, FLidarDescription> LidarDescriptions;
-
   /// @}
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index dbb8128a1..c905d26c5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -2,12 +2,20 @@
 
 #pragma once
 
+#include "SensorDescription.h"
 #include "LidarDescription.generated.h"
 
-USTRUCT()
-struct FLidarDescription
+UCLASS()
+class ULidarDescription : public USensorDescription
 {
-  GENERATED_USTRUCT_BODY()
+  GENERATED_BODY()
+
+public:
+
+  virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
 
   /** Number of lasers */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
@@ -26,28 +34,20 @@ struct FLidarDescription
   float RotationFrequency = 10;
 
   /**
-    Upper laser angle, counts from horizontal,
-    positive values means above horizontal line
-  */
+   * Upper laser angle, counts from horizontal, positive values means above
+   * horizontal line
+   */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
   float UpperFovLimit = 10;
 
   /**
-    Lower laser angle, counts from horizontal,
-    negative values means under horizontal line
-  */
+   * Lower laser angle, counts from horizontal, negative values means under
+   * horizontal line
+   */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
   float LowerFovLimit = -30;
 
   /** wether to show debug points of laser hits in simulator */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
   bool ShowDebugPoints = false;
-
-  /** Position relative to the player. */
-  UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)
-  FVector Position = {0.0f, 0.0f, 250.0f};
-
-  /** Rotation relative to the player. */
-  UPROPERTY(Category = "Lidar Description", EditDefaultsOnly)
-  FRotator Rotation = {0.0f, 0.0f, 0.0f};
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
new file mode 100644
index 000000000..4ab790c4e
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -0,0 +1,28 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "SensorDescriptionVisitor.h"
+#include "SensorDescription.generated.h"
+
+UCLASS(Abstract)
+class USensorDescription : public UObject
+{
+  GENERATED_BODY()
+
+public:
+
+  virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const {}
+
+  /** Position relative to the player. */
+  UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
+  FVector Position = {170.0f, 0.0f, 150.0f};
+
+  /** Rotation relative to the player. */
+  UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
+  FRotator Rotation = {0.0f, 0.0f, 0.0f};
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescriptionVisitor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescriptionVisitor.h
new file mode 100644
index 000000000..7ca797184
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescriptionVisitor.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 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
+
+class UCameraDescription;
+class ULidarDescription;
+
+class ISensorDescriptionVisitor
+{
+public:
+
+  virtual void Visit(const UCameraDescription &) = 0;
+
+  virtual void Visit(const ULidarDescription &) = 0;
+};

From 623e8bb53904025efbf6b30f2034550595a1b90c Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 14 Feb 2018 10:31:48 +0100
Subject: [PATCH 063/108] Use UObject's name for sensor names

---
 .../Carla/Source/Carla/Game/CarlaGameModeBase.cpp  |  2 +-
 .../Plugins/Carla/Source/Carla/Sensor/Sensor.h     | 13 -------------
 .../Carla/Source/Carla/Sensor/SensorFactory.cpp    | 14 ++++++++++----
 .../Carla/Source/Carla/Sensor/SensorFactory.h      |  1 -
 .../Carla/Source/Carla/Settings/CarlaSettings.cpp  |  6 ++++--
 .../Source/Carla/Settings/SensorDescription.h      |  4 ++++
 6 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index aab4a76a1..a9ded6072 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -225,7 +225,7 @@ void ACarlaGameModeBase::AttachCaptureCamerasToPlayer()
   }
 
   for (const auto &Item : Settings.SensorDescriptions) {
-    auto *Sensor = FSensorFactory::Make(Item.Key, *Item.Value, *GetWorld());
+    auto *Sensor = FSensorFactory::Make(*Item.Value, *GetWorld());
     Sensor->AttachToActor(PlayerController->GetPawn());
   }
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index 7cd16d393..d28326e08 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -24,23 +24,10 @@ public:
     return Id;
   }
 
-  void SetName(FString InName)
-  {
-    Name = InName;
-  }
-
-  const FString &GetName() const
-  {
-    return Name;
-  }
-
   void AttachToActor(AActor *Actor);
 
 private:
 
   UPROPERTY(VisibleAnywhere)
   uint32 Id;
-
-  UPROPERTY(VisibleAnywhere)
-  FString Name;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
index 5bacccef1..6ab76eda5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
@@ -14,15 +14,21 @@
 #include "Settings/CameraDescription.h"
 #include "Settings/LidarDescription.h"
 
+template <typename T, typename D>
+static T *SpawnSensor(const D &Description, UWorld &World)
+{
+  FActorSpawnParameters Params;
+  Params.Name = Description.Name;
+  return World.SpawnActor<T>(Description.Position, Description.Rotation, Params);
+}
+
 ASensor *FSensorFactory::Make(
-    const FString &Name,
     const USensorDescription &Description,
     UWorld &World)
 {
   FSensorFactory Visitor(World);
   Description.AcceptVisitor(Visitor);
   check(Visitor.Sensor != nullptr);
-  Visitor.Sensor->SetName(Name);
   return Visitor.Sensor;
 }
 
@@ -30,7 +36,7 @@ FSensorFactory::FSensorFactory(UWorld &World) : World(World) {}
 
 void FSensorFactory::Visit(const UCameraDescription &Description)
 {
-  auto Camera = World.SpawnActor<ASceneCaptureCamera>(Description.Position, Description.Rotation);
+  auto Camera = SpawnSensor<ASceneCaptureCamera>(Description, World);
   Camera->Set(Description);
   UE_LOG(
       LogCarla,
@@ -43,7 +49,7 @@ void FSensorFactory::Visit(const UCameraDescription &Description)
 
 void FSensorFactory::Visit(const ULidarDescription &Description)
 {
-  auto Lidar = World.SpawnActor<ALidar>(Description.Position, Description.Rotation);
+  auto Lidar = SpawnSensor<ALidar>(Description, World);
   Lidar->Set(Description);
   UE_LOG(
       LogCarla,
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
index 53a8c5e2d..11b334cbe 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.h
@@ -16,7 +16,6 @@ class FSensorFactory : private ISensorDescriptionVisitor
 public:
 
   static ASensor *Make(
-      const FString &Name,
       const USensorDescription &Description,
       UWorld &World);
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 4e56b1755..252d96c19 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -130,8 +130,9 @@ static void LoadSettingsFromConfig(
   ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Cameras"), Cameras);
   TArray<FString> CameraNames;
   Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
-  for (FString &Name : CameraNames) {
+  for (const FString &Name : CameraNames) {
     auto *Camera = NewObject<UCameraDescription>(&Settings);
+    Camera->Name = FName(*Name);
     check(Camera != nullptr);
     GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Camera);
 
@@ -154,8 +155,9 @@ static void LoadSettingsFromConfig(
   ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Lidars"), Lidars);
   TArray<FString> LidarNames;
   Lidars.ParseIntoArray(LidarNames, TEXT(","), true);
-  for (FString &Name : LidarNames) {
+  for (const FString &Name : LidarNames) {
     auto *Lidar = NewObject<ULidarDescription>(&Settings);
+    Lidar->Name = FName(*Name);
     check(Lidar != nullptr);
     GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Lidar);
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index 4ab790c4e..e78b255f4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -18,6 +18,10 @@ public:
 
   virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const {}
 
+  /** Display name of the sensor. */
+  UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
+  FName Name;
+
   /** Position relative to the player. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
   FVector Position = {170.0f, 0.0f, 150.0f};

From 970eab7cf4fd4096ffafa47730ca418c34c1b832 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 16 Feb 2018 16:50:06 +0100
Subject: [PATCH 064/108] MapGen: Keep count of the visited half-edges

---
 .../Carla/Source/Carla/CityMapGenerator.cpp   | 75 ++++++++++++-------
 1 file changed, 50 insertions(+), 25 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
index 070dae978..a94818cd4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
@@ -16,11 +16,32 @@
 #include "Paths.h"
 
 #include <algorithm>
+#include <unordered_set>
 
 #ifdef CARLA_ROAD_GENERATOR_EXTRA_LOG
 #include <sstream>
 #endif // CARLA_ROAD_GENERATOR_EXTRA_LOG
 
+// =============================================================================
+// -- Private types ------------------------------------------------------------
+// =============================================================================
+
+class FHalfEdgeCounter {
+public:
+
+  using HalfEdge = MapGen::DoublyConnectedEdgeList::HalfEdge;
+
+  bool IsVisited(const HalfEdge &InHalfEdge)
+  {
+    return Set.insert(&InHalfEdge).second &&
+           Set.insert(&MapGen::DoublyConnectedEdgeList::GetPair(InHalfEdge)).second;
+  }
+
+private:
+
+  std::unordered_set<const HalfEdge *> Set;
+};
+
 // =============================================================================
 // -- Constructor and destructor -----------------------------------------------
 // =============================================================================
@@ -135,35 +156,39 @@ void ACityMapGenerator::GenerateRoads()
 
   const uint32 margin = CityMapMeshTag::GetRoadIntersectionSize() / 2u;
 
+  FHalfEdgeCounter HalfEdgeCounter;
+
   // For each edge add road segment.
   for (auto &edge : graph.GetHalfEdges()) {
-    auto source = Graph::GetSource(edge).GetPosition();
-    auto target = Graph::GetTarget(edge).GetPosition();
+    if (HalfEdgeCounter.IsVisited(edge)) {
+      auto source = Graph::GetSource(edge).GetPosition();
+      auto target = Graph::GetTarget(edge).GetPosition();
 
-    if (source.x == target.x) {
-      // vertical
-      auto y = 1u + margin + std::min(source.y, target.y);
-      auto end = std::max(source.y, target.y) - margin;
-      for (; y < end; ++y) {
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneLeft,          source.x, y, HALF_PI);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneRight,         source.x, y, HALF_PI);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkLeft,      source.x, y, HALF_PI);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkRight,     source.x, y, HALF_PI);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneMarkingBroken, source.x, y, HALF_PI);
+      if (source.x == target.x) {
+        // vertical
+        auto y = 1u + margin + std::min(source.y, target.y);
+        auto end = std::max(source.y, target.y) - margin;
+        for (; y < end; ++y) {
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneLeft,          source.x, y, HALF_PI);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneRight,         source.x, y, HALF_PI);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkLeft,      source.x, y, HALF_PI);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkRight,     source.x, y, HALF_PI);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneMarkingBroken, source.x, y, HALF_PI);
+        }
+      } else if (source.y == target.y) {
+        // horizontal
+        auto x = 1u + margin + std::min(source.x, target.x);
+        auto end = std::max(source.x, target.x) - margin;
+        for (; x < end; ++x) {
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneLeft,          x, source.y);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneRight,         x, source.y);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkLeft,      x, source.y);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkRight,     x, source.y);
+          AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneMarkingBroken, x, source.y);
+        }
+      } else {
+        UE_LOG(LogCarla, Warning, TEXT("Diagonal edge ignored"));
       }
-    } else if (source.y == target.y) {
-      // horizontal
-      auto x = 1u + margin + std::min(source.x, target.x);
-      auto end = std::max(source.x, target.x) - margin;
-      for (; x < end; ++x) {
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneLeft,          x, source.y);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneRight,         x, source.y);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkLeft,      x, source.y);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_SidewalkRight,     x, source.y);
-        AddInstance(ECityMapMeshTag::RoadTwoLanes_LaneMarkingBroken, x, source.y);
-      }
-    } else {
-      UE_LOG(LogCarla, Warning, TEXT("Diagonal edge ignored"));
     }
   }
 

From 3c8f58d4db6e3fda39bdcc6fb5a26f64687e0d18 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 16 Feb 2018 16:59:42 +0100
Subject: [PATCH 065/108] Rename function

---
 .../CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
index a94818cd4..b18aa766a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
@@ -31,7 +31,7 @@ public:
 
   using HalfEdge = MapGen::DoublyConnectedEdgeList::HalfEdge;
 
-  bool IsVisited(const HalfEdge &InHalfEdge)
+  bool Insert(const HalfEdge &InHalfEdge)
   {
     return Set.insert(&InHalfEdge).second &&
            Set.insert(&MapGen::DoublyConnectedEdgeList::GetPair(InHalfEdge)).second;
@@ -160,7 +160,7 @@ void ACityMapGenerator::GenerateRoads()
 
   // For each edge add road segment.
   for (auto &edge : graph.GetHalfEdges()) {
-    if (HalfEdgeCounter.IsVisited(edge)) {
+    if (HalfEdgeCounter.Insert(edge)) {
       auto source = Graph::GetSource(edge).GetPosition();
       auto target = Graph::GetTarget(edge).GetPosition();
 

From 763f0731bda0733b39fbde9daf574939a48add2b Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 19 Feb 2018 19:14:16 +0100
Subject: [PATCH 066/108] Parse new sensor descriptions

---
 Docs/Example.CarlaSettings.ini                | 112 +++++-----
 .../Carla/Source/Carla/DynamicWeather.cpp     |   6 +-
 .../Carla/Settings/CameraDescription.cpp      |  50 +++++
 .../Source/Carla/Settings/CameraDescription.h |  11 +
 .../Source/Carla/Settings/CarlaSettings.cpp   | 202 ++++++------------
 .../Carla/Settings/LidarDescription.cpp       |  39 ++++
 .../Source/Carla/Settings/LidarDescription.h  |  38 ++--
 .../Carla/Settings/SensorDescription.cpp      |  33 +++
 .../Source/Carla/Settings/SensorDescription.h |  19 +-
 .../Carla/Settings/WeatherDescription.cpp     |   8 +-
 .../Carla/Settings/WeatherDescription.h       |   6 +-
 .../Plugins/Carla/Source/Carla/Util/IniFile.h |   8 +-
 12 files changed, 314 insertions(+), 218 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp

diff --git a/Docs/Example.CarlaSettings.ini b/Docs/Example.CarlaSettings.ini
index a9e904672..995d2069b 100644
--- a/Docs/Example.CarlaSettings.ini
+++ b/Docs/Example.CarlaSettings.ini
@@ -1,16 +1,20 @@
 ; Example of settings file for CARLA.
 ;
-; Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
+; This file can be loaded with the Python client to be sent to the server. It
+; defines the parameters to be used when requesting a new episode.
+;
+; Note that server specific variables are loaded in server only. Use it with
+; `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
 
 [CARLA/Server]
 ; If set to false, a mock controller will be used instead of waiting for a real
-; client to connect.
+; client to connect. (Server only)
 UseNetworking=true
 ; Ports to use for the server-client communication. This can be overridden by
 ; the command-line switch `-world-port=N`, write and read ports will be set to
-; N+1 and N+2 respectively.
+; N+1 and N+2 respectively. (Server only)
 WorldPort=2000
-; Time-out in milliseconds for the networking operations.
+; Time-out in milliseconds for the networking operations. (Server only)
 ServerTimeOut=10000
 ; In synchronous mode, CARLA waits every frame until the control from the client
 ; is received.
@@ -36,61 +40,65 @@ WeatherId=1
 SeedVehicles=123456789
 SeedPedestrians=123456789
 
-[CARLA/SceneCapture]
-; Names of the cameras to be attached to the player, comma-separated, each of
-; them should be defined in its own subsection. E.g., Uncomment next line to add
-; a camera called MyCamera to the vehicle
+[CARLA/Sensor]
+; Names of the sensors to be attached to the player, comma-separated, each of
+; them should be defined in its own subsection.
 
-; Cameras=MyCamera
+; Uncomment next line to add a camera called MyCamera to the vehicle
+; Sensors=MyCamera
+
+; or uncomment next line to add a camera and a LiDAR
+; Sensors=MyCamera,MyLidar
+
+; or uncomment next line to add a regular camera and a depth camera
+; Sensors=MyCamera,MyCamera/Depth
 
 ; Now, every camera we added needs to be defined it in its own subsection.
-[CARLA/SceneCapture/MyCamera]
-; Post-processing effect to be applied. Valid values:
-;   * None                  No effects applied.
-;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
-;   * Depth                 Depth map ground-truth only.
-;   * SemanticSegmentation  Semantic segmentation ground-truth only.
-PostProcessing=SceneFinal
+[CARLA/Sensor/MyCamera]
+; Type of the sensor. The available types are:
+;   * CAMERA_NONE                   No effects applied.
+;   * CAMERA_SCENE_FINAL            Post-processing present at scene (bloom, fog, etc).
+;   * CAMERA_DEPTH                  Depth map ground-truth only.
+;   * CAMERA_SEMANTIC_SEGMENTATION  Semantic segmentation ground-truth only.
+;   * LIDAR_RAY_TRACE               A LiDAR implementation based on ray-tracing.
+SensorType=CAMERA_SCENE_FINAL
 ; Size of the captured image in pixels.
 ImageSizeX=800
 ImageSizeY=600
 ; Camera (horizontal) field of view in degrees.
-CameraFOV=90
+FOV=90
 ; Position of the camera relative to the car in centimeters.
-CameraPositionX=15
-CameraPositionY=0
-CameraPositionZ=123
+PositionX=15
+PositionY=0
+PositionZ=123
 ; Rotation of the camera relative to the car in degrees.
-CameraRotationPitch=8
-CameraRotationRoll=0
-CameraRotationYaw=0
+RotationPitch=8
+RotationRoll=0
+RotationYaw=0
 
-; Stereo setup example:
-;
-; [CARLA/SceneCapture]
-; Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
-; ImageSizeX=720
-; ImageSizeY=512
-; CameraFOV=90
-; [CARLA/SceneCapture/CameraStereoLeft]
-; CameraPositionX=170
-; CameraPositionY=-30
-; CameraPositionZ=150
-; CameraRotationPitch=0
-; CameraRotationRoll=0
-; CameraRotationYaw=0
-; [CARLA/SceneCapture/CameraStereoLeft/RGB]
-; PostProcessing=SceneFinal
-; [CARLA/SceneCapture/CameraStereoLeft/Depth]
-; PostProcessing=Depth
-; [CARLA/SceneCapture/CameraStereoRight]
-; CameraPositionX=170
-; CameraPositionY=30
-; CameraPositionZ=150
-; CameraRotationPitch=0
-; CameraRotationRoll=0
-; CameraRotationYaw=0
-; [CARLA/SceneCapture/CameraStereoRight/RGB]
-; PostProcessing=SceneFinal
-; [CARLA/SceneCapture/CameraStereoRight/Depth]
-; PostProcessing=Depth
+[CARLA/Sensor/MyCamera/Depth]
+; The sensor can be defined in a subsection of MyCamera so it inherits the
+; values in MyCamera. This adds a camera similar to MyCamera but generating
+; depth map images instead.
+SensorType=CAMERA_DEPTH
+
+[CARLA/Sensor/MyLidar]
+SensorType=LIDAR_RAY_TRACE
+; Number of lasers.
+Channels=32
+; Measure distance in centimeters.
+Range=5000
+; Points generated by all lasers per second.
+PointsPerSecond=100000
+; Lidar rotation frequency.
+RotationFrequency=10
+; Upper and lower laser angles, positive values means above horizontal line.
+UpperFOVLimit=10
+LowerFOVLimit=-30
+; Position and rotation relative to the vehicle.
+PositionX=0
+PositionY=0
+PositionZ=140
+RotationPitch=0
+RotationYaw=0
+RotationRoll=0
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
index 77c4175ce..b6a065ac5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
@@ -46,7 +46,7 @@ void ADynamicWeather::LoadWeatherDescriptionsFromFile(
   FString DefaultFilePath;
   if (GetWeatherIniFilePath(GetIniFileName(), DefaultFilePath)) {
     UE_LOG(LogCarla, Log, TEXT("Loading weather description from %s"), *DefaultFilePath);
-    IniFile ConfigFile(DefaultFilePath);
+    FIniFile ConfigFile(DefaultFilePath);
 
     { // Override map specific presets.
       FString MapOverridesFilePath;
@@ -190,7 +190,7 @@ bool ADynamicWeather::LoadFromConfigFile()
 {
   FString FilePath;
   if (GetWeatherIniFilePath(FileName, FilePath) && CheckWeatherValidity(Weather)) {
-    IniFile ConfigFile(FilePath);
+    FIniFile ConfigFile(FilePath);
     if (!ConfigFile.HasSection(Weather.Name)) {
       UE_LOG(LogCarla, Error, TEXT("Weather \"%s\" is not present in config file"), *Weather.Name);
       return false;
@@ -206,7 +206,7 @@ bool ADynamicWeather::SaveToConfigFile() const
 {
   FString FilePath;
   if (GetWeatherIniFilePath(FileName, FilePath) && CheckWeatherValidity(Weather)) {
-    IniFile ConfigFile(FilePath);
+    FIniFile ConfigFile(FilePath);
     Weather.WriteToConfigFile(ConfigFile);
     return ConfigFile.Write(FilePath);
   } else {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
new file mode 100644
index 000000000..f350bd32b
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
@@ -0,0 +1,50 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "CameraDescription.h"
+
+#include "Util/IniFile.h"
+
+static EPostProcessEffect GetPostProcessEffect(const FString &SensorType)
+{
+  if (SensorType == "CAMERA_NONE") {
+    return EPostProcessEffect::None;
+  } else if (SensorType == "CAMERA_SCENE_FINAL") {
+    return EPostProcessEffect::SceneFinal;
+  } else if (SensorType == "CAMERA_DEPTH") {
+    return EPostProcessEffect::Depth;
+  } else if (SensorType == "CAMERA_SEMANTIC_SEGMENTATION") {
+    return EPostProcessEffect::SemanticSegmentation;
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Invalid sensor type \"%s\" for a camera"), *SensorType);
+    return EPostProcessEffect::INVALID;
+  }
+}
+
+void UCameraDescription::Load(const FIniFile &Config, const FString &Section)
+{
+  Super::Load(Config, Section);
+  Config.GetInt(*Section, TEXT("ImageSizeX"), ImageSizeX);
+  Config.GetInt(*Section, TEXT("ImageSizeY"), ImageSizeY);
+  Config.GetFloat(*Section, TEXT("CameraFOV"), FOVAngle);
+}
+
+void UCameraDescription::Validate()
+{
+  FMath::Clamp(FOVAngle, 0.001f, 360.0f);
+  ImageSizeX = (ImageSizeX == 0u ? 720u : ImageSizeX);
+  ImageSizeY = (ImageSizeY == 0u ? 512u : ImageSizeY);
+  PostProcessEffect = GetPostProcessEffect(Type);
+}
+
+void UCameraDescription::Log() const
+{
+  Super::Log();
+  UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), ImageSizeX, ImageSizeY);
+  UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(PostProcessEffect));
+  UE_LOG(LogCarla, Log, TEXT("FOV = %f"), FOVAngle);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
index bf927a1f0..2f03011f6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
@@ -22,6 +22,17 @@ public:
     Visitor.Visit(*this);
   }
 
+  virtual void Load(const FIniFile &Config, const FString &Section) final;
+
+  virtual void Validate() final;
+
+  virtual bool RequiresSemanticSegmentation() const final
+  {
+    return PostProcessEffect == EPostProcessEffect::SemanticSegmentation;
+  }
+
+  virtual void Log() const final;
+
   /** X size in pixels of the captured image. */
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
   uint32 ImageSizeX = 720u;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 252d96c19..04cdca179 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -18,95 +18,74 @@
 // INI file sections.
 #define S_CARLA_SERVER                 TEXT("CARLA/Server")
 #define S_CARLA_LEVELSETTINGS          TEXT("CARLA/LevelSettings")
-#define S_CARLA_SCENECAPTURE           TEXT("CARLA/SceneCapture")
-
-// =============================================================================
-// -- MyIniFile ----------------------------------------------------------------
-// =============================================================================
-
-class MyIniFile : public IniFile {
-public:
-
-  MyIniFile() = default;
-
-  explicit MyIniFile(const FString &FileName) : IniFile(FileName) {}
-
-  void GetPostProcessEffect(const TCHAR* Section, const TCHAR* Key, EPostProcessEffect &Target) const
-  {
-    FString ValueString;
-    if (GetFConfigFile().GetString(Section, Key, ValueString)) {
-      if (ValueString == "None") {
-        Target = EPostProcessEffect::None;
-      } else if (ValueString == "SceneFinal") {
-        Target = EPostProcessEffect::SceneFinal;
-      } else if (ValueString == "Depth") {
-        Target = EPostProcessEffect::Depth;
-      } else if (ValueString == "SemanticSegmentation") {
-        Target = EPostProcessEffect::SemanticSegmentation;
-      } else {
-        UE_LOG(LogCarla, Error, TEXT("Invalid post-processing \"%s\" in INI file"), *ValueString);
-        Target = EPostProcessEffect::INVALID;
-      }
-    }
-  }
-};
+#define S_CARLA_SENSOR                 TEXT("CARLA/Sensor")
 
 // =============================================================================
 // -- Static methods -----------------------------------------------------------
 // =============================================================================
 
-static void GetCameraDescription(
-    const MyIniFile &ConfigFile,
-    const TCHAR* Section,
-    UCameraDescription &Camera)
+template <typename T>
+static void ForEachSectionInName(const FString &SensorName, T &&Callback)
 {
-  ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
-  ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
-  ConfigFile.GetFloat(Section, TEXT("CameraFOV"), Camera.FOVAngle);
-  ConfigFile.GetFloat(Section, TEXT("CameraPositionX"), Camera.Position.X);
-  ConfigFile.GetFloat(Section, TEXT("CameraPositionY"), Camera.Position.Y);
-  ConfigFile.GetFloat(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
-  ConfigFile.GetFloat(Section, TEXT("CameraRotationPitch"), Camera.Rotation.Pitch);
-  ConfigFile.GetFloat(Section, TEXT("CameraRotationRoll"), Camera.Rotation.Roll);
-  ConfigFile.GetFloat(Section, TEXT("CameraRotationYaw"), Camera.Rotation.Yaw);
-  ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
+  TArray<FString> SubSections;
+  SensorName.ParseIntoArray(SubSections, TEXT("/"), true);
+  check(SubSections.Num() > 0);
+  FString Section = S_CARLA_SENSOR;
+  Callback(Section);
+  for (FString &SubSection : SubSections) {
+    Section += TEXT("/");
+    Section += SubSection;
+    Callback(Section);
+  }
 }
 
-static void ValidateCameraDescription(UCameraDescription &Camera)
+static FString GetSensorType(
+    const FIniFile &ConfigFile,
+    const FString &SensorName)
 {
-  FMath::Clamp(Camera.FOVAngle, 0.001f, 360.0f);
-  Camera.ImageSizeX = (Camera.ImageSizeX == 0u ? 720u : Camera.ImageSizeX);
-  Camera.ImageSizeY = (Camera.ImageSizeY == 0u ? 512u : Camera.ImageSizeY);
+  FString SensorType;
+  ForEachSectionInName(SensorName, [&](const auto &Section){
+    ConfigFile.GetString(*Section, TEXT("SensorType"), SensorType);
+  });
+  return SensorType;
 }
 
-static bool RequestedSemanticSegmentation(const UCameraDescription &Camera)
+static void LoadSensorFromConfig(
+    const FIniFile &ConfigFile,
+    USensorDescription &Sensor)
 {
-  return (Camera.PostProcessEffect == EPostProcessEffect::SemanticSegmentation);
+  ForEachSectionInName(Sensor.Name.ToString(), [&](const auto &Section){
+    Sensor.Load(ConfigFile, Section);
+  });
 }
 
-static void GetLidarDescription(
-    const MyIniFile &ConfigFile,
-    const TCHAR* Section,
-    ULidarDescription &Lidar)
+template <typename T>
+static T *MakeSensor(UObject *Parent, const FString &Name, const FString &Type)
 {
-  ConfigFile.GetInt(Section, TEXT("LidarPositionX"), Lidar.Position.X);
-  ConfigFile.GetInt(Section, TEXT("LidarPositionY"), Lidar.Position.Y);
-  ConfigFile.GetInt(Section, TEXT("LidarPositionZ"), Lidar.Position.Z);
-  ConfigFile.GetInt(Section, TEXT("LidarRotationPitch"), Lidar.Rotation.Pitch);
-  ConfigFile.GetInt(Section, TEXT("LidarRotationRoll"), Lidar.Rotation.Roll);
-  ConfigFile.GetInt(Section, TEXT("LidarRotationYaw"), Lidar.Rotation.Yaw);
+  auto *Sensor = NewObject<T>(Parent);
+  Sensor->Name = FName(*Name);
+  Sensor->Type = Type;
+  return Sensor;
+}
 
-  ConfigFile.GetInt(Section, TEXT("Channels"), Lidar.Channels);
-  ConfigFile.GetFloat(Section, TEXT("Range"), Lidar.Range);
-  ConfigFile.GetFloat(Section, TEXT("PointsPerSecond"), Lidar.PointsPerSecond);
-  ConfigFile.GetFloat(Section, TEXT("RotationFrequency"), Lidar.RotationFrequency);
-  ConfigFile.GetFloat(Section, TEXT("UpperFovLimit"), Lidar.UpperFovLimit);
-  ConfigFile.GetFloat(Section, TEXT("LowerFovLimit"), Lidar.LowerFovLimit);
-  ConfigFile.GetBool(Section, TEXT("ShowDebugPoints"), Lidar.ShowDebugPoints);
+static USensorDescription *MakeSensor(
+    const FIniFile &ConfigFile,
+    UObject *Parent,
+    const FString &SensorName)
+{
+  const auto SensorType = GetSensorType(ConfigFile, SensorName);
+  if (SensorType.StartsWith(TEXT("CAMERA_"), ESearchCase::IgnoreCase)) {
+    return MakeSensor<UCameraDescription>(Parent, SensorName, SensorType);
+  } else if (SensorType == TEXT("LIDAR_RAY_TRACE")) {
+    return MakeSensor<ULidarDescription>(Parent, SensorName, SensorType);
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Invalid sensor type '%s'"), *SensorType);
+    return nullptr;
+  }
 }
 
 static void LoadSettingsFromConfig(
-    const MyIniFile &ConfigFile,
+    const FIniFile &ConfigFile,
     UCarlaSettings &Settings,
     const bool bLoadCarlaServerSection)
 {
@@ -125,53 +104,19 @@ static void LoadSettingsFromConfig(
   ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("WeatherId"), Settings.WeatherId);
   ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("SeedVehicles"), Settings.SeedVehicles);
   ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("SeedPedestrians"), Settings.SeedPedestrians);
-  // SceneCapture.
-  FString Cameras;
-  ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Cameras"), Cameras);
-  TArray<FString> CameraNames;
-  Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
-  for (const FString &Name : CameraNames) {
-    auto *Camera = NewObject<UCameraDescription>(&Settings);
-    Camera->Name = FName(*Name);
-    check(Camera != nullptr);
-    GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Camera);
-
-    TArray<FString> SubSections;
-    Name.ParseIntoArray(SubSections, TEXT("/"), true);
-    check(SubSections.Num() > 0);
-    FString Section = S_CARLA_SCENECAPTURE;
-    for (FString &SubSection : SubSections) {
-      Section += TEXT("/");
-      Section += SubSection;
-      GetCameraDescription(ConfigFile, *Section, *Camera);
+  // Sensors.
+  FString Sensors;
+  ConfigFile.GetString(S_CARLA_SENSOR, TEXT("Sensors"), Sensors);
+  TArray<FString> SensorNames;
+  Sensors.ParseIntoArray(SensorNames, TEXT(","), true);
+  for (const FString &Name : SensorNames) {
+    auto *Sensor = MakeSensor(ConfigFile, &Settings, Name);
+    if (Sensor != nullptr) {
+      LoadSensorFromConfig(ConfigFile, *Sensor);
+      Sensor->Validate();
+      Settings.bSemanticSegmentationEnabled |= Sensor->RequiresSemanticSegmentation();
+      Settings.SensorDescriptions.Add(Name, Sensor);
     }
-
-    ValidateCameraDescription(*Camera);
-    Settings.bSemanticSegmentationEnabled |= RequestedSemanticSegmentation(*Camera);
-    Settings.SensorDescriptions.Add(Name, Camera);
-  }
-  // Lidars.
-  FString Lidars;
-  ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Lidars"), Lidars);
-  TArray<FString> LidarNames;
-  Lidars.ParseIntoArray(LidarNames, TEXT(","), true);
-  for (const FString &Name : LidarNames) {
-    auto *Lidar = NewObject<ULidarDescription>(&Settings);
-    Lidar->Name = FName(*Name);
-    check(Lidar != nullptr);
-    GetLidarDescription(ConfigFile, S_CARLA_SCENECAPTURE, *Lidar);
-
-    TArray<FString> SubSections;
-    Name.ParseIntoArray(SubSections, TEXT("/"), true);
-    check(SubSections.Num() > 0);
-    FString Section = S_CARLA_SCENECAPTURE;
-    for (FString &SubSection : SubSections) {
-      Section += TEXT("/");
-      Section += SubSection;
-      GetLidarDescription(ConfigFile, *Section, *Lidar);
-    }
-
-    Settings.SensorDescriptions.Add(Name, Lidar);
   }
 }
 
@@ -223,7 +168,7 @@ void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from string"));
   ResetSensorDescriptions();
-  MyIniFile ConfigFile;
+  FIniFile ConfigFile;
   ConfigFile.ProcessInputFileContents(INIFileContents);
   constexpr bool bLoadCarlaServerSection = false;
   LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
@@ -267,25 +212,12 @@ void UCarlaSettings::LogSettings() const
   for (auto i = 0; i < WeatherDescriptions.Num(); ++i) {
     UE_LOG(LogCarla, Log, TEXT("  * %d - %s"), i, *WeatherDescriptions[i].Name);
   }
-  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SENSOR);
   UE_LOG(LogCarla, Log, TEXT("Added %d sensors."), SensorDescriptions.Num());
   UE_LOG(LogCarla, Log, TEXT("Semantic Segmentation = %s"), EnabledDisabled(bSemanticSegmentationEnabled));
-  /// @todo Log sensors
-  // for (auto &Item : CameraDescriptions) {
-  //   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
-  //   UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Item.Value.ImageSizeX, Item.Value.ImageSizeY);
-  //   UE_LOG(LogCarla, Log, TEXT("FOV = %f"), Item.Value.FOVAngle);
-  //   UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Item.Value.Position.ToString());
-  //   UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
-  //   UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
-  // }
-  // UE_LOG(LogCarla, Log, TEXT("Added %d lidars."), LidarDescriptions.Num());
-  // for (auto &Item : LidarDescriptions) {
-  //   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
-  //   UE_LOG(LogCarla, Log, TEXT("Lidar params = ch %f range %f pts %f"), Item.Value.Channels, Item.Value.Range, Item.Value.PointsPerSecond);
-  //   UE_LOG(LogCarla, Log, TEXT("Lidar Position = (%s)"), *Item.Value.Position.ToString());
-  //   UE_LOG(LogCarla, Log, TEXT("Lidar Rotation = (%s)"), *Item.Value.Rotation.ToString());
-  // }
+  for (auto &&Sensor : SensorDescriptions) {
+    Sensor.Value->Log();
+  }
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
 }
 
@@ -324,7 +256,7 @@ void UCarlaSettings::LoadSettingsFromFile(const FString &FilePath, const bool bL
   if (FPaths::FileExists(FilePath)) {
     UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FilePath);
     ResetSensorDescriptions();
-    const MyIniFile ConfigFile(FilePath);
+    const FIniFile ConfigFile(FilePath);
     constexpr bool bLoadCarlaServerSection = true;
     LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
     CurrentFileName = FilePath;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp
new file mode 100644
index 000000000..dd469ab74
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp
@@ -0,0 +1,39 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#include "Carla.h"
+#include "LidarDescription.h"
+
+#include "Util/IniFile.h"
+
+void ULidarDescription::Load(const FIniFile &Config, const FString &Section)
+{
+  Super::Load(Config, Section);
+  Config.GetInt(*Section, TEXT("Channels"), Channels);
+  Config.GetFloat(*Section, TEXT("Range"), Range);
+  Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond);
+  Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency);
+  Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit);
+  Config.GetFloat(*Section, TEXT("LowerFovLimit"), LowerFovLimit);
+  Config.GetBool(*Section, TEXT("ShowDebugPoints"), ShowDebugPoints);
+}
+
+void ULidarDescription::Validate()
+{
+  Channels = (Channels == 0u ? 32u : Channels);
+  FMath::Clamp(Range, 0.10f, 50000.0f);
+  PointsPerSecond = (PointsPerSecond == 0u ? 56000u : PointsPerSecond);
+  FMath::Clamp(RotationFrequency, 0.001f, 50000.0f);
+  FMath::Clamp(UpperFovLimit, -89.9f, 90.0f);
+  FMath::Clamp(LowerFovLimit, -90.0f, UpperFovLimit);
+}
+
+void ULidarDescription::Log() const
+{
+  Super::Log();
+  UE_LOG(LogCarla, Log, TEXT("Channels = %d"), Channels);
+  UE_LOG(LogCarla, Log, TEXT("Range = %f"), Range);
+  UE_LOG(LogCarla, Log, TEXT("PointsPerSecond = %d"), PointsPerSecond);
+  UE_LOG(LogCarla, Log, TEXT("RotationFrequency = %f"), RotationFrequency);
+  UE_LOG(LogCarla, Log, TEXT("UpperFovLimit = %f"), UpperFovLimit);
+  UE_LOG(LogCarla, Log, TEXT("LowerFovLimit = %f"), LowerFovLimit);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index c905d26c5..81d07b13a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -17,37 +17,43 @@ public:
     Visitor.Visit(*this);
   }
 
-  /** Number of lasers */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  int Channels = 32;
+  virtual void Load(const FIniFile &Config, const FString &Section) final;
 
-  /** Measure distance */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float Range = 5000;
+  virtual void Validate() final;
 
-  /** Points generated by all lasers per second */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float PointsPerSecond = 56000;
+  virtual void Log() const final;
 
-  /** Lidar rotation frequency */
+  /** Number of lasers. */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float RotationFrequency = 10;
+  uint32 Channels = 32u;
+
+  /** Measure distance. */
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float Range = 5000.0f;
+
+  /** Points generated by all lasers per second. */
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  uint32 PointsPerSecond = 56000u;
+
+  /** Lidar rotation frequency. */
+  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
+  float RotationFrequency = 10.0f;
 
   /**
    * Upper laser angle, counts from horizontal, positive values means above
-   * horizontal line
+   * horizontal line.
    */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float UpperFovLimit = 10;
+  float UpperFovLimit = 10.0f;
 
   /**
    * Lower laser angle, counts from horizontal, negative values means under
-   * horizontal line
+   * horizontal line.
    */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float LowerFovLimit = -30;
+  float LowerFovLimit = -30.0f;
 
-  /** wether to show debug points of laser hits in simulator */
+  /** Wether to show debug points of laser hits in simulator. */
   UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
   bool ShowDebugPoints = false;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
new file mode 100644
index 000000000..e0446720c
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
@@ -0,0 +1,33 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "SensorDescription.h"
+
+#include "Util/IniFile.h"
+
+void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
+{
+  unimplemented();
+}
+
+void USensorDescription::Load(const FIniFile &Config, const FString &Section)
+{
+  Config.GetFloat(*Section, TEXT("PositionX"), Position.X);
+  Config.GetFloat(*Section, TEXT("PositionY"), Position.Y);
+  Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z);
+  Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch);
+  Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw);
+  Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll);
+}
+
+void USensorDescription::Log() const
+{
+  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), Name);
+  UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
+  UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
+  UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index e78b255f4..7df5ff6b2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -9,6 +9,8 @@
 #include "SensorDescriptionVisitor.h"
 #include "SensorDescription.generated.h"
 
+class FIniFile;
+
 UCLASS(Abstract)
 class USensorDescription : public UObject
 {
@@ -16,12 +18,27 @@ class USensorDescription : public UObject
 
 public:
 
-  virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const {}
+  virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
+
+  virtual void Load(const FIniFile &Config, const FString &Section);
+
+  virtual void Validate() {}
+
+  virtual bool RequiresSemanticSegmentation() const
+  {
+    return false;
+  }
+
+  virtual void Log() const;
 
   /** Display name of the sensor. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
   FName Name;
 
+  /** Sensor type. */
+  UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
+  FString Type;
+
   /** Position relative to the player. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
   FVector Position = {170.0f, 0.0f, 150.0f};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp
index 383c1edf7..5b94e4b67 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.cpp
@@ -18,7 +18,7 @@ static FString PrecipitationTypeToString(EPrecipitationType PrecipitationType)
 }
 
 static void LoadPrecipitationType(
-    const IniFile &ConfigFile,
+    const FIniFile &ConfigFile,
     const TCHAR* Section,
     const TCHAR* Key,
     EPrecipitationType &Target)
@@ -44,7 +44,7 @@ static FString AutoExposureMethodToString(EAutoExposureMethod AutoExposureMethod
 }
 
 static void LoadAutoExposureMethod(
-    const IniFile &ConfigFile,
+    const FIniFile &ConfigFile,
     const TCHAR* Section,
     const TCHAR* Key,
     EAutoExposureMethod &Target)
@@ -59,7 +59,7 @@ static void LoadAutoExposureMethod(
   }
 }
 
-void FWeatherDescription::ReadFromConfigFile(const IniFile &ConfigFile, const FString &Section)
+void FWeatherDescription::ReadFromConfigFile(const FIniFile &ConfigFile, const FString &Section)
 {
   Name = Section;
 #define CARLA_LOAD_FROM_INI(Type, Key) ConfigFile.Get ## Type(*Section, TEXT(#Key), Key);
@@ -103,7 +103,7 @@ void FWeatherDescription::ReadFromConfigFile(const IniFile &ConfigFile, const FS
 #undef CARLA_LOAD_FROM_INI
 }
 
-void FWeatherDescription::WriteToConfigFile(IniFile &ConfigFile) const
+void FWeatherDescription::WriteToConfigFile(FIniFile &ConfigFile) const
 {
   const FString &Section = Name;
   ConfigFile.AddSectionIfMissing(Section);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
index 67f5f074e..26cdf1841 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
@@ -9,7 +9,7 @@
 #include "CameraPostProcessParameters.h"
 #include "WeatherDescription.generated.h"
 
-class IniFile;
+class FIniFile;
 
 UENUM(BlueprintType)
 enum class EPrecipitationType : uint8
@@ -22,9 +22,9 @@ struct FWeatherDescription
 {
   GENERATED_USTRUCT_BODY()
 
-  void ReadFromConfigFile(const IniFile &ConfigFile, const FString &Section);
+  void ReadFromConfigFile(const FIniFile &ConfigFile, const FString &Section);
 
-  void WriteToConfigFile(IniFile &ConfigFile) const;
+  void WriteToConfigFile(FIniFile &ConfigFile) const;
 
   // ===========================================================================
   /// @name Weather
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
index 9e6e7276f..201416fba 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
@@ -12,7 +12,7 @@
 
 /// Wrapper around Unreal's INI file. In get functions, @a Target value is only
 /// set if it was present in the INI file, otherwise it keeps its value.
-class CARLA_API IniFile : private NonCopyable
+class CARLA_API FIniFile : private NonCopyable
 {
 private:
 
@@ -23,7 +23,7 @@ private:
         (source <= std::numeric_limits<TARGET>::max())) {
       target = static_cast<TARGET>(source);
     } else {
-      UE_LOG(LogCarla, Error, TEXT("IniFile: Type cast failed"));
+      UE_LOG(LogCarla, Error, TEXT("FIniFile: Type cast failed"));
     }
   }
 
@@ -34,9 +34,9 @@ public:
   // ===========================================================================
   /// @{
 
-  IniFile() = default;
+  FIniFile() = default;
 
-  explicit IniFile(const FString &FileName)
+  explicit FIniFile(const FString &FileName)
   {
     ConfigFile.Read(FileName);
   }

From fa82fbea1457476948b3759e1239ea538c995728 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 12:15:43 +0100
Subject: [PATCH 067/108] Upgrade to UE4.18

---
 Docs/how_to_build_on_linux.md     | 12 ++++++------
 Unreal/CarlaUE4/CarlaUE4.uproject |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Docs/how_to_build_on_linux.md b/Docs/how_to_build_on_linux.md
index 2f6f2751c..c1023e9a6 100644
--- a/Docs/how_to_build_on_linux.md
+++ b/Docs/how_to_build_on_linux.md
@@ -25,12 +25,12 @@ Build Unreal Engine
     need to add your GitHub username when you sign up at
     [www.unrealengine.com](https://www.unrealengine.com).
 
-Download and compile Unreal Engine 4.17. Here we will assume you install it at
-"~/UnrealEngine_4.17", but you can install it anywhere, just replace the path
+Download and compile Unreal Engine 4.18. Here we will assume you install it at
+"~/UnrealEngine_4.18", but you can install it anywhere, just replace the path
 where necessary.
 
-    $ git clone --depth=1 -b 4.17 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.17
-    $ cd ~/UnrealEngine_4.17
+    $ git clone --depth=1 -b 4.18 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.18
+    $ cd ~/UnrealEngine_4.18
     $ ./Setup.sh && ./GenerateProjectFiles.sh && make
 
 Check Unreal's documentation
@@ -61,7 +61,7 @@ To build CARLA, use the rebuild script. This script deletes all intermediate
 files, rebuilds whole CARLA, and launches the editor. Use it too for making a
 clean rebuild of CARLA
 
-    $ UE4_ROOT=~/UnrealEngine_4.17 ./Rebuild.sh
+    $ UE4_ROOT=~/UnrealEngine_4.18 ./Rebuild.sh
 
 It looks at the environment variable `UE4_ROOT` to find the right version of
 Unreal Engine. You can also add this variable to your "~/.bashrc" or similar.
@@ -91,7 +91,7 @@ Launching the editor
 To open the editor once the project is already built
 
     $ cd Unreal/CarlaUE4
-    $ ~/UnrealEngine_4.17/Engine/Binaries/Linux/UE4Editor "$PWD/CarlaUE4.uproject"
+    $ ~/UnrealEngine_4.18/Engine/Binaries/Linux/UE4Editor "$PWD/CarlaUE4.uproject"
 
 Test (Optional)
 ---------------
diff --git a/Unreal/CarlaUE4/CarlaUE4.uproject b/Unreal/CarlaUE4/CarlaUE4.uproject
index fa83bc82f..d67bb2410 100644
--- a/Unreal/CarlaUE4/CarlaUE4.uproject
+++ b/Unreal/CarlaUE4/CarlaUE4.uproject
@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "4.17",
+	"EngineAssociation": "4.18",
 	"Category": "",
 	"Description": "",
 	"Modules": [

From cea574be49cec0e3a921c4666772936924cc2c96 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 14:58:40 +0100
Subject: [PATCH 068/108] Ignore vscode files

---
 Unreal/CarlaUE4/.gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Unreal/CarlaUE4/.gitignore b/Unreal/CarlaUE4/.gitignore
index 99fd29954..44a989a6f 100644
--- a/Unreal/CarlaUE4/.gitignore
+++ b/Unreal/CarlaUE4/.gitignore
@@ -17,3 +17,4 @@ Config/CarlaSettings.ini
 
 CMakeLists.txt
 Makefile
+.vscode

From b7f420efceef317c29b8b702591653821bfcfe01 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 14:59:20 +0100
Subject: [PATCH 069/108] Replace deprecated function calls

---
 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp | 2 +-
 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp   | 2 +-
 .../Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp     | 2 +-
 .../Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp       | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
index 070dae978..832b43de8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
@@ -291,7 +291,7 @@ void ACityMapGenerator::GenerateRoadMap()
 #endif // WITH_EDITOR
 
   if (bSaveRoadMapToDisk) {
-    RoadMap->SaveAsPNG(FPaths::GameSavedDir(), World->GetMapName());
+    RoadMap->SaveAsPNG(FPaths::ProjectSavedDir(), World->GetMapName());
   }
 
 #if WITH_EDITOR
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
index 77c4175ce..b5c93b435 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.cpp
@@ -21,7 +21,7 @@ static FString GetIniFileName(const FString &MapName = TEXT(""))
 
 static bool GetWeatherIniFilePath(const FString &FileName, FString &FilePath)
 {
-  FilePath = FPaths::Combine(FPaths::GameConfigDir(), FileName);
+  FilePath = FPaths::Combine(FPaths::ProjectConfigDir(), FileName);
   const bool bFileExists = FPaths::FileExists(FilePath);
   if (!bFileExists) {
     UE_LOG(LogCarla, Warning, TEXT("\"%s\" not found"), *FilePath);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp
index 223efffcc..0303c2b01 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/SceneCaptureToDiskCamera.cpp
@@ -12,7 +12,7 @@
 
 ASceneCaptureToDiskCamera::ASceneCaptureToDiskCamera(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer),
-  SaveToFolder(FPaths::Combine(FPaths::GameSavedDir(), "SceneCaptures")),
+  SaveToFolder(FPaths::Combine(FPaths::ProjectSavedDir(), "SceneCaptures")),
   FileName("capture_%05d.png") {}
 
 void ASceneCaptureToDiskCamera::BeginPlay()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 905ee408e..cd312caff 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -145,7 +145,7 @@ void UCarlaSettings::LoadSettings()
 {
   CurrentFileName = TEXT("");
   // Load settings from project Config folder if present.
-  LoadSettingsFromFile(FPaths::Combine(FPaths::GameConfigDir(), TEXT("CarlaSettings.ini")), false);
+  LoadSettingsFromFile(FPaths::Combine(FPaths::ProjectConfigDir(), TEXT("CarlaSettings.ini")), false);
   // Load settings given by command-line arg if provided.
   {
     FString FilePath;

From 1a834b98a62018361eac464f8d5f0edc15beac1e Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 15:43:28 +0100
Subject: [PATCH 070/108] Fix log

---
 .../Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
index e0446720c..4237cef79 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
@@ -26,7 +26,7 @@ void USensorDescription::Load(const FIniFile &Config, const FString &Section)
 
 void USensorDescription::Log() const
 {
-  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), Name);
+  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name.ToString());
   UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
   UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
   UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());

From 3e9a185047948b7812fc1c411f4862894f586136 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 18:23:41 +0100
Subject: [PATCH 071/108] Add sensor data sink

---
 .../Source/Carla/Sensor/ReadOnlyBufferView.h  | 45 +++++++++++++++++++
 .../Carla/Sensor/SceneCaptureCamera.cpp       | 26 ++++++++++-
 .../Source/Carla/Sensor/SceneCaptureCamera.h  |  2 +
 .../Carla/Source/Carla/Sensor/Sensor.h        | 16 +++++++
 .../Source/Carla/Sensor/SensorDataSink.h      | 18 ++++++++
 .../Source/Carla/Sensor/SensorDataView.h      | 36 +++++++++++++++
 .../Source/Carla/Settings/CarlaSettings.cpp   |  3 +-
 7 files changed, 144 insertions(+), 2 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ReadOnlyBufferView.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataSink.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ReadOnlyBufferView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ReadOnlyBufferView.h
new file mode 100644
index 000000000..37a640b0e
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/ReadOnlyBufferView.h
@@ -0,0 +1,45 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Containers/Array.h"
+
+/// A view over a read-only buffer. Does not own the data.
+class FReadOnlyBufferView {
+public:
+
+  FReadOnlyBufferView() = default;
+
+  explicit FReadOnlyBufferView(const void *InData, uint32 InSize)
+    : Data(InData),
+      Size(InSize) {}
+
+  template <typename T>
+  FReadOnlyBufferView(const TArray<T> &Array)
+    : FReadOnlyBufferView(Array.GetData(), sizeof(T) * Array.Num()) {}
+
+  bool HasData() const
+  {
+    return (Data != nullptr) && (Size > 0u);
+  }
+
+  const void *GetData() const
+  {
+    return Data;
+  }
+
+  uint32 GetSize() const
+  {
+    return Size;
+  }
+
+private:
+
+  const void *Data = nullptr;
+
+  uint32 Size = 0u;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index 57e246c2f..3ffc166cf 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "SceneCaptureCamera.h"
 
+#include "SensorDataView.h"
+
 #include "Components/DrawFrustumComponent.h"
 #include "Components/SceneCaptureComponent2D.h"
 #include "Components/StaticMeshComponent.h"
@@ -38,7 +40,7 @@ ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitial
   SizeY(512u),
   PostProcessEffect(EPostProcessEffect::SceneFinal)
 {
-  PrimaryActorTick.bCanEverTick = true; /// @todo Does it need to tick?
+  PrimaryActorTick.bCanEverTick = true;
   PrimaryActorTick.TickGroup = TG_PrePhysics;
 
   MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
@@ -119,6 +121,28 @@ void ASceneCaptureCamera::BeginPlay()
   Super::BeginPlay();
 }
 
+void ASceneCaptureCamera::Tick(const float DeltaSeconds)
+{
+  Super::Tick(DeltaSeconds);
+
+  /// @todo This should be done on render thread.
+
+  struct {
+    uint32 Width;
+    uint32 Height;
+    uint32 Type;
+  } ImageHeader = {SizeX, SizeY, PostProcessEffect::ToUInt(GetPostProcessEffect())};
+
+  TArray<FColor> BitMap;
+  if (ReadPixels(BitMap)) {
+    FSensorDataView DataView(
+        FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
+        FReadOnlyBufferView{BitMap});
+
+    WriteSensorData(DataView);
+  }
+}
+
 float ASceneCaptureCamera::GetFOVAngle() const
 {
   check(CaptureComponent2D != nullptr);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
index 51468a7ae..c2b34e291 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
@@ -35,6 +35,8 @@ public:
 
   virtual void BeginPlay() override;
 
+  virtual void Tick(float DeltaSeconds) override;
+
   uint32 GetImageSizeX() const
   {
     return SizeX;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index d28326e08..f6106dc5c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "GameFramework/Actor.h"
+#include "SensorDataSink.h"
 #include "Sensor.generated.h"
 
 /// Base class for sensors.
@@ -26,8 +27,23 @@ public:
 
   void AttachToActor(AActor *Actor);
 
+  void SetSensorDataSink(TSharedPtr<ISensorDataSink> InSensorDataSink)
+  {
+    SensorDataSink = InSensorDataSink;
+  }
+
+protected:
+
+  void WriteSensorData(const FSensorDataView &SensorData)
+  {
+    check(SensorDataSink.Get() != nullptr);
+    SensorDataSink->Write(SensorData);
+  }
+
 private:
 
   UPROPERTY(VisibleAnywhere)
   uint32 Id;
+
+  TSharedPtr<ISensorDataSink> SensorDataSink = nullptr;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataSink.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataSink.h
new file mode 100644
index 000000000..f9a242f88
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataSink.h
@@ -0,0 +1,18 @@
+// Copyright (c) 2017 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
+
+class FSensorDataView;
+
+/// Interface for sensor data sinks.
+class ISensorDataSink {
+public:
+
+  virtual ~ISensorDataSink() {}
+
+  virtual void Write(const FSensorDataView &SensorData) = 0;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
new file mode 100644
index 000000000..78b4f3532
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "ReadOnlyBufferView.h"
+
+/// A view over a sensor's output data. Does not own the data.
+class FSensorDataView {
+public:
+
+  FSensorDataView(
+      FReadOnlyBufferView InHeader,
+      FReadOnlyBufferView InData)
+    : Header(InHeader),
+      Data(InData) {}
+
+  FReadOnlyBufferView GetHeader() const
+  {
+    return Header;
+  }
+
+  FReadOnlyBufferView GetData() const
+  {
+    return Data;
+  }
+
+private:
+
+  FReadOnlyBufferView Header;
+
+  FReadOnlyBufferView Data;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index 04cdca179..d57542b74 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -216,6 +216,7 @@ void UCarlaSettings::LogSettings() const
   UE_LOG(LogCarla, Log, TEXT("Added %d sensors."), SensorDescriptions.Num());
   UE_LOG(LogCarla, Log, TEXT("Semantic Segmentation = %s"), EnabledDisabled(bSemanticSegmentationEnabled));
   for (auto &&Sensor : SensorDescriptions) {
+    check(Sensor.Value != nullptr);
     Sensor.Value->Log();
   }
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
@@ -223,7 +224,7 @@ void UCarlaSettings::LogSettings() const
 
 #undef S_CARLA_SERVER
 #undef S_CARLA_LEVELSETTINGS
-#undef S_CARLA_SCENECAPTURE
+#undef S_CARLA_SENSOR
 
 void UCarlaSettings::GetActiveWeatherDescription(
     bool &bWeatherWasChanged,

From 4e27b134e1fbad75a5dce0a6b6c49cab9266104f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 20 Feb 2018 18:46:01 +0100
Subject: [PATCH 072/108] Ooops forgot fov

---
 .../Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp   | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index 3ffc166cf..57dcd7535 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -131,7 +131,15 @@ void ASceneCaptureCamera::Tick(const float DeltaSeconds)
     uint32 Width;
     uint32 Height;
     uint32 Type;
-  } ImageHeader = {SizeX, SizeY, PostProcessEffect::ToUInt(GetPostProcessEffect())};
+    float FOV;
+  } ImageHeader = {
+    SizeX,
+    SizeY,
+    PostProcessEffect::ToUInt(PostProcessEffect),
+    CaptureComponent2D->FOVAngle
+  };
+
+  static_assert(sizeof(ImageHeader) == 4u * sizeof(uint32), "Invalid header size");
 
   TArray<FColor> BitMap;
   if (ReadPixels(BitMap)) {

From 986a3764debcaf42339612ac95d7550e8fb50ea6 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 21 Feb 2018 17:01:12 +0100
Subject: [PATCH 073/108] Make Lidar send the measurements via SensorDataSink

---
 .../Carla/Source/Carla/Sensor/Lidar.cpp       | 139 +++++++++++++-----
 .../Plugins/Carla/Source/Carla/Sensor/Lidar.h |  62 +++-----
 .../Carla/Source/Carla/Sensor/LidarLaser.cpp  |  66 ---------
 .../Carla/Source/Carla/Sensor/LidarLaser.h    |  26 ----
 .../Source/Carla/Sensor/LidarMeasurement.h    |  84 +++++++++++
 5 files changed, 200 insertions(+), 177 deletions(-)
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
index f37c2779c..3a20abbd1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@@ -1,15 +1,15 @@
 // Fill out your copyright notice in the Description page of Project Settings.
 
-
 #include "Carla.h"
 #include "Lidar.h"
+
+#include "DrawDebugHelpers.h"
+#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "StaticMeshResources.h"
 
-// Sets default values
 ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer)
 {
-  // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
   PrimaryActorTick.bCanEverTick = true;
 
   auto MeshComp = CreateDefaultSubobject<UStaticMeshComponent>(TEXT("CamMesh0"));
@@ -18,66 +18,125 @@ ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
   MeshComp->CastShadow = false;
   MeshComp->PostPhysicsComponentTick.bCanEverTick = false;
   RootComponent = MeshComp;
-
-  CreateLasers();
 }
 
 void ALidar::Set(const ULidarDescription &LidarDescription)
 {
-  Channels = LidarDescription.Channels;
-  Range = LidarDescription.Range;
-  PointsPerSecond = LidarDescription.PointsPerSecond;
-  RotationFrequency = LidarDescription.RotationFrequency;
-  UpperFovLimit = LidarDescription.UpperFovLimit;
-  LowerFovLimit = LidarDescription.LowerFovLimit;
-  ShowDebugPoints = LidarDescription.ShowDebugPoints;
+  Description = &LidarDescription;
+  LidarMeasurement = FLidarMeasurement(Description->Channels);
   CreateLasers();
 }
 
 void ALidar::CreateLasers()
 {
-  float dAngle = (UpperFovLimit - LowerFovLimit) / (Channels - 1);
-
-  Lasers.Empty();
-  for(int i=0; i<Channels; i++)
+  check(Description != nullptr);
+  const auto NumberOfLasers = Description->Channels;
+  check(NumberOfLasers > 0u);
+  const float DeltaAngle =
+    (Description->UpperFovLimit - Description->LowerFovLimit) /
+    static_cast<float>(NumberOfLasers - 1);
+  LaserAngles.Empty(NumberOfLasers);
+  for(auto i = 0u; i < NumberOfLasers; ++i)
   {
-    Lasers.Emplace(i, UpperFovLimit - i * dAngle);
+    const float VerticalAngle =
+      Description->UpperFovLimit - static_cast<float>(i) * DeltaAngle;
+    LaserAngles.Emplace(VerticalAngle);
   }
 }
 
-// Called when the game starts or when spawned
-void ALidar::BeginPlay()
+void ALidar::Tick(const float DeltaTime)
 {
-  Super::BeginPlay();
+  Super::Tick(DeltaTime);
+
+  ReadPoints(DeltaTime);
+  WriteSensorData(LidarMeasurement.GetView());
 }
 
-void ALidar::ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData)
+void ALidar::ReadPoints(const float DeltaTime)
 {
-  int PointsToScanWithOneLaser = int(FMath::RoundHalfFromZero(PointsPerSecond * DeltaTime / float(Channels)));
+  const uint32 ChannelCount = Description->Channels;
+  const uint32 PointsToScanWithOneLaser =
+    FMath::RoundHalfFromZero(
+        Description->PointsPerSecond * DeltaTime / float(ChannelCount));
+  check(PointsToScanWithOneLaser > 0);
+  check(ChannelCount == LaserAngles.Num());
+  check(Description != nullptr);
 
-  float AngleDistanceOfTick = RotationFrequency * 360 * DeltaTime;
-  float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
+  const float CurrentHorizontalAngle = LidarMeasurement.GetHorizontalAngle();
+  const float AngleDistanceOfTick = Description->RotationFrequency * 360.0f * DeltaTime;
+  const float AngleDistanceOfLaserMeasure = AngleDistanceOfTick / PointsToScanWithOneLaser;
 
-  LidarSegmentData.LidarLasersSegments.Empty();
+  LidarMeasurement.Reset(ChannelCount * PointsToScanWithOneLaser);
 
-  auto NumOfLasers = Lasers.Num();
-  LidarSegmentData.LidarLasersSegments.AddDefaulted(NumOfLasers);
-  for (int li=0; li<NumOfLasers; li++)
+  for (auto Channel = 0u; Channel < ChannelCount; ++Channel)
   {
-    auto& Laser = Lasers[li];
-    auto& LaserPoints = LidarSegmentData.LidarLasersSegments[li].Points;
-    LaserPoints.AddDefaulted(PointsToScanWithOneLaser);
-    for (int i=0; i<PointsToScanWithOneLaser; i++)
+    for (auto i = 0u; i < PointsToScanWithOneLaser; ++i)
     {
-      Laser.Measure(
-        this,
-        CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i,
-        LaserPoints[i],
-        ShowDebugPoints
-      );
+      FVector Point;
+      const float Angle = CurrentHorizontalAngle + AngleDistanceOfLaserMeasure * i;
+      if (ShootLaser(Channel, Angle, Point))
+      {
+        LidarMeasurement.WritePoint(Channel, Point);
+      }
     }
   }
 
-  CurrentHorizontalAngle = fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
-  LidarSegmentData.HorizontalAngle = CurrentHorizontalAngle;
+  const float HorizontalAngle = std::fmod(CurrentHorizontalAngle + AngleDistanceOfTick, 360.0f);
+  LidarMeasurement.SetHorizontalAngle(HorizontalAngle);
+}
+
+bool ALidar::ShootLaser(const uint32 Channel, const float HorizontalAngle, FVector &XYZ) const
+{
+  const float VerticalAngle = LaserAngles[Channel];
+
+  FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, this);
+  TraceParams.bTraceComplex = true;
+  TraceParams.bReturnPhysicalMaterial = false;
+
+  FHitResult HitInfo(ForceInit);
+
+  FVector LidarBodyLoc = GetActorLocation();
+  FRotator LidarBodyRot = GetActorRotation();
+  FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
+  FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
+    LaserRot,
+    LidarBodyRot
+  );
+  const auto Range = Description->Range;
+  FVector EndTrace = Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
+
+  GetWorld()->LineTraceSingleByChannel(
+    HitInfo,
+    LidarBodyLoc,
+    EndTrace,
+    ECC_MAX,
+    TraceParams,
+    FCollisionResponseParams::DefaultResponseParam
+  );
+
+  if (HitInfo.bBlockingHit)
+  {
+    if (Description->ShowDebugPoints)
+    {
+      DrawDebugPoint(
+        GetWorld(),
+        HitInfo.ImpactPoint,
+        10,  //size
+        FColor(255,0,255),
+        false,  //persistent (never goes away)
+        0.1  //point leaves a trail on moving object
+      );
+    }
+
+    XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
+    XYZ = UKismetMathLibrary::RotateAngleAxis(
+      XYZ,
+      - LidarBodyRot.Yaw + 90,
+      FVector(0, 0, 1)
+    );
+
+    return true;
+  } else {
+    return false;
+  }
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
index 7725f0464..319e9d066 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
@@ -2,70 +2,42 @@
 
 #pragma once
 
-#include "CoreMinimal.h"
-#include "Sensor.h"
-#include "LidarLaser.h"
+#include "Sensor/LidarMeasurement.h"
+#include "Sensor/Sensor.h"
 #include "Settings/LidarDescription.h"
-#include "Game/CapturedLidarSegment.h"
 #include "Lidar.generated.h"
 
+/// A ray-trace based Lidar sensor.
 UCLASS()
 class CARLA_API ALidar : public ASensor
 {
   GENERATED_BODY()
 
 public:
-  // Sets default values for this actor's properties
-  ALidar(const FObjectInitializer& ObjectInitializer);
+
+  ALidar(const FObjectInitializer &ObjectInitializer);
 
   void Set(const ULidarDescription &LidarDescription);
 
 protected:
-  // Called when the game starts or when spawned
-  virtual void BeginPlay() override;
 
-  TArray<LidarLaser> Lasers;
-  float CurrentHorizontalAngle = 0;
+  virtual void Tick(float DeltaTime) override;
 
+private:
+
+  /// Creates a Laser for each channel.
   void CreateLasers();
 
-public:
+  /// Updates LidarMeasurement with the points read in DeltaTime.
+  void ReadPoints(float DeltaTime);
 
-  /** Capture lidar segment points produced by DeltaTime */
-  void ReadPoints(float DeltaTime, FCapturedLidarSegment& LidarSegmentData);
+  /// Shoot a laser ray-trace, return whether the laser hit something.
+  bool ShootLaser(uint32 Channel, float HorizontalAngle, FVector &Point) const;
 
-  /** Number of lasers */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  int Channels = 32;
+  UPROPERTY(Category = "LiDAR", VisibleAnywhere)
+  const ULidarDescription *Description;
 
-  /** Measure distance */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float Range = 5000;
-
-  /** Points generated by all lasers per second */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float PointsPerSecond = 56000;
-
-  /** Lidar rotation frequency */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float RotationFrequency = 10;
-
-  /**
-    Upper laser angle, counts from horizontal,
-    positive values means above horizontal line
-  */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float UpperFovLimit = 10;
-
-  /**
-    Lower laser angle, counts from horizontal,
-    negative values means under horizontal line
-  */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  float LowerFovLimit = -30;
-
-  /** wether to show debug points of laser hits in simulator */
-  UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
-  bool ShowDebugPoints = false;
+  TArray<float> LaserAngles;
 
+  FLidarMeasurement LidarMeasurement;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp
deleted file mode 100644
index 9710a2f4d..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-#include "Carla.h"
-#include "LidarLaser.h"
-#include "Lidar.h"
-#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
-#include "DrawDebugHelpers.h"
-
-int LidarLaser::GetId()
-{
-  return Id;
-}
-
-bool LidarLaser::Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug)
-{
-  FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("Laser_Trace")), true, Lidar);
-  TraceParams.bTraceComplex = true;
-  TraceParams.bReturnPhysicalMaterial = false;
-
-  FHitResult HitInfo(ForceInit);
-
-  FVector LidarBodyLoc = Lidar->GetActorLocation();
-  FRotator LidarBodyRot = Lidar->GetActorRotation();
-  FRotator LaserRot (VerticalAngle, HorizontalAngle, 0);  // float InPitch, float InYaw, float InRoll
-  FRotator ResultRot = UKismetMathLibrary::ComposeRotators(
-    LaserRot,
-    LidarBodyRot
-  );
-  FVector EndTrace = Lidar->Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
-
-  Lidar->GetWorld()->LineTraceSingleByChannel(
-    HitInfo,
-    LidarBodyLoc,
-    EndTrace,
-    ECC_MAX,
-    TraceParams,
-    FCollisionResponseParams::DefaultResponseParam
-  );
-
-  if (HitInfo.bBlockingHit)
-  {
-    if (Debug)
-    {
-      DrawDebugPoint(
-        Lidar->GetWorld(),
-        HitInfo.ImpactPoint,
-        10,  //size
-        FColor(255,0,255),
-        false,  //persistent (never goes away)
-        0.1  //point leaves a trail on moving object
-      );
-    }
-
-    XYZ = LidarBodyLoc - HitInfo.ImpactPoint;
-    XYZ = UKismetMathLibrary::RotateAngleAxis(
-      XYZ,
-      - LidarBodyRot.Yaw + 90,
-      FVector(0, 0, 1)
-    );
-
-    return true;
-  } else {
-    XYZ = FVector(0, 0, 0);
-    return false;
-  }
-}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h
deleted file mode 100644
index 6ddb842bd..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarLaser.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-#pragma once
-
-#include "CoreMinimal.h"
-
-class ALidar;
-
-class CARLA_API LidarLaser
-{
-public:
-
-  LidarLaser(int Id, float VerticalAngle) :
-    Id(Id),
-    VerticalAngle(VerticalAngle)
-  {}
-
-  int GetId();
-  bool Measure(ALidar* Lidar, float HorizontalAngle, FVector& XYZ, bool Debug = false);
-
-private:
-
-  int Id;
-  float VerticalAngle;
-
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
new file mode 100644
index 000000000..8f8584004
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
@@ -0,0 +1,84 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Sensor/SensorDataView.h"
+
+#include "Containers/Array.h"
+
+/// Stores the data generated by ALidar. To be used by ALidar solely.
+///
+/// The header consists of an array of uint32's in the following layout
+///
+///    {
+///      Horizontal angle (float),
+///      Channel count,
+///      Point count of channel 0,
+///      ...
+///      Point count of channel n,
+///    }
+///
+/// The points are stored in an array of floats
+///
+///    {
+///      X0, Y0, Z0,
+///      ...
+///      Xn, Yn, Zn,
+///    }
+///
+class FLidarMeasurement {
+  static_assert(sizeof(float) == sizeof(uint32), "Invalid float size");
+public:
+
+  explicit FLidarMeasurement(uint32 ChannelCount = 0u)
+  {
+    Header.AddDefaulted(2u + ChannelCount);
+    Header[1] = ChannelCount;
+  }
+
+  FLidarMeasurement &operator=(FLidarMeasurement &&Other)
+  {
+    Header = std::move(Other.Header);
+    Points = std::move(Other.Points);
+    return *this;
+  }
+
+  float GetHorizontalAngle() const
+  {
+    return reinterpret_cast<const float &>(Header[0]);
+  }
+
+  void SetHorizontalAngle(float HorizontalAngle)
+  {
+    Header[0] = reinterpret_cast<const uint32 &>(HorizontalAngle);
+  }
+
+  void Reset(uint32 TotalPointCount)
+  {
+    Points.Reset(3u * TotalPointCount);
+  }
+
+  void WritePoint(uint32 Channel, const FVector &Point)
+  {
+    check(Header[1] > Channel);
+    Header[2u + Channel] += 1u;
+    Points.Emplace(Point.X);
+    Points.Emplace(Point.Y);
+    Points.Emplace(Point.Z);
+  }
+
+  FSensorDataView GetView() const
+  {
+    return FSensorDataView(Header, Points);
+  }
+
+private:
+
+  TArray<uint32> Header;
+
+  TArray<float> Points;
+};

From 0f087e396ad1a9e5937ccb4d5f5728f297957a5d Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 21 Feb 2018 19:04:05 +0100
Subject: [PATCH 074/108] New struct FVehicleControl

---
 .../Carla/Source/Carla/AI/VehicleControl.h    | 27 +++++++++++++++++++
 .../Carla/AI/WheeledVehicleAIController.cpp   |  4 +--
 .../Carla/AI/WheeledVehicleAIController.h     | 12 +++------
 .../Source/Carla/CarlaWheeledVehicle.cpp      | 10 +++++++
 .../Carla/Source/Carla/CarlaWheeledVehicle.h  |  4 +++
 5 files changed, 45 insertions(+), 12 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h
new file mode 100644
index 000000000..f1b2b5000
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h
@@ -0,0 +1,27 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "VehicleControl.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FVehicleControl
+{
+  GENERATED_BODY()
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Throttle = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Steer = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Brake = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  bool bHandBrake = false;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
index b2b887941..e14d32a6a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
@@ -107,9 +107,7 @@ void AWheeledVehicleAIController::Tick(const float DeltaTime)
   TickAutopilotController();
 
   if (bAutopilotEnabled) {
-    Vehicle->SetThrottleInput(AutopilotControl.Throttle);
-    Vehicle->SetSteeringInput(AutopilotControl.Steer);
-    Vehicle->SetBrakeInput(AutopilotControl.Brake);
+    Vehicle->ApplyVehicleControl(AutopilotControl);
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
index fa623f08e..a4ddaa81a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
@@ -10,6 +10,7 @@
 
 #include "GameFramework/PlayerController.h"
 #include "TrafficLightState.h"
+#include "VehicleControl.h"
 #include "WheeledVehicleAIController.generated.h"
 
 class ACarlaWheeledVehicle;
@@ -182,14 +183,7 @@ public:
   /// @{
 protected:
 
-  struct FAutopilotControl {
-    float Throttle = 0.0f;
-    float Steer = 0.0f;
-    float Brake = 0.0f;
-    bool bHandBrake = false;
-  };
-
-  const FAutopilotControl &GetAutopilotControl() const
+  const FVehicleControl &GetAutopilotControl() const
   {
     return AutopilotControl;
   }
@@ -237,7 +231,7 @@ private:
   UPROPERTY(VisibleAnywhere)
   float MaximumSteerAngle = -1.0f;
 
-  FAutopilotControl AutopilotControl;
+  FVehicleControl AutopilotControl;
 
   std::queue<FVector> TargetLocations;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
index c74aa981c..fc5ca8bdc 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
@@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "CarlaWheeledVehicle.h"
 
+#include "AI/VehicleControl.h"
+
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
 
@@ -64,6 +66,14 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 // -- Set functions ------------------------------------------------------------
 // =============================================================================
 
+void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+{
+  SetThrottleInput(VehicleControl.Throttle);
+  SetSteeringInput(VehicleControl.Steer);
+  SetBrakeInput(VehicleControl.Brake);
+  SetHandbrakeInput(VehicleControl.bHandBrake);
+}
+
 void ACarlaWheeledVehicle::SetThrottleInput(const float Value)
 {
   GetVehicleMovementComponent()->SetThrottleInput(Value);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
index b2cdd2d36..f186e31a9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
@@ -11,6 +11,7 @@
 #include "WheeledVehicle.h"
 #include "CarlaWheeledVehicle.generated.h"
 
+class FVehicleControl;
 class UBoxComponent;
 
 /// Base class for CARLA wheeled vehicles.
@@ -63,6 +64,9 @@ public:
   /// @{
 public:
 
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   void SetThrottleInput(float Value);
 

From 6c8626d16a309f871aa66e414456fb088c4f9954 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 22 Feb 2018 11:29:37 +0100
Subject: [PATCH 075/108] Fix forward declaration

---
 .../CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
index f186e31a9..d143f85f5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
@@ -11,8 +11,8 @@
 #include "WheeledVehicle.h"
 #include "CarlaWheeledVehicle.generated.h"
 
-class FVehicleControl;
 class UBoxComponent;
+struct FVehicleControl;
 
 /// Base class for CARLA wheeled vehicles.
 UCLASS()

From ffe28db65db88606fec54fb0ee86a7082e42f27d Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 22 Feb 2018 15:49:49 +0100
Subject: [PATCH 076/108] Add agent components for tracking agents in the scene

---
 .../Source/Carla/Agent/AgentComponent.cpp     | 62 +++++++++++++++++++
 .../Carla/Source/Carla/Agent/AgentComponent.h | 48 ++++++++++++++
 .../Carla/Agent/AgentComponentVisitor.h       | 23 +++++++
 .../Carla/Source/Carla/Agent/AgentMap.h       | 19 ++++++
 .../Carla/Agent/TrafficSignAgentComponent.cpp | 19 ++++++
 .../Carla/Agent/TrafficSignAgentComponent.h   | 36 +++++++++++
 .../Carla/Agent/VehicleAgentComponent.cpp     | 23 +++++++
 .../Carla/Agent/VehicleAgentComponent.h       | 36 +++++++++++
 .../Carla/Agent/WalkerAgentComponent.cpp      | 19 ++++++
 .../Source/Carla/Agent/WalkerAgentComponent.h | 36 +++++++++++
 .../Source/Carla/CarlaWheeledVehicle.cpp      |  3 +
 .../Carla/Source/Carla/CarlaWheeledVehicle.h  |  6 +-
 .../Source/Carla/Game/CarlaGameModeBase.h     | 20 ++++--
 .../Carla/Source/Carla/Game/DataRouter.cpp    | 45 ++++++++++++++
 .../Carla/Source/Carla/Game/DataRouter.h      | 54 ++++++++++++++++
 .../Carla/Source/Carla/Sensor/Sensor.h        |  7 ++-
 16 files changed, 447 insertions(+), 9 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
new file mode 100644
index 000000000..aa1069c53
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@@ -0,0 +1,62 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "AgentComponent.h"
+
+#include "Agent/AgentMap.h"
+#include "Game/CarlaGameModeBase.h"
+#include "Game/DataRouter.h"
+
+static uint32 GetNextId()
+{
+  static uint32 COUNT = 0u;
+  return ++COUNT;
+}
+
+static TSharedPtr<FAgentMap> GetAgentMap(UWorld *World)
+{
+  check(World != nullptr);
+  auto *GameMode = Cast<ACarlaGameModeBase>(World->GetAuthGameMode());
+  check(GameMode != nullptr);
+  return GameMode->GetDataRouter().GetAgents();
+}
+
+UAgentComponent::UAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer),
+    Id(GetNextId()) {}
+
+void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
+{
+  unimplemented();
+}
+
+void UAgentComponent::BeginPlay()
+{
+  Super::BeginPlay();
+
+  // Register this component in the World's list of agents.
+  auto AgentMapPtr = GetAgentMap(GetWorld());
+  if (AgentMapPtr.IsValid()) {
+    AgentMapPtr->Agents.Add(Id, this);
+    AgentMap = AgentMapPtr;
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("AgentComponent: Missing AgentMap!"));
+  }
+}
+
+void UAgentComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  // Deregister this component in the World's list of agents.
+  auto AgentMapPtr = AgentMap.Pin();
+  if (AgentMapPtr.IsValid()) {
+    AgentMapPtr->Agents.Remove(Id);
+  }
+
+  Super::EndPlay(EndPlayReason);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
new file mode 100644
index 000000000..e1788a058
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -0,0 +1,48 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponentVisitor.h"
+
+#include "Components/ActorComponent.h"
+#include "Templates/SharedPointer.h"
+
+#include "AgentComponent.generated.h"
+
+class FAgentMap;
+
+/// Actors with an UAgentComponent are registered as agents in the scene and
+/// their status is sent to the client each frame (if requested by the client).
+UCLASS(Abstract)
+class CARLA_API UAgentComponent : public UActorComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+  uint32 GetId() const
+  {
+    return Id;
+  }
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const;
+
+protected:
+
+  virtual void BeginPlay() override;
+
+  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
+
+private:
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 Id;
+
+  TWeakPtr<FAgentMap> AgentMap = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h
new file mode 100644
index 000000000..9229e7170
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponentVisitor.h
@@ -0,0 +1,23 @@
+// Copyright (c) 2017 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
+
+class UAgentComponent;
+class UTrafficSignAgentComponent;
+class UVehicleAgentComponent;
+class UWalkerAgentComponent;
+
+class IAgentComponentVisitor
+{
+public:
+
+  virtual void Visit(const UTrafficSignAgentComponent &) = 0;
+
+  virtual void Visit(const UVehicleAgentComponent &) = 0;
+
+  virtual void Visit(const UWalkerAgentComponent &) = 0;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
new file mode 100644
index 000000000..207e9ed13
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 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
+
+class FAgentMap
+{
+public:
+
+
+private:
+
+  friend class UAgentComponent;
+
+  TMap<uint32, UAgentComponent *> Agents;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
new file mode 100644
index 000000000..f503a7e6a
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "TrafficSignAgentComponent.h"
+
+UTrafficSignAgentComponent::UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UTrafficSignAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
new file mode 100644
index 000000000..3ab481963
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "TrafficSignAgentComponent.generated.h"
+
+/// This component can be added to any AWheeledVehicle to be added as agent.
+/// See UAgentComponent.
+UCLASS()
+class CARLA_API UTrafficSignAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
new file mode 100644
index 000000000..8c9ff1e5f
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
@@ -0,0 +1,23 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "VehicleAgentComponent.h"
+
+#include "WheeledVehicle.h"
+
+UVehicleAgentComponent::UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UVehicleAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+  WheeledVehicle = Cast<AWheeledVehicle>(GetOwner());
+  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to AWheeledVehicle"));
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
new file mode 100644
index 000000000..05b00ea35
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "VehicleAgentComponent.generated.h"
+
+class AWheeledVehicle;
+
+UCLASS()
+class CARLA_API UVehicleAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+  AWheeledVehicle *WheeledVehicle = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
new file mode 100644
index 000000000..30e3dc12b
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla.h"
+#include "WalkerAgentComponent.h"
+
+UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {}
+
+void UWalkerAgentComponent::OnComponentCreated()
+{
+  Super::OnComponentCreated();
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
new file mode 100644
index 000000000..db421a72a
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
@@ -0,0 +1,36 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponent.h"
+
+#include "WalkerAgentComponent.generated.h"
+
+/// This component can be added to any ACharacter to be added as agent.
+/// See UAgentComponent.
+UCLASS()
+class CARLA_API UWalkerAgentComponent : public UAgentComponent
+{
+  GENERATED_BODY()
+
+public:
+
+  UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  virtual void OnComponentCreated() override;
+
+  virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
+  {
+    Visitor.Visit(*this);
+  }
+
+private:
+
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
index fc5ca8bdc..20f93d696 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
@@ -8,6 +8,7 @@
 #include "CarlaWheeledVehicle.h"
 
 #include "AI/VehicleControl.h"
+#include "Agent/VehicleAgentComponent.h"
 
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
@@ -24,6 +25,8 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VehicleBounds->SetHiddenInGame(true);
   VehicleBounds->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
 
+  VehicleAgentComponent = CreateDefaultSubobject<UVehicleAgentComponent>(TEXT("VehicleAgentComponent"));
+
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
index d143f85f5..8f53592d7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
@@ -12,6 +12,7 @@
 #include "CarlaWheeledVehicle.generated.h"
 
 class UBoxComponent;
+class UVehicleAgentComponent;
 struct FVehicleControl;
 
 /// Base class for CARLA wheeled vehicles.
@@ -111,9 +112,12 @@ private:
   UPROPERTY(Category = "AI Controller", VisibleAnywhere)
   ECarlaWheeledVehicleState State = ECarlaWheeledVehicleState::UNKNOWN;
 
-  UPROPERTY(EditAnywhere)
+  UPROPERTY(Category = "CARLA Wheeled Vehicle", EditAnywhere)
   UBoxComponent *VehicleBounds;
 
+  UPROPERTY(Category = "CARLA Wheeled Vehicle", VisibleAnywhere)
+  UVehicleAgentComponent *VehicleAgentComponent;
+
   UPROPERTY()
   bool bIsInReverse = false;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index 9dc4247a1..b782fe18f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -7,21 +7,22 @@
 #pragma once
 
 #include "GameFramework/GameModeBase.h"
+
+#include "DynamicWeather.h"
 #include "AI/VehicleSpawnerBase.h"
 #include "AI/WalkerSpawnerBase.h"
-#include "CarlaGameControllerBase.h"
-#include "DynamicWeather.h"
-#include "MockGameControllerSettings.h"
+#include "Game/CarlaGameControllerBase.h"
+#include "Game/DataRouter.h"
+#include "Game/MockGameControllerSettings.h"
+
 #include "CarlaGameModeBase.generated.h"
 
 class ACarlaVehicleController;
 class APlayerStart;
 class ASceneCaptureCamera;
+class UCarlaGameInstance;
 class UTaggerDelegate;
 
-/**
- *
- */
 UCLASS(HideCategories=(ActorTick))
 class CARLA_API ACarlaGameModeBase : public AGameModeBase
 {
@@ -39,6 +40,11 @@ public:
 
   virtual void Tick(float DeltaSeconds) override;
 
+  FDataRouter &GetDataRouter()
+  {
+    return DataRouter;
+  }
+
 protected:
 
   /** Used only when networking is disabled. */
@@ -73,6 +79,8 @@ private:
       AController *Player,
       TArray<APlayerStart *> &UnOccupiedStartPoints);
 
+  FDataRouter DataRouter;
+
   CarlaGameControllerBase *GameController;
 
   UPROPERTY()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
new file mode 100644
index 000000000..b8f0a22fc
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
@@ -0,0 +1,45 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "DataRouter.h"
+
+#include "Agent/AgentMap.h"
+#include "Sensor/Sensor.h"
+
+FDataRouter::FDataRouter() : Agents(MakeShared<FAgentMap>()) {}
+
+FDataRouter::~FDataRouter() {}
+
+void FDataRouter::RegisterPlayer(ACarlaVehicleController *InPlayer)
+{
+  if (Player == nullptr) {
+    Player = InPlayer;
+  } else {
+    UE_LOG(
+        LogCarla,
+        Error,
+        TEXT("FDataRouter: Trying to register a second player but only one is supported"));
+  }
+}
+
+void FDataRouter::RegisterSensor(ASensor *InSensor)
+{
+  if (SensorDataSink.Get() != nullptr) {
+    check(InSensor != nullptr);
+    InSensor->SetSensorDataSink(SensorDataSink);
+  } else {
+    UE_LOG(
+        LogCarla,
+        Error,
+        TEXT("FDataRouter: Trying to register a sensor but I don't have a SensorDataSink"));
+  }
+}
+
+void FDataRouter::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+{
+
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
new file mode 100644
index 000000000..f30968a83
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
@@ -0,0 +1,54 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentMap.h"
+#include "Game/CarlaVehicleController.h"
+#include "Sensor/SensorDataSink.h"
+
+class ACarlaPlayerState;
+class ASensor;
+struct FVehicleControl;
+
+class FDataRouter
+{
+public:
+
+  FDataRouter();
+
+  ~FDataRouter();
+
+  void SetSensorDataSink(TSharedPtr<ISensorDataSink> InSensorDataSink)
+  {
+    SensorDataSink = InSensorDataSink;
+  }
+
+  void RegisterPlayer(ACarlaVehicleController *InPlayer);
+
+  void RegisterSensor(ASensor *InSensor);
+
+  const ACarlaPlayerState &GetPlayerState()
+  {
+    check(Player != nullptr);
+    return Player->GetPlayerState();
+  }
+
+  TSharedPtr<FAgentMap> GetAgents()
+  {
+    return Agents;
+  }
+
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+
+private:
+
+  const TSharedPtr<FAgentMap> Agents;
+
+  ACarlaVehicleController *Player = nullptr;
+
+  TSharedPtr<ISensorDataSink> SensorDataSink = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index f6106dc5c..ce1802262 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -36,8 +36,11 @@ protected:
 
   void WriteSensorData(const FSensorDataView &SensorData)
   {
-    check(SensorDataSink.Get() != nullptr);
-    SensorDataSink->Write(SensorData);
+    if (SensorDataSink.IsValid()) {
+      SensorDataSink->Write(SensorData);
+    } else {
+      UE_LOG(LogCarla, Warning, TEXT("Sensor %d has no data sink."), Id);
+    }
   }
 
 private:

From 20944d7abd8fc4efa1269f8184cf6508c3709922 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Thu, 22 Feb 2018 18:03:04 +0100
Subject: [PATCH 077/108] Refactor folders and clean up includes and unused
 files

---
 .../Carla/Source/Carla/Agent/AgentMap.h       |  2 ++
 .../Carla/Source/Carla/CityMapGenerator.cpp   |  2 +-
 .../Carla/Source/Carla/CityMapGenerator.h     |  2 ++
 .../Carla/Source/Carla/DynamicWeather.h       |  2 ++
 .../Carla/Source/Carla/Game/CapturedImage.h   | 34 -------------------
 .../Source/Carla/Game/CapturedLidarSegment.h  | 29 ----------------
 .../Carla/Game/CarlaGameControllerBase.h      |  6 ++--
 .../Source/Carla/Game/CarlaGameInstance.cpp   |  4 +--
 .../Source/Carla/Game/CarlaGameInstance.h     |  6 ++--
 .../Source/Carla/Game/CarlaGameModeBase.cpp   | 23 +++++++------
 .../Source/Carla/Game/CarlaGameModeBase.h     |  6 ++--
 .../Source/Carla/Game/CarlaGameState.cpp      | 12 -------
 .../Carla/Source/Carla/Game/CarlaGameState.h  |  8 +++--
 .../Carla/Source/Carla/Game/CarlaHUD.cpp      |  3 +-
 .../Carla/Source/Carla/Game/CarlaHUD.h        |  2 +-
 .../Source/Carla/Game/CarlaPlayerState.h      |  6 ++--
 .../Carla/Source/Carla/Game/DataRouter.h      |  2 +-
 .../Source/Carla/Game/MockGameController.h    |  7 ++--
 .../Carla/Game/MockGameControllerSettings.h   |  2 +-
 .../Carla/Source/Carla/{ => Game}/Tagger.cpp  |  9 ++---
 .../Carla/Source/Carla/{ => Game}/Tagger.h    |  0
 .../Source/Carla/Game/TaggerDelegate.cpp      |  3 +-
 .../Source/Carla/MapGen/CityMapMeshTag.h      |  2 +-
 .../Source/Carla/MapGen/GraphGenerator.h      |  2 +-
 .../Carla/Source/Carla/MapGen/GraphParser.h   |  2 +-
 .../Carla/Source/Carla/MapGen/Position.h      |  2 +-
 .../Carla/Source/Carla/MapGen/RoadMap.h       |  2 +-
 .../Carla/MapGen/RoadSegmentDescription.h     |  2 +-
 .../Plugins/Carla/Source/Carla/RoadSegment.h  |  2 +-
 .../Carla/Source/Carla/Sensor/Lidar.cpp       |  1 +
 .../Plugins/Carla/Source/Carla/Sensor/Lidar.h |  4 ++-
 .../Carla/Sensor/SceneCaptureCamera.cpp       |  2 +-
 .../Source/Carla/Sensor/SceneCaptureCamera.h  |  7 ++--
 .../Carla/Sensor/SceneCaptureToDiskCamera.h   |  3 +-
 .../Carla/Source/Carla/Sensor/Sensor.h        |  4 ++-
 .../Source/Carla/Sensor/SensorDataView.h      |  2 +-
 .../Source/Carla/Sensor/SensorFactory.cpp     |  4 +--
 .../{Game => Server}/CarlaGameController.cpp  |  5 ++-
 .../{Game => Server}/CarlaGameController.h    |  4 +--
 .../Carla/{Game => Server}/CarlaServer.cpp    | 11 +++---
 .../Carla/{Game => Server}/CarlaServer.h      |  2 +-
 .../Source/Carla/Settings/CameraDescription.h |  8 +++--
 .../Settings/CameraPostProcessParameters.h    |  3 +-
 .../Source/Carla/Settings/CarlaSettings.cpp   |  6 ++--
 .../Source/Carla/Settings/CarlaSettings.h     |  1 +
 .../Source/Carla/Settings/LidarDescription.h  |  5 +--
 .../Carla/Settings/PostProcessEffect.cpp      |  1 +
 .../Source/Carla/Settings/SensorDescription.h |  5 +--
 .../Carla/Settings/WeatherDescription.h       |  5 +--
 .../Carla/{AI => Traffic}/RoutePlanner.cpp    |  4 +--
 .../Carla/{AI => Traffic}/RoutePlanner.h      |  2 ++
 .../{AI => Traffic}/TrafficLightBase.cpp      |  4 +--
 .../Carla/{AI => Traffic}/TrafficLightBase.h  |  6 ++--
 .../Carla/{AI => Traffic}/TrafficLightState.h |  0
 .../Carla/{AI => Traffic}/TrafficSignBase.cpp |  0
 .../Carla/{AI => Traffic}/TrafficSignBase.h   |  0
 .../Source/Carla/Util/ActorWithRandomEngine.h |  1 +
 .../Carla/Source/Carla/Util/ListView.h        |  2 +-
 .../Carla/Source/Carla/Util/NonCopyable.h     |  2 +-
 .../Carla/Source/Carla/Util/RandomEngine.h    |  2 +-
 .../CarlaVehicleController.cpp                |  0
 .../CarlaVehicleController.h                  |  3 +-
 .../{ => Vehicle}/CarlaWheeledVehicle.cpp     |  2 +-
 .../Carla/{ => Vehicle}/CarlaWheeledVehicle.h |  7 ++--
 .../CarlaWheeledVehicleState.h                |  0
 .../Carla/{AI => Vehicle}/VehicleControl.h    |  0
 .../{AI => Vehicle}/VehicleSpawnerBase.cpp    |  4 +--
 .../{AI => Vehicle}/VehicleSpawnerBase.h      |  1 +
 .../WheeledVehicleAIController.cpp            |  6 ++--
 .../WheeledVehicleAIController.h              |  6 ++--
 .../WheeledVehicleController.cpp              |  0
 .../WheeledVehicleController.h                |  4 ++-
 .../{AI => Walker}/WalkerAIController.cpp     |  0
 .../Carla/{AI => Walker}/WalkerAIController.h |  0
 .../Carla/{AI => Walker}/WalkerSpawnPoint.h   |  0
 .../{AI => Walker}/WalkerSpawnerBase.cpp      |  8 ++---
 .../Carla/{AI => Walker}/WalkerSpawnerBase.h  |  1 +
 77 files changed, 151 insertions(+), 181 deletions(-)
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Game}/Tagger.cpp (99%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Game}/Tagger.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Server}/CarlaGameController.cpp (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Server}/CarlaGameController.h (89%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Server}/CarlaServer.cpp (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Server}/CarlaServer.h (97%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/RoutePlanner.cpp (97%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/RoutePlanner.h (99%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/TrafficLightBase.cpp (97%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/TrafficLightBase.h (95%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/TrafficLightState.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/TrafficSignBase.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Traffic}/TrafficSignBase.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Vehicle}/CarlaVehicleController.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Vehicle}/CarlaVehicleController.h (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Vehicle}/CarlaWheeledVehicle.cpp (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{ => Vehicle}/CarlaWheeledVehicle.h (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/CarlaWheeledVehicleState.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/VehicleControl.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/VehicleSpawnerBase.cpp (97%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/VehicleSpawnerBase.h (99%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/WheeledVehicleAIController.cpp (99%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Vehicle}/WheeledVehicleAIController.h (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Vehicle}/WheeledVehicleController.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{Game => Vehicle}/WheeledVehicleController.h (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Walker}/WalkerAIController.cpp (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Walker}/WalkerAIController.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Walker}/WalkerSpawnPoint.h (100%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Walker}/WalkerSpawnerBase.cpp (98%)
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/{AI => Walker}/WalkerSpawnerBase.h (99%)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
index 207e9ed13..62223b7d7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
@@ -6,6 +6,8 @@
 
 #pragma once
 
+#include "Containers/Map.h"
+
 class FAgentMap
 {
 public:
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
index 070dae978..1b9ce3708 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp
@@ -9,7 +9,7 @@
 
 #include "MapGen/GraphGenerator.h"
 #include "MapGen/RoadMap.h"
-#include "Tagger.h"
+#include "Game/Tagger.h"
 
 #include "Components/InstancedStaticMeshComponent.h"
 #include "Engine/World.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h
index 814d50d21..0d0a6e86a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.h
@@ -7,8 +7,10 @@
 #pragma once
 
 #include "MapGen/CityMapMeshHolder.h"
+
 #include "MapGen/DoublyConnectedEdgeList.h"
 #include "MapGen/GraphParser.h"
+
 #include "CityMapGenerator.generated.h"
 
 class URoadMap;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h
index 83608c76d..c28cf13c7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/DynamicWeather.h
@@ -7,7 +7,9 @@
 #pragma once
 
 #include "GameFramework/Actor.h"
+
 #include "Settings/WeatherDescription.h"
+
 #include "DynamicWeather.generated.h"
 
 class UArrowComponent;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
deleted file mode 100644
index 2607e300e..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedImage.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "Settings/PostProcessEffect.h"
-#include "CapturedImage.generated.h"
-
-/// Bitmap and meta info of a scene capture.
-///
-/// The bitmap may be empty if the capture failed.
-USTRUCT()
-struct FCapturedImage
-{
-  GENERATED_USTRUCT_BODY()
-
-  UPROPERTY(VisibleAnywhere)
-  uint32 SizeX = 0u;
-
-  UPROPERTY(VisibleAnywhere)
-  uint32 SizeY = 0u;
-
-  UPROPERTY(VisibleAnywhere)
-  EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
-
-  UPROPERTY(VisibleAnywhere)
-  float FOVAngle = 0.0f;
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FColor> BitMap;
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
deleted file mode 100644
index 8cc5e5487..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CapturedLidarSegment.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-#pragma once
-
-#include "CapturedLidarSegment.generated.h"
-
-///
-/// Lidar segment captured by tick
-///
-USTRUCT()
-struct FCapturedLidarLaserSegment
-{
-  GENERATED_USTRUCT_BODY()
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FVector> Points;
-};
-
-USTRUCT()
-struct FCapturedLidarSegment
-{
-  GENERATED_USTRUCT_BODY()
-
-  UPROPERTY(VisibleAnywhere)
-  float HorizontalAngle = 0;
-
-  UPROPERTY(VisibleAnywhere)
-  TArray<FCapturedLidarLaserSegment> LidarLasersSegments;
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
index cb895ca6f..9ed6b2ae9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
@@ -6,18 +6,18 @@
 
 #pragma once
 
-#include "Array.h"
+#include "Containers/Array.h"
 
 class AController;
 class APlayerStart;
 class UCarlaSettings;
 
 /// Base class for a CARLA game controller.
-class CARLA_API CarlaGameControllerBase
+class ICarlaGameControllerBase
 {
 public:
 
-  virtual ~CarlaGameControllerBase() {}
+  virtual ~ICarlaGameControllerBase() {}
 
   virtual void Initialize(UCarlaSettings &CarlaSettings) = 0;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
index 55ae20caf..f80b0b750 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
@@ -7,8 +7,8 @@
 #include "Carla.h"
 #include "CarlaGameInstance.h"
 
-#include "CarlaGameController.h"
-#include "MockGameController.h"
+#include "Game/MockGameController.h"
+#include "Server/CarlaGameController.h"
 #include "Settings/CarlaSettings.h"
 
 UCarlaGameInstance::UCarlaGameInstance() {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
index 896f5af7f..968ccfcd6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
@@ -7,7 +7,7 @@
 #pragma once
 
 #include "Engine/GameInstance.h"
-#include "CarlaGameControllerBase.h"
+#include "Game/CarlaGameControllerBase.h"
 #include "CarlaGameInstance.generated.h"
 
 class UCarlaSettings;
@@ -29,7 +29,7 @@ public:
   void InitializeGameControllerIfNotPresent(
       const FMockGameControllerSettings &MockControllerSettings);
 
-  CarlaGameControllerBase &GetGameController()
+  ICarlaGameControllerBase &GetGameController()
   {
     check(GameController != nullptr);
     return *GameController;
@@ -59,5 +59,5 @@ private:
   UPROPERTY(Category = "CARLA Settings", EditAnywhere)
   UCarlaSettings *CarlaSettings;
 
-  TUniquePtr<CarlaGameControllerBase> GameController;
+  TUniquePtr<ICarlaGameControllerBase> GameController;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index a9ded6072..e688f0b6a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -7,23 +7,24 @@
 #include "Carla.h"
 #include "CarlaGameModeBase.h"
 
+#include "Game/CarlaGameInstance.h"
+#include "Game/CarlaGameState.h"
+#include "Game/CarlaHUD.h"
+#include "Game/CarlaPlayerState.h"
+#include "Game/Tagger.h"
+#include "Game/TaggerDelegate.h"
+#include "Sensor/Sensor.h"
+#include "Sensor/SensorFactory.h"
+#include "Settings/CarlaSettings.h"
+#include "Util/RandomEngine.h"
+#include "Vehicle/CarlaVehicleController.h"
+
 #include "ConstructorHelpers.h"
 #include "Engine/PlayerStartPIE.h"
 #include "EngineUtils.h"
 #include "GameFramework/PlayerStart.h"
 #include "SceneViewport.h"
 
-#include "CarlaGameInstance.h"
-#include "CarlaGameState.h"
-#include "CarlaHUD.h"
-#include "CarlaPlayerState.h"
-#include "CarlaVehicleController.h"
-#include "Sensor/Sensor.h"
-#include "Sensor/SensorFactory.h"
-#include "Settings/CarlaSettings.h"
-#include "Tagger.h"
-#include "TaggerDelegate.h"
-
 ACarlaGameModeBase::ACarlaGameModeBase(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer),
   GameController(nullptr),
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index b782fe18f..cba98af44 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -9,11 +9,11 @@
 #include "GameFramework/GameModeBase.h"
 
 #include "DynamicWeather.h"
-#include "AI/VehicleSpawnerBase.h"
-#include "AI/WalkerSpawnerBase.h"
 #include "Game/CarlaGameControllerBase.h"
 #include "Game/DataRouter.h"
 #include "Game/MockGameControllerSettings.h"
+#include "Vehicle/VehicleSpawnerBase.h"
+#include "Walker/WalkerSpawnerBase.h"
 
 #include "CarlaGameModeBase.generated.h"
 
@@ -81,7 +81,7 @@ private:
 
   FDataRouter DataRouter;
 
-  CarlaGameControllerBase *GameController;
+  ICarlaGameControllerBase *GameController;
 
   UPROPERTY()
   UCarlaGameInstance *GameInstance;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp
deleted file mode 100644
index 3ce608ee1..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.cpp
+++ /dev/null
@@ -1,12 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "Carla.h"
-#include "CarlaGameState.h"
-
-
-
-
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
index b4c008be0..df1ca80ce 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
@@ -7,9 +7,11 @@
 #pragma once
 
 #include "GameFramework/GameStateBase.h"
-#include "AI/TrafficSignBase.h"
-#include "AI/VehicleSpawnerBase.h"
-#include "AI/WalkerSpawnerBase.h"
+
+#include "Traffic/TrafficSignBase.h"
+#include "Vehicle/VehicleSpawnerBase.h"
+#include "Walker/WalkerSpawnerBase.h"
+
 #include "CarlaGameState.generated.h"
 
 UCLASS()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
index 8b2753db4..b2484286d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
@@ -7,7 +7,8 @@
 #include "Carla.h"
 #include "CarlaHUD.h"
 
-#include "CarlaVehicleController.h"
+#include "Vehicle/CarlaVehicleController.h"
+
 #include "CommandLine.h"
 #include "ConstructorHelpers.h"
 #include "Engine/Canvas.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
index 761babefb..3b5c932e5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
@@ -12,7 +12,7 @@
 class FTexture;
 
 UCLASS()
-class ACarlaHUD : public AHUD
+class CARLA_API ACarlaHUD : public AHUD
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
index 66f075693..20cc29250 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
@@ -7,9 +7,9 @@
 #pragma once
 
 #include "GameFramework/PlayerState.h"
-#include "AI/TrafficLightState.h"
-#include "CapturedImage.h"
-#include "CapturedLidarSegment.h"
+
+#include "Traffic/TrafficLightState.h"
+
 #include "CarlaPlayerState.generated.h"
 
 /// Current state of the player, updated every frame by ACarlaVehicleController.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
index f30968a83..0fc4cd118 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
@@ -7,8 +7,8 @@
 #pragma once
 
 #include "Agent/AgentMap.h"
-#include "Game/CarlaVehicleController.h"
 #include "Sensor/SensorDataSink.h"
+#include "Vehicle/CarlaVehicleController.h"
 
 class ACarlaPlayerState;
 class ASensor;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
index ff9712141..767d1280d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
@@ -6,11 +6,12 @@
 
 #pragma once
 
-#include "CarlaGameControllerBase.h"
-#include "MockGameControllerSettings.h"
+#include "Game/CarlaGameControllerBase.h"
+
+#include "Game/MockGameControllerSettings.h"
 
 /// Mocks the CARLA game controller class for testing purposes.
-class CARLA_API MockGameController : public CarlaGameControllerBase
+class CARLA_API MockGameController : public ICarlaGameControllerBase
 {
 public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h
index a32033f39..fceeb074b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameControllerSettings.h
@@ -9,7 +9,7 @@
 #include "MockGameControllerSettings.generated.h"
 
 USTRUCT(BlueprintType)
-struct FMockGameControllerSettings
+struct CARLA_API FMockGameControllerSettings
 {
   GENERATED_USTRUCT_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
similarity index 99%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
index 9cf36179b..f2b1eef91 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.cpp
@@ -6,11 +6,12 @@
 
 #include "Carla.h"
 #include "Tagger.h"
-#include "EngineUtils.h"
-#include "Engine/StaticMesh.h"
-#include "Engine/SkeletalMesh.h"
-#include "Components/StaticMeshComponent.h"
+
 #include "Components/SkeletalMeshComponent.h"
+#include "Components/StaticMeshComponent.h"
+#include "Engine/SkeletalMesh.h"
+#include "Engine/StaticMesh.h"
+#include "EngineUtils.h"
 #include "PhysicsEngine/PhysicsAsset.h"
 
 #ifdef CARLA_TAGGER_EXTRA_LOG
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Tagger.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/Tagger.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp
index 97c0c44af..bfbc906f3 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TaggerDelegate.cpp
@@ -7,8 +7,9 @@
 #include "Carla.h"
 #include "TaggerDelegate.h"
 
+#include "Game/Tagger.h"
+
 #include "Engine/World.h"
-#include "Tagger.h"
 
 UTaggerDelegate::UTaggerDelegate() :
   ActorSpawnedDelegate(FOnActorSpawned::FDelegate::CreateUObject(this, &UTaggerDelegate::OnActorSpawned)) {}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h
index 32354d2d7..d0d6ea937 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshTag.h
@@ -73,7 +73,7 @@ enum class ECityMapMeshTag : uint8
 };
 
 /// Helper class for working with ECityMapMeshTag.
-class CARLA_API CityMapMeshTag
+class CityMapMeshTag
 {
 public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h
index b36c32dac..755cee267 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphGenerator.h
@@ -11,7 +11,7 @@
 namespace MapGen {
 
   /// Random DoublyConnectedEdgeList generator.
-  class CARLA_API GraphGenerator : private NonCopyable
+  class GraphGenerator : private NonCopyable
   {
   public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h
index e60405f0e..2f2bf5ee1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/GraphParser.h
@@ -16,7 +16,7 @@ namespace MapGen {
 
   class DoublyConnectedEdgeList;
 
-  class CARLA_API GraphParser : private NonCopyable
+  class GraphParser : private NonCopyable
   {
   public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h
index d7e042443..b72321e9a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/Position.h
@@ -11,7 +11,7 @@
 namespace MapGen {
 
   template<typename T>
-  class CARLA_API Position {
+  class Position {
   public:
     using number_type = T;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h
index ceb9974b7..a543db919 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadMap.h
@@ -12,7 +12,7 @@
 
 /// Road map intersection result. See URoadMap.
 USTRUCT(BlueprintType)
-struct FRoadMapIntersectionResult
+struct CARLA_API FRoadMapIntersectionResult
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h
index de8afa1a2..009fd91e5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/RoadSegmentDescription.h
@@ -13,7 +13,7 @@
 
 namespace MapGen {
 
-  class CARLA_API RoadSegmentDescription : private NonCopyable
+  class RoadSegmentDescription : private NonCopyable
   {
   public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h
index 53a6e044a..c47e9fe35 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/RoadSegment.h
@@ -19,7 +19,7 @@ enum class ELaneMarkingType : uint8
 
 /// Description of a road segment piece.
 USTRUCT(BlueprintType)
-struct FRoadSegmentPiece
+struct CARLA_API FRoadSegmentPiece
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
index 3a20abbd1..54dadbb37 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@@ -4,6 +4,7 @@
 #include "Lidar.h"
 
 #include "DrawDebugHelpers.h"
+#include "Engine/CollisionProfile.h"
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "StaticMeshResources.h"
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
index 319e9d066..01519456c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
@@ -2,9 +2,11 @@
 
 #pragma once
 
-#include "Sensor/LidarMeasurement.h"
 #include "Sensor/Sensor.h"
+
+#include "Sensor/LidarMeasurement.h"
 #include "Settings/LidarDescription.h"
+
 #include "Lidar.generated.h"
 
 /// A ray-trace based Lidar sensor.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index 57dcd7535..4df824a8b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -7,7 +7,7 @@
 #include "Carla.h"
 #include "SceneCaptureCamera.h"
 
-#include "SensorDataView.h"
+#include "Sensor/SensorDataView.h"
 
 #include "Components/DrawFrustumComponent.h"
 #include "Components/SceneCaptureComponent2D.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
index c2b34e291..68a7bc55c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h
@@ -6,9 +6,12 @@
 
 #pragma once
 
-#include "Sensor.h"
-#include "StaticMeshResources.h"
+#include "Sensor/Sensor.h"
+
 #include "Settings/CameraDescription.h"
+
+#include "StaticMeshResources.h"
+
 #include "SceneCaptureCamera.generated.h"
 
 class UDrawFrustumComponent;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h
index 38698478b..6dc8329e5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureToDiskCamera.h
@@ -6,7 +6,8 @@
 
 #pragma once
 
-#include "SceneCaptureCamera.h"
+#include "Sensor/SceneCaptureCamera.h"
+
 #include "SceneCaptureToDiskCamera.generated.h"
 
 UCLASS(Blueprintable,BlueprintType)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index ce1802262..a3ad4b8b6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -7,7 +7,9 @@
 #pragma once
 
 #include "GameFramework/Actor.h"
-#include "SensorDataSink.h"
+
+#include "Sensor/SensorDataSink.h"
+
 #include "Sensor.generated.h"
 
 /// Base class for sensors.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
index 78b4f3532..14be1617c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "ReadOnlyBufferView.h"
+#include "Sensor/ReadOnlyBufferView.h"
 
 /// A view over a sensor's output data. Does not own the data.
 class FSensorDataView {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
index 6ab76eda5..0edbca274 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
@@ -9,8 +9,8 @@
 #include "Carla.h"
 #include "SensorFactory.h"
 
-#include "Lidar.h"
-#include "SceneCaptureCamera.h"
+#include "Sensor/Lidar.h"
+#include "Sensor/SceneCaptureCamera.h"
 #include "Settings/CameraDescription.h"
 #include "Settings/LidarDescription.h"
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp
index 6c80d71d4..15e0eb468 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp
@@ -7,10 +7,9 @@
 #include "Carla.h"
 #include "CarlaGameController.h"
 
-#include "CarlaVehicleController.h"
-
+#include "Server/CarlaServer.h"
 #include "Settings/CarlaSettings.h"
-#include "CarlaServer.h"
+#include "Vehicle/CarlaVehicleController.h"
 
 using Errc = CarlaServer::ErrorCode;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
similarity index 89%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
index e54849f60..294447baa 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
@@ -6,14 +6,14 @@
 
 #pragma once
 
-#include "CarlaGameControllerBase.h"
+#include "Game/CarlaGameControllerBase.h"
 
 class ACarlaGameState;
 class ACarlaVehicleController;
 class CarlaServer;
 
 /// Implements remote control of game and player.
-class CARLA_API CarlaGameController : public CarlaGameControllerBase
+class CARLA_API CarlaGameController : public ICarlaGameControllerBase
 {
 public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 8d8c5faf7..e7ef5accd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -7,13 +7,14 @@
 #include "Carla.h"
 #include "CarlaServer.h"
 
-#include "GameFramework/PlayerStart.h"
-
-#include "CarlaPlayerState.h"
-#include "CarlaVehicleController.h"
-#include "CarlaWheeledVehicle.h"
+#include "Game/CarlaPlayerState.h"
 #include "Sensor/SceneCaptureCamera.h"
 #include "Settings/CarlaSettings.h"
+#include "Vehicle/CarlaVehicleController.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
+
+#include "GameFramework/Character.h"
+#include "GameFramework/PlayerStart.h"
 
 #include <carla/carla_server.h>
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
similarity index 97%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
index f4ee095e2..2c1dc3837 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
@@ -12,7 +12,7 @@ class APlayerStart;
 class UCarlaSettings;
 
 /// Wrapper around carla_server API.
-class CARLA_API CarlaServer
+class CarlaServer
 {
 public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
index 2f03011f6..54f823fe2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
@@ -6,12 +6,14 @@
 
 #pragma once
 
-#include "PostProcessEffect.h"
-#include "SensorDescription.h"
+#include "Settings/SensorDescription.h"
+
+#include "Settings/PostProcessEffect.h"
+
 #include "CameraDescription.generated.h"
 
 UCLASS()
-class UCameraDescription : public USensorDescription
+class CARLA_API UCameraDescription : public USensorDescription
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h
index 07ebded37..9d686dad1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraPostProcessParameters.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "Engine/Scene.h"
+
 #include "CameraPostProcessParameters.generated.h"
 
 /**
@@ -14,7 +15,7 @@
   * the weather and lighting conditions.
   */
 USTRUCT(BlueprintType)
-struct FCameraPostProcessParameters
+struct CARLA_API FCameraPostProcessParameters
 {
   GENERATED_USTRUCT_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index d57542b74..bd4d5b93d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -7,14 +7,14 @@
 #include "Carla.h"
 #include "CarlaSettings.h"
 
-#include "CommandLine.h"
-#include "UnrealMathUtility.h"
-
 #include "DynamicWeather.h"
 #include "Settings/CameraDescription.h"
 #include "Settings/LidarDescription.h"
 #include "Util/IniFile.h"
 
+#include "CommandLine.h"
+#include "UnrealMathUtility.h"
+
 // INI file sections.
 #define S_CARLA_SERVER                 TEXT("CARLA/Server")
 #define S_CARLA_LEVELSETTINGS          TEXT("CARLA/LevelSettings")
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
index fefa7c565..c65a839e7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
@@ -9,6 +9,7 @@
 #include "WeatherDescription.h"
 
 #include "UObject/NoExportTypes.h"
+
 #include "CarlaSettings.generated.h"
 
 class USensorDescription;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
index 81d07b13a..fd84511c9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
@@ -2,11 +2,12 @@
 
 #pragma once
 
-#include "SensorDescription.h"
+#include "Settings/SensorDescription.h"
+
 #include "LidarDescription.generated.h"
 
 UCLASS()
-class ULidarDescription : public USensorDescription
+class CARLA_API ULidarDescription : public USensorDescription
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
index 660bfac12..479b998d0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
@@ -6,6 +6,7 @@
 
 #include "Carla.h"
 #include "PostProcessEffect.h"
+
 #include "Package.h"
 
 FString PostProcessEffect::ToString(EPostProcessEffect PostProcessEffect)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index 7df5ff6b2..138fd9d39 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -6,13 +6,14 @@
 
 #pragma once
 
-#include "SensorDescriptionVisitor.h"
+#include "Settings/SensorDescriptionVisitor.h"
+
 #include "SensorDescription.generated.h"
 
 class FIniFile;
 
 UCLASS(Abstract)
-class USensorDescription : public UObject
+class CARLA_API USensorDescription : public UObject
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
index 26cdf1841..c85686b6c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/WeatherDescription.h
@@ -6,7 +6,8 @@
 
 #pragma once
 
-#include "CameraPostProcessParameters.h"
+#include "Settings/CameraPostProcessParameters.h"
+
 #include "WeatherDescription.generated.h"
 
 class FIniFile;
@@ -18,7 +19,7 @@ enum class EPrecipitationType : uint8
 };
 
 USTRUCT(BlueprintType)
-struct FWeatherDescription
+struct CARLA_API FWeatherDescription
 {
   GENERATED_USTRUCT_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.cpp
similarity index 97%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.cpp
index 906cfe698..f2b29b9af 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.cpp
@@ -7,9 +7,9 @@
 #include "Carla.h"
 #include "RoutePlanner.h"
 
-#include "CarlaWheeledVehicle.h"
 #include "Util/RandomEngine.h"
-#include "WheeledVehicleAIController.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
+#include "Vehicle/WheeledVehicleAIController.h"
 
 #include "Engine/CollisionProfile.h"
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.h
similarity index 99%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.h
index 633887e54..133068ab8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/RoutePlanner.h
@@ -7,8 +7,10 @@
 #pragma once
 
 #include "GameFramework/Actor.h"
+
 #include "Components/BoxComponent.h"
 #include "Components/SplineComponent.h"
+
 #include "RoutePlanner.generated.h"
 
 /// Assign a random route to every ACarlaWheeledVehicle entering the trigger
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
similarity index 97%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
index 9a15ad2a5..6ef02d2fa 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
@@ -7,8 +7,8 @@
 #include "Carla.h"
 #include "TrafficLightBase.h"
 
-#include "AI/WheeledVehicleAIController.h"
-#include "CarlaWheeledVehicle.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
+#include "Vehicle/WheeledVehicleAIController.h"
 
 // =============================================================================
 // -- Static local methods -----------------------------------------------------
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
similarity index 95%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
index b48e6c994..36f52a492 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
@@ -6,8 +6,10 @@
 
 #pragma once
 
-#include "TrafficSignBase.h"
-#include "TrafficLightState.h"
+#include "Traffic/TrafficSignBase.h"
+
+#include "Traffic/TrafficLightState.h"
+
 #include "TrafficLightBase.generated.h"
 
 class ACarlaWheeledVehicle;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightState.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficLightState.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightState.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/TrafficSignBase.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h
index 58437e410..a2e88cd05 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorWithRandomEngine.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "GameFramework/Actor.h"
+
 #include "ActorWithRandomEngine.generated.h"
 
 class URandomEngine;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h
index cd6ddf7e3..94d56cc49 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ListView.h
@@ -7,7 +7,7 @@
 #pragma once
 
 template<typename IT>
-class CARLA_API ListView
+class ListView
 {
 public:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/NonCopyable.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/NonCopyable.h
index 4641a5ef9..750c299c8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/NonCopyable.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/NonCopyable.h
@@ -1,6 +1,6 @@
 #pragma once
 
-class CARLA_API NonCopyable {
+class NonCopyable {
 public:
 
   NonCopyable() = default;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h
index e3539ca69..c4beac277 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h
@@ -11,7 +11,7 @@
 #include "RandomEngine.generated.h"
 
 UCLASS(Blueprintable,BlueprintType)
-class URandomEngine : public UObject
+class CARLA_API URandomEngine : public UObject
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.h
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.h
index ef1b176db..c8562bb5a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.h
@@ -6,7 +6,8 @@
 
 #pragma once
 
-#include "WheeledVehicleController.h"
+#include "Vehicle/WheeledVehicleController.h"
+
 #include "CarlaVehicleController.generated.h"
 
 class ACarlaHUD;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index 20f93d696..f5bb4f6a8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -7,8 +7,8 @@
 #include "Carla.h"
 #include "CarlaWheeledVehicle.h"
 
-#include "AI/VehicleControl.h"
 #include "Agent/VehicleAgentComponent.h"
+#include "Vehicle/VehicleControl.h"
 
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
index 8f53592d7..09eb3e10e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
@@ -6,9 +6,12 @@
 
 #pragma once
 
-#include "AI/CarlaWheeledVehicleState.h"
-#include "CoreMinimal.h"
 #include "WheeledVehicle.h"
+
+#include "Vehicle/CarlaWheeledVehicleState.h"
+
+#include "CoreMinimal.h"
+
 #include "CarlaWheeledVehicle.generated.h"
 
 class UBoxComponent;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicleState.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/CarlaWheeledVehicleState.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicleState.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
similarity index 97%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
index f71401893..839bf8398 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
@@ -7,9 +7,9 @@
 #include "Carla.h"
 #include "VehicleSpawnerBase.h"
 
-#include "AI/WheeledVehicleAIController.h"
-#include "CarlaWheeledVehicle.h"
 #include "Util/RandomEngine.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
+#include "Vehicle/WheeledVehicleAIController.h"
 
 #include "Engine/PlayerStartPIE.h"
 #include "EngineUtils.h"
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.h
similarity index 99%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.h
index b3fc2a623..c079c53a6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "Util/ActorWithRandomEngine.h"
+
 #include "VehicleSpawnerBase.generated.h"
 
 class ACarlaWheeledVehicle;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
similarity index 99%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
index e14d32a6a..752c1f9cb 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
@@ -7,13 +7,13 @@
 #include "Carla.h"
 #include "WheeledVehicleAIController.h"
 
+#include "MapGen/RoadMap.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
+
 #include "EngineUtils.h"
 #include "GameFramework/Pawn.h"
 #include "WheeledVehicleMovementComponent.h"
 
-#include "CarlaWheeledVehicle.h"
-#include "MapGen/RoadMap.h"
-
 // =============================================================================
 // -- Static local methods -----------------------------------------------------
 // =============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
index a4ddaa81a..2e7f36bf9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h
@@ -9,8 +9,10 @@
 #include <queue>
 
 #include "GameFramework/PlayerController.h"
-#include "TrafficLightState.h"
-#include "VehicleControl.h"
+
+#include "Traffic/TrafficLightState.h"
+#include "Vehicle/VehicleControl.h"
+
 #include "WheeledVehicleAIController.generated.h"
 
 class ACarlaWheeledVehicle;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleController.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleController.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleController.h
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleController.h
index 690566a99..04e261f37 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/WheeledVehicleController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleController.h
@@ -6,8 +6,10 @@
 
 #pragma once
 
+#include "Vehicle/WheeledVehicleAIController.h"
+
 #include "CoreMinimal.h"
-#include "AI/WheeledVehicleAIController.h"
+
 #include "WheeledVehicleController.generated.h"
 
 class UCameraComponent;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.cpp
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.cpp
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerAIController.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnPoint.h
similarity index 100%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnPoint.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnPoint.h
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.cpp
similarity index 98%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.cpp
index 409a033a0..585315052 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.cpp
@@ -7,14 +7,14 @@
 #include "Carla.h"
 #include "WalkerSpawnerBase.h"
 
+#include "Util/RandomEngine.h"
+#include "Walker/WalkerAIController.h"
+#include "Walker/WalkerSpawnPoint.h"
+
 #include "Components/BoxComponent.h"
 #include "EngineUtils.h"
 #include "GameFramework/Character.h"
 
-#include "Util/RandomEngine.h"
-#include "WalkerAIController.h"
-#include "WalkerSpawnPoint.h"
-
 // =============================================================================
 // -- Static local methods -----------------------------------------------------
 // =============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.h
similarity index 99%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.h
index 0adb22b77..ba17fae52 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerSpawnerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerSpawnerBase.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "Util/ActorWithRandomEngine.h"
+
 #include "WalkerSpawnerBase.generated.h"
 
 class AWalkerSpawnPoint;

From 64327b20a4891b9fbfc9ee4a4019c7de226e69ff Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 12:57:46 +0100
Subject: [PATCH 078/108] Improve regex of sublime project

---
 CARLA.sublime-project | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/CARLA.sublime-project b/CARLA.sublime-project
index c119c3665..89d65fea8 100644
--- a/CARLA.sublime-project
+++ b/CARLA.sublime-project
@@ -76,7 +76,7 @@
 		{
 			"name": "CARLA - make CarlaUE4",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -86,7 +86,7 @@
 		{
 			"name": "CARLA - make CarlaUE4 ARGS=-clean",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -96,7 +96,7 @@
 		{
 			"name": "CARLA - make CarlaUE4Editor",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -106,7 +106,7 @@
 		{
 			"name": "CARLA - make CarlaUE4Editor ARGS=-clean",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{

From 77885b6a8234ff3d886c7a458a1c9342f139ab12 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 13:19:32 +0100
Subject: [PATCH 079/108] Sensor id should be set by the sensor description

---
 .../Plugins/Carla/Source/Carla/Sensor/Lidar.cpp  |  7 ++++---
 .../Carla/Source/Carla/Sensor/LidarMeasurement.h |  9 +++++++--
 .../Source/Carla/Sensor/SceneCaptureCamera.cpp   |  2 ++
 .../Plugins/Carla/Source/Carla/Sensor/Sensor.cpp |  8 +-------
 .../Plugins/Carla/Source/Carla/Sensor/Sensor.h   |  6 ++++++
 .../Carla/Source/Carla/Sensor/SensorDataView.h   | 11 ++++++++++-
 .../Carla/Source/Carla/Sensor/SensorFactory.cpp  |  2 +-
 .../Source/Carla/Settings/CarlaSettings.cpp      |  4 ++--
 .../Source/Carla/Settings/SensorDescription.cpp  | 13 ++++++++++++-
 .../Source/Carla/Settings/SensorDescription.h    | 16 +++++++++++++++-
 10 files changed, 60 insertions(+), 18 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
index 54dadbb37..0cf7633ad 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp
@@ -8,8 +8,8 @@
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "StaticMeshResources.h"
 
-ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
-  Super(ObjectInitializer)
+ALidar::ALidar(const FObjectInitializer& ObjectInitializer)
+  : Super(ObjectInitializer)
 {
   PrimaryActorTick.bCanEverTick = true;
 
@@ -23,8 +23,9 @@ ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
 
 void ALidar::Set(const ULidarDescription &LidarDescription)
 {
+  Super::Set(LidarDescription);
   Description = &LidarDescription;
-  LidarMeasurement = FLidarMeasurement(Description->Channels);
+  LidarMeasurement = FLidarMeasurement(GetId(), Description->Channels);
   CreateLasers();
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
index 8f8584004..bdd10baff 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
@@ -34,7 +34,8 @@ class FLidarMeasurement {
   static_assert(sizeof(float) == sizeof(uint32), "Invalid float size");
 public:
 
-  explicit FLidarMeasurement(uint32 ChannelCount = 0u)
+  explicit FLidarMeasurement(uint32 SensorId = 0u, uint32 ChannelCount = 0u)
+    : SensorId(SensorId)
   {
     Header.AddDefaulted(2u + ChannelCount);
     Header[1] = ChannelCount;
@@ -42,8 +43,10 @@ public:
 
   FLidarMeasurement &operator=(FLidarMeasurement &&Other)
   {
+    SensorId = Other.SensorId;
     Header = std::move(Other.Header);
     Points = std::move(Other.Points);
+    Other.SensorId = 0u;
     return *this;
   }
 
@@ -73,11 +76,13 @@ public:
 
   FSensorDataView GetView() const
   {
-    return FSensorDataView(Header, Points);
+    return FSensorDataView(SensorId, Header, Points);
   }
 
 private:
 
+  uint32 SensorId;
+
   TArray<uint32> Header;
 
   TArray<float> Points;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index 4df824a8b..7ae3f252c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -144,6 +144,7 @@ void ASceneCaptureCamera::Tick(const float DeltaSeconds)
   TArray<FColor> BitMap;
   if (ReadPixels(BitMap)) {
     FSensorDataView DataView(
+        GetId(),
         FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
         FReadOnlyBufferView{BitMap});
 
@@ -202,6 +203,7 @@ void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)
   //   PostProcessSettings.bOverride_AutoExposureBias = true;
   //   PostProcessSettings.AutoExposureBias = Override.AutoExposureBias;
   // }
+  Super::Set(CameraDescription);
   SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
   SetPostProcessEffect(CameraDescription.PostProcessEffect);
   SetFOVAngle(CameraDescription.FOVAngle);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
index 7316af109..9ff56e0ba 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
@@ -7,15 +7,9 @@
 #include "Carla.h"
 #include "Sensor.h"
 
-static uint32 GetNextSensorId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
 ASensor::ASensor(const FObjectInitializer& ObjectInitializer)
   : Super(ObjectInitializer),
-    Id(GetNextSensorId()) {}
+    Id(0u) {}
 
 void ASensor::AttachToActor(AActor *Actor)
 {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
index a3ad4b8b6..95213bc0a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
@@ -9,6 +9,7 @@
 #include "GameFramework/Actor.h"
 
 #include "Sensor/SensorDataSink.h"
+#include "Settings/SensorDescription.h"
 
 #include "Sensor.generated.h"
 
@@ -36,6 +37,11 @@ public:
 
 protected:
 
+  void Set(const USensorDescription &SensorDescription)
+  {
+    Id = SensorDescription.GetId();
+  }
+
   void WriteSensorData(const FSensorDataView &SensorData)
   {
     if (SensorDataSink.IsValid()) {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
index 14be1617c..db2006ae5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h
@@ -13,11 +13,18 @@ class FSensorDataView {
 public:
 
   FSensorDataView(
+      uint32 InSensorId,
       FReadOnlyBufferView InHeader,
       FReadOnlyBufferView InData)
-    : Header(InHeader),
+    : SensorId(InSensorId),
+      Header(InHeader),
       Data(InData) {}
 
+  uint32 GetSensorId() const
+  {
+    return SensorId;
+  }
+
   FReadOnlyBufferView GetHeader() const
   {
     return Header;
@@ -30,6 +37,8 @@ public:
 
 private:
 
+  uint32 SensorId;
+
   FReadOnlyBufferView Header;
 
   FReadOnlyBufferView Data;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
index 0edbca274..3fe042a77 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
@@ -18,7 +18,7 @@ template <typename T, typename D>
 static T *SpawnSensor(const D &Description, UWorld &World)
 {
   FActorSpawnParameters Params;
-  Params.Name = Description.Name;
+  Params.Name = FName(*Description.Name);
   return World.SpawnActor<T>(Description.Position, Description.Rotation, Params);
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index bd4d5b93d..ae6f5c655 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -54,7 +54,7 @@ static void LoadSensorFromConfig(
     const FIniFile &ConfigFile,
     USensorDescription &Sensor)
 {
-  ForEachSectionInName(Sensor.Name.ToString(), [&](const auto &Section){
+  ForEachSectionInName(Sensor.Name, [&](const auto &Section){
     Sensor.Load(ConfigFile, Section);
   });
 }
@@ -63,7 +63,7 @@ template <typename T>
 static T *MakeSensor(UObject *Parent, const FString &Name, const FString &Type)
 {
   auto *Sensor = NewObject<T>(Parent);
-  Sensor->Name = FName(*Name);
+  Sensor->Name = Name;
   Sensor->Type = Type;
   return Sensor;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
index 4237cef79..d75d9667d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
@@ -9,6 +9,16 @@
 
 #include "Util/IniFile.h"
 
+static uint32 GetNextSensorDescriptionId()
+{
+  static uint32 COUNT = 0u;
+  return ++COUNT;
+}
+
+USensorDescription::USensorDescription(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer),
+    Id(GetNextSensorDescriptionId()) {}
+
 void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
 {
   unimplemented();
@@ -26,7 +36,8 @@ void USensorDescription::Load(const FIniFile &Config, const FString &Section)
 
 void USensorDescription::Log() const
 {
-  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name.ToString());
+  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name);
+  UE_LOG(LogCarla, Log, TEXT("Id = %d"), Id);
   UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
   UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
   UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index 138fd9d39..5a8462fc5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -19,6 +19,13 @@ class CARLA_API USensorDescription : public UObject
 
 public:
 
+  USensorDescription(const FObjectInitializer &ObjectInitializer);
+
+  uint32 GetId() const
+  {
+    return Id;
+  }
+
   virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
 
   virtual void Load(const FIniFile &Config, const FString &Section);
@@ -32,9 +39,16 @@ public:
 
   virtual void Log() const;
 
+private:
+
+  UPROPERTY(Category = "Sensor Description", VisibleAnywhere)
+  uint32 Id;
+
+public:
+
   /** Display name of the sensor. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
-  FName Name;
+  FString Name;
 
   /** Sensor type. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)

From 8364f5db26891c6cc3c53d10e2e6346521cef8d8 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 13:26:17 +0100
Subject: [PATCH 080/108] Simplify sensor types and roll back post-processing
 effect

---
 Docs/Example.CarlaSettings.ini                | 15 ++--
 PythonClient/carla/carla_server_pb2.py        | 76 ++++++++-----------
 .../Carla/Settings/CameraDescription.cpp      | 20 +----
 .../Source/Carla/Settings/CarlaSettings.cpp   |  2 +-
 .../Carla/Settings/PostProcessEffect.cpp      | 16 ++++
 .../Source/Carla/Settings/PostProcessEffect.h |  2 +
 Util/CarlaServer/include/carla/carla_server.h |  8 +-
 .../source/carla/server/CarlaEncoder.cpp      |  9 +--
 Util/Proto/carla_server.proto                 |  7 +-
 9 files changed, 71 insertions(+), 84 deletions(-)

diff --git a/Docs/Example.CarlaSettings.ini b/Docs/Example.CarlaSettings.ini
index 995d2069b..8e08b0cfd 100644
--- a/Docs/Example.CarlaSettings.ini
+++ b/Docs/Example.CarlaSettings.ini
@@ -56,12 +56,15 @@ SeedPedestrians=123456789
 ; Now, every camera we added needs to be defined it in its own subsection.
 [CARLA/Sensor/MyCamera]
 ; Type of the sensor. The available types are:
-;   * CAMERA_NONE                   No effects applied.
-;   * CAMERA_SCENE_FINAL            Post-processing present at scene (bloom, fog, etc).
-;   * CAMERA_DEPTH                  Depth map ground-truth only.
-;   * CAMERA_SEMANTIC_SEGMENTATION  Semantic segmentation ground-truth only.
+;   * CAMERA                        A scene capture camera.
 ;   * LIDAR_RAY_TRACE               A LiDAR implementation based on ray-tracing.
-SensorType=CAMERA_SCENE_FINAL
+SensorType=CAMERA
+; Post-processing effect to be applied to this camera. Valid values:
+;   * None                  No effects applied.
+;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
+;   * Depth                 Depth map ground-truth only.
+;   * SemanticSegmentation  Semantic segmentation ground-truth only.
+PostProcessing=SceneFinal
 ; Size of the captured image in pixels.
 ImageSizeX=800
 ImageSizeY=600
@@ -80,7 +83,7 @@ RotationYaw=0
 ; The sensor can be defined in a subsection of MyCamera so it inherits the
 ; values in MyCamera. This adds a camera similar to MyCamera but generating
 ; depth map images instead.
-SensorType=CAMERA_DEPTH
+PostProcessing=Depth
 
 [CARLA/Sensor/MyLidar]
 SensorType=LIDAR_RAY_TRACE
diff --git a/PythonClient/carla/carla_server_pb2.py b/PythonClient/carla/carla_server_pb2.py
index 175ff05f0..d6f42678b 100644
--- a/PythonClient/carla/carla_server_pb2.py
+++ b/PythonClient/carla/carla_server_pb2.py
@@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   name='carla_server.proto',
   package='carla_server',
   syntax='proto3',
-  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\xd3\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"\x85\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x0f\n\x0b\x43\x41MERA_NONE\x10\x01\x12\x16\n\x12\x43\x41MERA_SCENE_FINAL\x10\x02\x12\x10\n\x0c\x43\x41MERA_DEPTH\x10\x03\x12 \n\x1c\x43\x41MERA_SEMANTIC_SEGMENTATION\x10\x04\x12\x13\n\x0fLIDAR_RAY_TRACE\x10\x05\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x8a\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc9\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
+  serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x81\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"4\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x13\n\x0fLIDAR_RAY_TRACE\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x8a\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc9\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
 )
 
 
@@ -35,30 +35,18 @@ _SENSOR_TYPE = _descriptor.EnumDescriptor(
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='CAMERA_NONE', index=1, number=1,
+      name='CAMERA', index=1, number=1,
       options=None,
       type=None),
     _descriptor.EnumValueDescriptor(
-      name='CAMERA_SCENE_FINAL', index=2, number=2,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='CAMERA_DEPTH', index=3, number=3,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='CAMERA_SEMANTIC_SEGMENTATION', index=4, number=4,
-      options=None,
-      type=None),
-    _descriptor.EnumValueDescriptor(
-      name='LIDAR_RAY_TRACE', index=5, number=5,
+      name='LIDAR_RAY_TRACE', index=2, number=2,
       options=None,
       type=None),
   ],
   containing_type=None,
   options=None,
-  serialized_start=365,
-  serialized_end=498,
+  serialized_start=364,
+  serialized_end=416,
 )
 _sym_db.RegisterEnumDescriptor(_SENSOR_TYPE)
 
@@ -83,8 +71,8 @@ _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor(
   ],
   containing_type=None,
   options=None,
-  serialized_start=857,
-  serialized_end=896,
+  serialized_start=775,
+  serialized_end=814,
 )
 _sym_db.RegisterEnumDescriptor(_TRAFFICLIGHT_STATE)
 
@@ -266,7 +254,7 @@ _SENSOR = _descriptor.Descriptor(
   oneofs=[
   ],
   serialized_start=287,
-  serialized_end=498,
+  serialized_end=416,
 )
 
 
@@ -310,8 +298,8 @@ _VEHICLE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=500,
-  serialized_end=620,
+  serialized_start=418,
+  serialized_end=538,
 )
 
 
@@ -355,8 +343,8 @@ _PEDESTRIAN = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=622,
-  serialized_end=745,
+  serialized_start=540,
+  serialized_end=663,
 )
 
 
@@ -394,8 +382,8 @@ _TRAFFICLIGHT = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=748,
-  serialized_end=896,
+  serialized_start=666,
+  serialized_end=814,
 )
 
 
@@ -432,8 +420,8 @@ _SPEEDLIMITSIGN = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=898,
-  serialized_end=979,
+  serialized_start=816,
+  serialized_end=897,
 )
 
 
@@ -494,8 +482,8 @@ _AGENT = _descriptor.Descriptor(
       name='agent', full_name='carla_server.Agent.agent',
       index=0, containing_type=None, fields=[]),
   ],
-  serialized_start=982,
-  serialized_end=1211,
+  serialized_start=900,
+  serialized_end=1129,
 )
 
 
@@ -525,8 +513,8 @@ _REQUESTNEWEPISODE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1213,
-  serialized_end=1250,
+  serialized_start=1131,
+  serialized_end=1168,
 )
 
 
@@ -563,8 +551,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1252,
-  serialized_end=1362,
+  serialized_start=1170,
+  serialized_end=1280,
 )
 
 
@@ -594,8 +582,8 @@ _EPISODESTART = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1364,
-  serialized_end=1411,
+  serialized_start=1282,
+  serialized_end=1329,
 )
 
 
@@ -625,8 +613,8 @@ _EPISODEREADY = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1413,
-  serialized_end=1442,
+  serialized_start=1331,
+  serialized_end=1360,
 )
 
 
@@ -684,8 +672,8 @@ _CONTROL = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1444,
-  serialized_end=1538,
+  serialized_start=1362,
+  serialized_end=1456,
 )
 
 
@@ -771,8 +759,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1734,
-  serialized_end=2063,
+  serialized_start=1652,
+  serialized_end=1981,
 )
 
 _MEASUREMENTS = _descriptor.Descriptor(
@@ -822,8 +810,8 @@ _MEASUREMENTS = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=1541,
-  serialized_end=2063,
+  serialized_start=1459,
+  serialized_end=1981,
 )
 
 _TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
index f350bd32b..bb8b38348 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
@@ -9,25 +9,12 @@
 
 #include "Util/IniFile.h"
 
-static EPostProcessEffect GetPostProcessEffect(const FString &SensorType)
-{
-  if (SensorType == "CAMERA_NONE") {
-    return EPostProcessEffect::None;
-  } else if (SensorType == "CAMERA_SCENE_FINAL") {
-    return EPostProcessEffect::SceneFinal;
-  } else if (SensorType == "CAMERA_DEPTH") {
-    return EPostProcessEffect::Depth;
-  } else if (SensorType == "CAMERA_SEMANTIC_SEGMENTATION") {
-    return EPostProcessEffect::SemanticSegmentation;
-  } else {
-    UE_LOG(LogCarla, Error, TEXT("Invalid sensor type \"%s\" for a camera"), *SensorType);
-    return EPostProcessEffect::INVALID;
-  }
-}
-
 void UCameraDescription::Load(const FIniFile &Config, const FString &Section)
 {
   Super::Load(Config, Section);
+  FString PostProcessing = TEXT("SceneFinal");
+  Config.GetString(*Section, TEXT("PostProcessing"), PostProcessing);
+  PostProcessEffect = PostProcessEffect::FromString(PostProcessing);
   Config.GetInt(*Section, TEXT("ImageSizeX"), ImageSizeX);
   Config.GetInt(*Section, TEXT("ImageSizeY"), ImageSizeY);
   Config.GetFloat(*Section, TEXT("CameraFOV"), FOVAngle);
@@ -38,7 +25,6 @@ void UCameraDescription::Validate()
   FMath::Clamp(FOVAngle, 0.001f, 360.0f);
   ImageSizeX = (ImageSizeX == 0u ? 720u : ImageSizeX);
   ImageSizeY = (ImageSizeY == 0u ? 512u : ImageSizeY);
-  PostProcessEffect = GetPostProcessEffect(Type);
 }
 
 void UCameraDescription::Log() const
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index ae6f5c655..ca5a0a41a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -74,7 +74,7 @@ static USensorDescription *MakeSensor(
     const FString &SensorName)
 {
   const auto SensorType = GetSensorType(ConfigFile, SensorName);
-  if (SensorType.StartsWith(TEXT("CAMERA_"), ESearchCase::IgnoreCase)) {
+  if (SensorType == TEXT("CAMERA")) {
     return MakeSensor<UCameraDescription>(Parent, SensorName, SensorType);
   } else if (SensorType == TEXT("LIDAR_RAY_TRACE")) {
     return MakeSensor<ULidarDescription>(Parent, SensorName, SensorType);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
index 479b998d0..12c5c2297 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.cpp
@@ -16,3 +16,19 @@ FString PostProcessEffect::ToString(EPostProcessEffect PostProcessEffect)
     return FString("Invalid");
   return ptr->GetNameStringByIndex(static_cast<int32>(PostProcessEffect));
 }
+
+EPostProcessEffect PostProcessEffect::FromString(const FString &String)
+{
+  if (String == "None") {
+    return EPostProcessEffect::None;
+  } else if (String == "SceneFinal") {
+    return EPostProcessEffect::SceneFinal;
+  } else if (String == "Depth") {
+    return EPostProcessEffect::Depth;
+  } else if (String == "SemanticSegmentation") {
+    return EPostProcessEffect::SemanticSegmentation;
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Invalid post-processing effect \"%s\""), *String);
+    return EPostProcessEffect::INVALID;
+  }
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h
index 3a6005485..c217fefb0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/PostProcessEffect.h
@@ -28,6 +28,8 @@ public:
 
   static FString ToString(EPostProcessEffect PostProcessEffect);
 
+  static EPostProcessEffect FromString(const FString &String);
+
   static constexpr uint_type ToUInt(EPostProcessEffect PostProcessEffect)
   {
     return static_cast<uint_type>(PostProcessEffect);
diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 046a37a55..fb46df964 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -71,11 +71,9 @@ extern "C" {
   /* -- sensors ------------------------------------------------------------- */
   /* ======================================================================== */
 
-#define CARLA_SERVER_CAMERA_NONE                   100u
-#define CARLA_SERVER_CAMERA_SCENE_FINAL            101u
-#define CARLA_SERVER_CAMERA_DEPTH                  102u
-#define CARLA_SERVER_CAMERA_SEMANTIC_SEGMENTATION  103u
-#define CARLA_SERVER_LIDAR_RAY_TRACE               104u
+#define CARLA_SERVER_SENSOR_UNKNOWN                  0u
+#define CARLA_SERVER_CAMERA                        101u
+#define CARLA_SERVER_LIDAR_RAY_TRACE               102u
 
   struct carla_sensor_definition {
     /** Id of the sensor. */
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 68df5940d..461512eae 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -58,12 +58,9 @@ namespace server {
     lhs->set_name(std::string(rhs.name));
     lhs->set_type([&](){
       switch (rhs.type) {
-        case CARLA_SERVER_CAMERA_NONE:                  return cs::Sensor::CAMERA_NONE;
-        case CARLA_SERVER_CAMERA_SCENE_FINAL:           return cs::Sensor::CAMERA_SCENE_FINAL;
-        case CARLA_SERVER_CAMERA_DEPTH:                 return cs::Sensor::CAMERA_DEPTH;
-        case CARLA_SERVER_CAMERA_SEMANTIC_SEGMENTATION: return cs::Sensor::CAMERA_SEMANTIC_SEGMENTATION;
-        case CARLA_SERVER_LIDAR_RAY_TRACE:              return cs::Sensor::LIDAR_RAY_TRACE;
-        default:                                        return cs::Sensor::UNKNOWN;
+        case CARLA_SERVER_CAMERA:             return cs::Sensor::CAMERA;
+        case CARLA_SERVER_LIDAR_RAY_TRACE:    return cs::Sensor::LIDAR_RAY_TRACE;
+        default:                              return cs::Sensor::UNKNOWN;
       }
     }());
   }
diff --git a/Util/Proto/carla_server.proto b/Util/Proto/carla_server.proto
index 43a5ba17c..348c165b6 100644
--- a/Util/Proto/carla_server.proto
+++ b/Util/Proto/carla_server.proto
@@ -39,11 +39,8 @@ message Transform {
 message Sensor {
   enum Type {
     UNKNOWN = 0;
-    CAMERA_NONE = 1;
-    CAMERA_SCENE_FINAL = 2;
-    CAMERA_DEPTH = 3;
-    CAMERA_SEMANTIC_SEGMENTATION = 4;
-    LIDAR_RAY_TRACE = 5;
+    CAMERA = 1;
+    LIDAR_RAY_TRACE = 2;
   }
 
   fixed32 id = 1;

From a26d65eee4cd66dd3e7d5f4f1c50e8e9dd08c4d9 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 13:52:08 +0100
Subject: [PATCH 081/108] Set up agent components

---
 .../Carla/Source/Carla/Agent/AgentComponent.h |  4 ++--
 .../Carla/Agent/TrafficSignAgentComponent.cpp |  8 ++++++--
 .../Carla/Agent/TrafficSignAgentComponent.h   | 15 +++++++++++----
 .../Carla/Agent/VehicleAgentComponent.cpp     | 10 +++++-----
 .../Carla/Agent/VehicleAgentComponent.h       | 12 +++++++++---
 .../Carla/Agent/WalkerAgentComponent.cpp      | 16 +++++++++++++---
 .../Source/Carla/Agent/WalkerAgentComponent.h | 16 ++++++++++++++--
 .../Source/Carla/Traffic/TrafficLightBase.cpp |  3 ++-
 .../Source/Carla/Traffic/TrafficLightBase.h   |  2 +-
 .../Source/Carla/Traffic/TrafficSignBase.cpp  | 19 ++++++++-----------
 .../Source/Carla/Traffic/TrafficSignBase.h    |  7 ++++---
 .../Carla/Vehicle/CarlaWheeledVehicle.cpp     |  1 +
 12 files changed, 76 insertions(+), 37 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
index e1788a058..29c902c80 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -8,7 +8,7 @@
 
 #include "Agent/AgentComponentVisitor.h"
 
-#include "Components/ActorComponent.h"
+#include "Components/SceneComponent.h"
 #include "Templates/SharedPointer.h"
 
 #include "AgentComponent.generated.h"
@@ -18,7 +18,7 @@ class FAgentMap;
 /// Actors with an UAgentComponent are registered as agents in the scene and
 /// their status is sent to the client each frame (if requested by the client).
 UCLASS(Abstract)
-class CARLA_API UAgentComponent : public UActorComponent
+class CARLA_API UAgentComponent : public USceneComponent
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
index f503a7e6a..e3aaa63a5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp
@@ -9,11 +9,15 @@
 #include "Carla.h"
 #include "TrafficSignAgentComponent.h"
 
+#include "Traffic/TrafficSignBase.h"
+
 UTrafficSignAgentComponent::UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UTrafficSignAgentComponent::OnComponentCreated()
+void UTrafficSignAgentComponent::BeginPlay()
 {
-  Super::OnComponentCreated();
+  TrafficSign = Cast<ATrafficSignBase>(GetOwner());
+  checkf(TrafficSign != nullptr, TEXT("UTrafficSignAgentComponent can only be attached to ATrafficSignBase"));
 
+  Super::BeginPlay();
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
index 3ab481963..752ebee6f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
@@ -10,8 +10,8 @@
 
 #include "TrafficSignAgentComponent.generated.h"
 
-/// This component can be added to any AWheeledVehicle to be added as agent.
-/// See UAgentComponent.
+class ATrafficSignBase;
+
 UCLASS()
 class CARLA_API UTrafficSignAgentComponent : public UAgentComponent
 {
@@ -21,9 +21,15 @@ public:
 
   UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  const ATrafficSignBase &GetTrafficSign() const
+  {
+    check(TrafficSign != nullptr);
+    return *TrafficSign;
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +38,6 @@ protected:
 
 private:
 
-
+  UPROPERTY()
+  ATrafficSignBase *TrafficSign = nullptr;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
index 8c9ff1e5f..be045161c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp
@@ -9,15 +9,15 @@
 #include "Carla.h"
 #include "VehicleAgentComponent.h"
 
-#include "WheeledVehicle.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
 
 UVehicleAgentComponent::UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UVehicleAgentComponent::OnComponentCreated()
+void UVehicleAgentComponent::BeginPlay()
 {
-  Super::OnComponentCreated();
+  WheeledVehicle = Cast<ACarlaWheeledVehicle>(GetOwner());
+  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to ACarlaWheeledVehicle"));
 
-  WheeledVehicle = Cast<AWheeledVehicle>(GetOwner());
-  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to AWheeledVehicle"));
+  Super::BeginPlay();
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
index 05b00ea35..b15a878b1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
@@ -10,7 +10,7 @@
 
 #include "VehicleAgentComponent.generated.h"
 
-class AWheeledVehicle;
+class ACarlaWheeledVehicle;
 
 UCLASS()
 class CARLA_API UVehicleAgentComponent : public UAgentComponent
@@ -21,9 +21,15 @@ public:
 
   UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  ACarlaWheeledVehicle &GetVehicle() const
+  {
+    check(WheeledVehicle != nullptr);
+    return *WheeledVehicle;
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +38,5 @@ protected:
 
 private:
 
-  AWheeledVehicle *WheeledVehicle = nullptr;
+  ACarlaWheeledVehicle *WheeledVehicle = nullptr;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
index 30e3dc12b..5a918eb29 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
@@ -9,11 +9,21 @@
 #include "Carla.h"
 #include "WalkerAgentComponent.h"
 
+#include "GameFramework/Character.h"
+
 UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UWalkerAgentComponent::OnComponentCreated()
+float UWalkerAgentComponent::GetForwardSpeed() const
 {
-  Super::OnComponentCreated();
-
+  /// @todo Is it necessary to compute this speed every tick?
+  return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
+}
+
+void UWalkerAgentComponent::BeginPlay()
+{
+  Walker = Cast<ACharacter>(GetOwner());
+  checkf(Walker != nullptr, TEXT("UWalkerAgentComponent can only be attached to ACharacter"));
+
+  Super::BeginPlay();
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
index db421a72a..ab822803c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
@@ -10,6 +10,8 @@
 
 #include "WalkerAgentComponent.generated.h"
 
+class ACharacter;
+
 /// This component can be added to any ACharacter to be added as agent.
 /// See UAgentComponent.
 UCLASS()
@@ -21,9 +23,18 @@ public:
 
   UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  /// Return forward speed in km/h.
+  float GetForwardSpeed() const;
+
+  FVector GetBoundingBoxExtent() const
+  {
+    /// @todo Perhaps the box it is not the same for every walker...
+    return {45.0f, 35.0f, 100.0f};
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +43,6 @@ protected:
 
 private:
 
-
+  UPROPERTY()
+  ACharacter *Walker = nullptr;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
index 6ef02d2fa..557828ebd 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
@@ -35,7 +35,8 @@ static ETrafficSignState ToTrafficSignState(ETrafficLightState State) {
 // -- ATrafficLightBase --------------------------------------------------------
 // =============================================================================
 
-ATrafficLightBase::ATrafficLightBase() : Super()
+ATrafficLightBase::ATrafficLightBase(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
 {
 	PrimaryActorTick.bCanEverTick = false;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
index 36f52a492..762da424b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
@@ -22,7 +22,7 @@ class CARLA_API ATrafficLightBase : public ATrafficSignBase {
 
 public:
 
-  ATrafficLightBase();
+  ATrafficLightBase(const FObjectInitializer &ObjectInitializer);
 
 protected:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
index 59e954be4..3320febbe 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
@@ -7,16 +7,13 @@
 #include "Carla.h"
 #include "TrafficSignBase.h"
 
-#include "Game/CarlaGameState.h"
+ATrafficSignBase::ATrafficSignBase(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {
+  RootComponent =
+      ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneRootComponent"));
+  RootComponent->SetMobility(EComponentMobility::Static);
 
-ATrafficSignBase::ATrafficSignBase() : Super() {}
-
-void ATrafficSignBase::BeginPlay()
-{
-  auto *GameState = GetWorld()->GetGameState<ACarlaGameState>();
-  if (GameState != nullptr) {
-    GameState->RegisterTrafficSign(this);
-  } else {
-    UE_LOG(LogCarla, Error, TEXT("Missing CARLA game state!"));
-  }
+  TrafficSignAgentComponent =
+      CreateDefaultSubobject<UTrafficSignAgentComponent>(TEXT("TrafficSignAgentComponent"));
+  TrafficSignAgentComponent->SetupAttachment(RootComponent);
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
index 8832dc7ed..2e4fcdb8d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
@@ -32,9 +32,7 @@ class CARLA_API ATrafficSignBase : public AActor {
 
 public:
 
-  ATrafficSignBase();
-
-  virtual void BeginPlay() override;
+  ATrafficSignBase(const FObjectInitializer &ObjectInitializer);
 
   UFUNCTION(BlueprintCallable)
   ETrafficSignState GetTrafficSignState() const
@@ -52,4 +50,7 @@ private:
 
   UPROPERTY(Category = "Traffic Sign", EditAnywhere)
   ETrafficSignState TrafficSignState = ETrafficSignState::UNKNOWN;
+
+  UPROPERTY(Category = "Traffic Sign", VisibleAnywhere)
+  UTrafficSignAgentComponent *TrafficSignAgentComponent;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index f5bb4f6a8..7ec61fe9e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -26,6 +26,7 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VehicleBounds->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
 
   VehicleAgentComponent = CreateDefaultSubobject<UVehicleAgentComponent>(TEXT("VehicleAgentComponent"));
+  VehicleAgentComponent->SetupAttachment(RootComponent);
 
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }

From 4cc63d479857ec151cef5385237f0f4e5a946e76 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 15:03:19 +0100
Subject: [PATCH 082/108] Fix shallow copy of pointer was passed over to
 different thread

---
 .../source/carla/server/CarlaEncoder.cpp      |  6 +++
 .../source/carla/server/CarlaEncoder.h        |  6 ++-
 .../carla/server/CarlaSceneDescription.h      | 48 +++++++++++++++++++
 Util/CarlaServer/source/carla/server/Future.h |  2 +-
 .../source/carla/server/RequestNewEpisode.h   |  3 +-
 .../source/carla/server/WorldServer.cpp       | 10 ++--
 .../source/carla/server/WorldServer.h         |  4 +-
 7 files changed, 71 insertions(+), 8 deletions(-)
 create mode 100644 Util/CarlaServer/source/carla/server/CarlaSceneDescription.h

diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 461512eae..42656f48c 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -11,6 +11,8 @@
 #include "carla/ArrayView.h"
 #include "carla/Debug.h"
 #include "carla/Logging.h"
+#include "carla/server/CarlaSceneDescription.h"
+#include "carla/server/RequestNewEpisode.h"
 
 #include "carla/server/carla_server.pb.h"
 
@@ -131,6 +133,10 @@ namespace server {
     return Protobuf::Encode(*message);
   }
 
+  std::string CarlaEncoder::Encode(const CarlaSceneDescription &values) {
+    return values.pop_scene();
+  }
+
   std::string CarlaEncoder::Encode(const carla_episode_ready &values) {
     auto *message = _protobuf.CreateMessage<cs::EpisodeReady>();
     DEBUG_ASSERT(message != nullptr);
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.h b/Util/CarlaServer/source/carla/server/CarlaEncoder.h
index 91732671c..78eb48743 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.h
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.h
@@ -8,11 +8,13 @@
 
 #include "carla/server/CarlaServerAPI.h"
 #include "carla/server/Protobuf.h"
-#include "carla/server/RequestNewEpisode.h"
 
 namespace carla {
 namespace server {
 
+  class CarlaSceneDescription;
+  class RequestNewEpisode;
+
   /// Converts the data between the C interface types and the Protobuf message
   /// that is going to be sent and received through the socket.
   class CarlaEncoder {
@@ -40,6 +42,8 @@ namespace server {
 
     std::string Encode(const carla_scene_description &values);
 
+    std::string Encode(const CarlaSceneDescription &values);
+
     std::string Encode(const carla_episode_ready &values);
 
     std::string Encode(const carla_measurements &values);
diff --git a/Util/CarlaServer/source/carla/server/CarlaSceneDescription.h b/Util/CarlaServer/source/carla/server/CarlaSceneDescription.h
new file mode 100644
index 000000000..37c8fa2cc
--- /dev/null
+++ b/Util/CarlaServer/source/carla/server/CarlaSceneDescription.h
@@ -0,0 +1,48 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/NonCopyable.h"
+#include "carla/server/CarlaServerAPI.h"
+
+#include <memory>
+
+namespace carla {
+namespace server {
+
+  /// This is the only message that for convenience it is encoded in the main
+  /// thread.
+  ///
+  /// Since the messages are only sent once, it is safe to invalidate the
+  /// encoded string on the first read.
+  class CarlaSceneDescription : private NonCopyable {
+  public:
+
+    CarlaSceneDescription() = default;
+
+    CarlaSceneDescription(std::string &&encoded_scene)
+      : _encoded_scene(std::move(encoded_scene)) {}
+
+    CarlaSceneDescription(CarlaSceneDescription &&rhs)
+      : _encoded_scene(std::move(rhs._encoded_scene)) {}
+
+    CarlaSceneDescription &operator=(CarlaSceneDescription &&rhs) {
+      _encoded_scene = std::move(rhs._encoded_scene);
+      return *this;
+    }
+
+    std::string pop_scene() const {
+      return std::move(_encoded_scene);
+    }
+
+  private:
+
+    mutable std::string _encoded_scene;
+  };
+
+} // namespace server
+} // namespace carla
diff --git a/Util/CarlaServer/source/carla/server/Future.h b/Util/CarlaServer/source/carla/server/Future.h
index 61c51acd0..fea5205c4 100644
--- a/Util/CarlaServer/source/carla/server/Future.h
+++ b/Util/CarlaServer/source/carla/server/Future.h
@@ -36,7 +36,7 @@ namespace future {
   template <typename T>
   static inline bool wait_and_get(std::future<T> &future, T &result, timeout_t timeout) {
     if (is_ready(future, timeout)) {
-      result = future.get();
+      result = std::move(future.get());
       return true;
     } else {
       return false;
diff --git a/Util/CarlaServer/source/carla/server/RequestNewEpisode.h b/Util/CarlaServer/source/carla/server/RequestNewEpisode.h
index 0e615ffbd..2d463e2a5 100644
--- a/Util/CarlaServer/source/carla/server/RequestNewEpisode.h
+++ b/Util/CarlaServer/source/carla/server/RequestNewEpisode.h
@@ -17,7 +17,8 @@ namespace server {
   /// ownership of data throught the C interface we need to hold it internally.
   /// The data is hold in memory until the next call to
   /// carla_read_request_new_episode().
-  struct RequestNewEpisode {
+  class RequestNewEpisode {
+  public:
     carla_request_new_episode values;
     std::unique_ptr<const char[]> data;
   };
diff --git a/Util/CarlaServer/source/carla/server/WorldServer.cpp b/Util/CarlaServer/source/carla/server/WorldServer.cpp
index 7eafa8be4..8fb8b6bdb 100644
--- a/Util/CarlaServer/source/carla/server/WorldServer.cpp
+++ b/Util/CarlaServer/source/carla/server/WorldServer.cpp
@@ -39,10 +39,10 @@ namespace server {
     return reading.error_code;
   }
 
-  template <typename T>
-  static std::future<error_code> Write(WriteTask<T> &task, const T &value) {
+  template <typename T, typename E = typename std::remove_reference<T>::type>
+  static std::future<error_code> Write(WriteTask<E> &task, T &&value) {
     DEBUG_ASSERT(task.valid());
-    task.set_message(value);
+    task.set_message(std::forward<T>(value));
     return task.ReleaseResult();
   }
 
@@ -91,11 +91,13 @@ namespace server {
 
   std::future<error_code> WorldServer::Write(
       const carla_scene_description &scene_description) {
+    /// @todo Here sensor names are not copied and will be invalidated.
     decltype(_sensor_definitions) defs(
         scene_description.sensors,
         scene_description.sensors + scene_description.number_of_sensors);
     _sensor_definitions = std::move(defs);
-    return carla::server::Write(_protocol.scene_description, scene_description);
+    CarlaSceneDescription scene(_encoder.Encode(scene_description));
+    return carla::server::Write(_protocol.scene_description, std::move(scene));
   }
 
   error_code WorldServer::TryRead(
diff --git a/Util/CarlaServer/source/carla/server/WorldServer.h b/Util/CarlaServer/source/carla/server/WorldServer.h
index 3ec88dd7f..bd9fc24b0 100644
--- a/Util/CarlaServer/source/carla/server/WorldServer.h
+++ b/Util/CarlaServer/source/carla/server/WorldServer.h
@@ -9,7 +9,9 @@
 #include "carla/NonCopyable.h"
 #include "carla/server/AsyncServer.h"
 #include "carla/server/CarlaEncoder.h"
+#include "carla/server/CarlaSceneDescription.h"
 #include "carla/server/EncoderServer.h"
+#include "carla/server/RequestNewEpisode.h"
 #include "carla/server/TCPServer.h"
 
 namespace carla {
@@ -58,7 +60,7 @@ namespace server {
       explicit Protocol(time_duration timeout);
 
       ReadTask<RequestNewEpisode> request_new_episode;
-      WriteTask<carla_scene_description> scene_description;
+      WriteTask<CarlaSceneDescription> scene_description;
       ReadTask<carla_episode_start> episode_start;
       WriteTask<carla_episode_ready> episode_ready;
     };

From 8de753f30eaa03a3b698e796e9d5fa4c015d147f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 15:09:14 +0100
Subject: [PATCH 083/108] Refactor server game controller

---
 .../Source/Carla/Agent/AgentComponent.cpp     |  26 +-
 .../Carla/Source/Carla/Agent/AgentComponent.h |   4 -
 .../Carla/Source/Carla/Agent/AgentMap.h       |  21 --
 .../Carla/Game/CarlaGameControllerBase.h      |   7 +
 .../Source/Carla/Game/CarlaGameInstance.cpp   |   6 +-
 .../Source/Carla/Game/CarlaGameInstance.h     |  10 +
 .../Source/Carla/Game/CarlaGameModeBase.cpp   |  31 +-
 .../Source/Carla/Game/CarlaGameModeBase.h     |   9 +-
 .../Carla/Source/Carla/Game/CarlaGameState.h  |  56 ---
 .../Carla/Source/Carla/Game/DataRouter.cpp    |  28 +-
 .../Carla/Source/Carla/Game/DataRouter.h      |  43 ++-
 .../Source/Carla/Game/MockGameController.cpp  |  18 +-
 .../Source/Carla/Game/MockGameController.h    |  14 +-
 .../Source/Carla/Server/CarlaEncoder.cpp      | 191 +++++++++++
 .../Carla/Source/Carla/Server/CarlaEncoder.h  |  73 ++++
 .../Source/Carla/Server/CarlaGameController.h |  45 ---
 .../Carla/Source/Carla/Server/CarlaServer.cpp | 324 +++---------------
 .../Carla/Source/Carla/Server/CarlaServer.h   |  25 +-
 ...ontroller.cpp => ServerGameController.cpp} |  77 +++--
 .../Carla/Server/ServerGameController.h       |  42 +++
 .../Carla/Server/ServerSensorDataSink.h       |  31 ++
 .../Carla/Vehicle/CarlaWheeledVehicle.cpp     |   1 +
 .../Source/Carla/Vehicle/VehicleControl.h     |   3 +
 23 files changed, 555 insertions(+), 530 deletions(-)
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
 delete mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
 rename Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/{CarlaGameController.cpp => ServerGameController.cpp} (58%)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.h
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerSensorDataSink.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
index aa1069c53..1e3d5f5df 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@@ -9,27 +9,26 @@
 #include "Carla.h"
 #include "AgentComponent.h"
 
-#include "Agent/AgentMap.h"
 #include "Game/CarlaGameModeBase.h"
 #include "Game/DataRouter.h"
 
-static uint32 GetNextId()
+static uint32 GetNextAgentId()
 {
   static uint32 COUNT = 0u;
   return ++COUNT;
 }
 
-static TSharedPtr<FAgentMap> GetAgentMap(UWorld *World)
+static FDataRouter &GetDataRouter(UWorld *World)
 {
   check(World != nullptr);
   auto *GameMode = Cast<ACarlaGameModeBase>(World->GetAuthGameMode());
   check(GameMode != nullptr);
-  return GameMode->GetDataRouter().GetAgents();
+  return GameMode->GetDataRouter();
 }
 
 UAgentComponent::UAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer),
-    Id(GetNextId()) {}
+    Id(GetNextAgentId()) {}
 
 void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
 {
@@ -39,24 +38,11 @@ void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
 void UAgentComponent::BeginPlay()
 {
   Super::BeginPlay();
-
-  // Register this component in the World's list of agents.
-  auto AgentMapPtr = GetAgentMap(GetWorld());
-  if (AgentMapPtr.IsValid()) {
-    AgentMapPtr->Agents.Add(Id, this);
-    AgentMap = AgentMapPtr;
-  } else {
-    UE_LOG(LogCarla, Error, TEXT("AgentComponent: Missing AgentMap!"));
-  }
+  GetDataRouter(GetWorld()).RegisterAgent(this);
 }
 
 void UAgentComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
-  // Deregister this component in the World's list of agents.
-  auto AgentMapPtr = AgentMap.Pin();
-  if (AgentMapPtr.IsValid()) {
-    AgentMapPtr->Agents.Remove(Id);
-  }
-
+  GetDataRouter(GetWorld()).DeregisterAgent(this);
   Super::EndPlay(EndPlayReason);
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
index 29c902c80..6ca83b3e2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -13,8 +13,6 @@
 
 #include "AgentComponent.generated.h"
 
-class FAgentMap;
-
 /// Actors with an UAgentComponent are registered as agents in the scene and
 /// their status is sent to the client each frame (if requested by the client).
 UCLASS(Abstract)
@@ -43,6 +41,4 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   uint32 Id;
-
-  TWeakPtr<FAgentMap> AgentMap = nullptr;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
deleted file mode 100644
index 62223b7d7..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentMap.h
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "Containers/Map.h"
-
-class FAgentMap
-{
-public:
-
-
-private:
-
-  friend class UAgentComponent;
-
-  TMap<uint32, UAgentComponent *> Agents;
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
index 9ed6b2ae9..50d4c9c2b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameControllerBase.h
@@ -10,6 +10,7 @@
 
 class AController;
 class APlayerStart;
+class FDataRouter;
 class UCarlaSettings;
 
 /// Base class for a CARLA game controller.
@@ -17,6 +18,8 @@ class ICarlaGameControllerBase
 {
 public:
 
+  ICarlaGameControllerBase(FDataRouter &DataRouter) : DataRouter(DataRouter) {}
+
   virtual ~ICarlaGameControllerBase() {}
 
   virtual void Initialize(UCarlaSettings &CarlaSettings) = 0;
@@ -28,4 +31,8 @@ public:
   virtual void BeginPlay() = 0;
 
   virtual void Tick(float DeltaSeconds) = 0;
+
+protected:
+
+  FDataRouter &DataRouter;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
index f80b0b750..467c11e84 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
@@ -8,7 +8,7 @@
 #include "CarlaGameInstance.h"
 
 #include "Game/MockGameController.h"
-#include "Server/CarlaGameController.h"
+#include "Server/ServerGameController.h"
 #include "Settings/CarlaSettings.h"
 
 UCarlaGameInstance::UCarlaGameInstance() {
@@ -25,9 +25,9 @@ void UCarlaGameInstance::InitializeGameControllerIfNotPresent(
 {
   if (GameController == nullptr) {
     if (CarlaSettings->bUseNetworking) {
-      GameController = MakeUnique<CarlaGameController>();
+      GameController = MakeUnique<FServerGameController>(DataRouter);
     } else {
-      GameController = MakeUnique<MockGameController>(MockControllerSettings);
+      GameController = MakeUnique<MockGameController>(DataRouter, MockControllerSettings);
       UE_LOG(LogCarla, Log, TEXT("Using mock CARLA controller"));
     }
   }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
index 968ccfcd6..e138c395d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
@@ -7,7 +7,10 @@
 #pragma once
 
 #include "Engine/GameInstance.h"
+
 #include "Game/CarlaGameControllerBase.h"
+#include "Game/DataRouter.h"
+
 #include "CarlaGameInstance.generated.h"
 
 class UCarlaSettings;
@@ -54,10 +57,17 @@ public:
     return CarlaSettings;
   }
 
+  FDataRouter &GetDataRouter()
+  {
+    return DataRouter;
+  }
+
 private:
 
   UPROPERTY(Category = "CARLA Settings", EditAnywhere)
   UCarlaSettings *CarlaSettings;
 
+  FDataRouter DataRouter;
+
   TUniquePtr<ICarlaGameControllerBase> GameController;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index e688f0b6a..5efd1be63 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -8,7 +8,6 @@
 #include "CarlaGameModeBase.h"
 
 #include "Game/CarlaGameInstance.h"
-#include "Game/CarlaGameState.h"
 #include "Game/CarlaHUD.h"
 #include "Game/CarlaPlayerState.h"
 #include "Game/Tagger.h"
@@ -35,7 +34,6 @@ ACarlaGameModeBase::ACarlaGameModeBase(const FObjectInitializer& ObjectInitializ
   bAllowTickBeforeBeginPlay = false;
 
   PlayerControllerClass = ACarlaVehicleController::StaticClass();
-  GameStateClass = ACarlaGameState::StaticClass();
   PlayerStateClass = ACarlaPlayerState::StaticClass();
   HUDClass = ACarlaHUD::StaticClass();
 
@@ -132,17 +130,6 @@ void ACarlaGameModeBase::BeginPlay()
 {
   Super::BeginPlay();
 
-  auto CarlaGameState = Cast<ACarlaGameState>(GameState);
-  checkf(
-      CarlaGameState != nullptr,
-      TEXT("GameState is not a ACarlaGameState, did you forget to set it in the project settings?"));
-  if (WalkerSpawner != nullptr) {
-    CarlaGameState->WalkerSpawner = WalkerSpawner;
-  }
-  if (VehicleSpawner != nullptr) {
-    CarlaGameState->VehicleSpawner = VehicleSpawner;
-  }
-
   const auto &CarlaSettings = GameInstance->GetCarlaSettings();
 
   // Setup semantic segmentation if necessary.
@@ -207,17 +194,19 @@ void ACarlaGameModeBase::RegisterPlayer(AController &NewPlayer)
 {
   check(GameController != nullptr);
   AddTickPrerequisiteActor(&NewPlayer);
-  GameController->RegisterPlayer(NewPlayer);
   PlayerController = Cast<ACarlaVehicleController>(&NewPlayer);
-  AttachCaptureCamerasToPlayer();
+  if (PlayerController != nullptr) {
+    GetDataRouter().RegisterPlayer(*PlayerController);
+    GameController->RegisterPlayer(*PlayerController);
+    AttachSensorsToPlayer();
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("ACarlaGameModeBase: Player is not a ACarlaVehicleController"));
+  }
 }
 
-void ACarlaGameModeBase::AttachCaptureCamerasToPlayer()
+void ACarlaGameModeBase::AttachSensorsToPlayer()
 {
-  if (PlayerController == nullptr) {
-    UE_LOG(LogCarla, Warning, TEXT("Trying to add capture cameras but player is not a ACarlaVehicleController"));
-    return;
-  }
+  check(PlayerController != nullptr);
   const auto &Settings = GameInstance->GetCarlaSettings();
   const auto *Weather = Settings.GetActiveWeatherDescription();
   const FCameraPostProcessParameters *OverridePostProcessParameters = nullptr;
@@ -227,7 +216,9 @@ void ACarlaGameModeBase::AttachCaptureCamerasToPlayer()
 
   for (const auto &Item : Settings.SensorDescriptions) {
     auto *Sensor = FSensorFactory::Make(*Item.Value, *GetWorld());
+    check(Sensor != nullptr);
     Sensor->AttachToActor(PlayerController->GetPawn());
+    GetDataRouter().RegisterSensor(*Sensor);
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index cba98af44..b5c5f7c1f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -10,7 +10,7 @@
 
 #include "DynamicWeather.h"
 #include "Game/CarlaGameControllerBase.h"
-#include "Game/DataRouter.h"
+#include "Game/CarlaGameInstance.h"
 #include "Game/MockGameControllerSettings.h"
 #include "Vehicle/VehicleSpawnerBase.h"
 #include "Walker/WalkerSpawnerBase.h"
@@ -42,7 +42,8 @@ public:
 
   FDataRouter &GetDataRouter()
   {
-    return DataRouter;
+    check(GameInstance != nullptr);
+    return GameInstance->GetDataRouter();
   }
 
 protected:
@@ -67,7 +68,7 @@ private:
 
   void RegisterPlayer(AController &NewPlayer);
 
-  void AttachCaptureCamerasToPlayer();
+  void AttachSensorsToPlayer();
 
   void TagActorsForSemanticSegmentation();
 
@@ -79,8 +80,6 @@ private:
       AController *Player,
       TArray<APlayerStart *> &UnOccupiedStartPoints);
 
-  FDataRouter DataRouter;
-
   ICarlaGameControllerBase *GameController;
 
   UPROPERTY()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
deleted file mode 100644
index df1ca80ce..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameState.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "GameFramework/GameStateBase.h"
-
-#include "Traffic/TrafficSignBase.h"
-#include "Vehicle/VehicleSpawnerBase.h"
-#include "Walker/WalkerSpawnerBase.h"
-
-#include "CarlaGameState.generated.h"
-
-UCLASS()
-class CARLA_API ACarlaGameState : public AGameStateBase
-{
-	GENERATED_BODY()
-
-public:
-
-  const AVehicleSpawnerBase *GetVehicleSpawner() const
-  {
-    return VehicleSpawner;
-  }
-
-  const AWalkerSpawnerBase *GetWalkerSpawner() const
-  {
-    return WalkerSpawner;
-  }
-
-  const TArray<ATrafficSignBase *> &GetTrafficSigns() const
-  {
-    return TrafficSigns;
-  }
-
-  void RegisterTrafficSign(ATrafficSignBase *TrafficSign)
-  {
-    TrafficSigns.Add(TrafficSign);
-  }
-
-private:
-
-  friend class ACarlaGameModeBase;
-
-  UPROPERTY()
-  AVehicleSpawnerBase *VehicleSpawner = nullptr;
-
-  UPROPERTY()
-  AWalkerSpawnerBase *WalkerSpawner = nullptr;
-
-  UPROPERTY()
-  TArray<ATrafficSignBase *> TrafficSigns;
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
index b8f0a22fc..4724b3409 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.cpp
@@ -7,17 +7,12 @@
 #include "Carla.h"
 #include "DataRouter.h"
 
-#include "Agent/AgentMap.h"
 #include "Sensor/Sensor.h"
 
-FDataRouter::FDataRouter() : Agents(MakeShared<FAgentMap>()) {}
-
-FDataRouter::~FDataRouter() {}
-
-void FDataRouter::RegisterPlayer(ACarlaVehicleController *InPlayer)
+void FDataRouter::RegisterPlayer(ACarlaVehicleController &InPlayer)
 {
   if (Player == nullptr) {
-    Player = InPlayer;
+    Player = &InPlayer;
   } else {
     UE_LOG(
         LogCarla,
@@ -26,11 +21,10 @@ void FDataRouter::RegisterPlayer(ACarlaVehicleController *InPlayer)
   }
 }
 
-void FDataRouter::RegisterSensor(ASensor *InSensor)
+void FDataRouter::RegisterSensor(ASensor &InSensor)
 {
-  if (SensorDataSink.Get() != nullptr) {
-    check(InSensor != nullptr);
-    InSensor->SetSensorDataSink(SensorDataSink);
+  if (SensorDataSink.IsValid()) {
+    InSensor.SetSensorDataSink(SensorDataSink);
   } else {
     UE_LOG(
         LogCarla,
@@ -39,7 +33,15 @@ void FDataRouter::RegisterSensor(ASensor *InSensor)
   }
 }
 
-void FDataRouter::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+void FDataRouter::RestartLevel()
 {
-
+  if (Player != nullptr) {
+    Player->RestartLevel();
+    Player = nullptr;
+  } else {
+    UE_LOG(
+        LogCarla,
+        Error,
+        TEXT("FDataRouter: Trying to restart level but I don't have any player registered"));
+  }
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
index 0fc4cd118..0491e9ca4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/DataRouter.h
@@ -6,47 +6,66 @@
 
 #pragma once
 
-#include "Agent/AgentMap.h"
+#include "Util/NonCopyable.h"
+
 #include "Sensor/SensorDataSink.h"
+
 #include "Vehicle/CarlaVehicleController.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
 
 class ACarlaPlayerState;
 class ASensor;
+class UAgentComponent;
 struct FVehicleControl;
 
-class FDataRouter
+class FDataRouter : private NonCopyable
 {
 public:
 
-  FDataRouter();
-
-  ~FDataRouter();
-
   void SetSensorDataSink(TSharedPtr<ISensorDataSink> InSensorDataSink)
   {
+    check(!SensorDataSink.IsValid());
     SensorDataSink = InSensorDataSink;
   }
 
-  void RegisterPlayer(ACarlaVehicleController *InPlayer);
+  void RegisterPlayer(ACarlaVehicleController &InPlayer);
 
-  void RegisterSensor(ASensor *InSensor);
+  void RegisterSensor(ASensor &InSensor);
 
-  const ACarlaPlayerState &GetPlayerState()
+  void RegisterAgent(const UAgentComponent *Agent)
+  {
+    check(Agent != nullptr);
+    Agents.Emplace(Agent);
+  }
+
+  void DeregisterAgent(const UAgentComponent *Agent)
+  {
+    check(Agent != nullptr);
+    Agents.RemoveSwap(Agent);
+  }
+
+  const ACarlaPlayerState &GetPlayerState() const
   {
     check(Player != nullptr);
     return Player->GetPlayerState();
   }
 
-  TSharedPtr<FAgentMap> GetAgents()
+  const TArray<const UAgentComponent *> &GetAgents() const
   {
     return Agents;
   }
 
-  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl)
+  {
+    check((Player != nullptr) && (Player->IsPossessingAVehicle()));
+    Player->GetPossessedVehicle()->ApplyVehicleControl(VehicleControl);
+  }
+
+  void RestartLevel();
 
 private:
 
-  const TSharedPtr<FAgentMap> Agents;
+  TArray<const UAgentComponent *> Agents;
 
   ACarlaVehicleController *Player = nullptr;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp
index c57352758..9d2a14f69 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.cpp
@@ -7,8 +7,22 @@
 #include "Carla.h"
 #include "MockGameController.h"
 
-MockGameController::MockGameController(const FMockGameControllerSettings &InSettings) :
-  Settings(InSettings) {}
+#include "Game/DataRouter.h"
+#include "Sensor/SensorDataSink.h"
+
+class FMockSensorDataSink : public ISensorDataSink {
+public:
+
+  virtual void Write(const FSensorDataView &) final {}
+};
+
+MockGameController::MockGameController(
+    FDataRouter &InDataRouter,
+    const FMockGameControllerSettings &InSettings)
+  : ICarlaGameControllerBase(InDataRouter),
+    Settings(InSettings) {
+  DataRouter.SetSensorDataSink(MakeShared<FMockSensorDataSink>());
+}
 
 void MockGameController::Initialize(UCarlaSettings &CarlaSettings)
 {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
index 767d1280d..ce4060ec2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/MockGameController.h
@@ -11,21 +11,21 @@
 #include "Game/MockGameControllerSettings.h"
 
 /// Mocks the CARLA game controller class for testing purposes.
-class CARLA_API MockGameController : public ICarlaGameControllerBase
+class MockGameController : public ICarlaGameControllerBase
 {
 public:
 
-  explicit MockGameController(const FMockGameControllerSettings &Settings);
+  explicit MockGameController(FDataRouter &DataRouter, const FMockGameControllerSettings &Settings);
 
-  virtual void Initialize(UCarlaSettings &CarlaSettings) override;
+  virtual void Initialize(UCarlaSettings &CarlaSettings) final;
 
-  virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) override;
+  virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) final;
 
-  virtual void RegisterPlayer(AController &NewPlayer) override;
+  virtual void RegisterPlayer(AController &NewPlayer) final;
 
-  virtual void BeginPlay() override;
+  virtual void BeginPlay() final;
 
-  virtual void Tick(float DeltaSeconds) override;
+  virtual void Tick(float DeltaSeconds) final;
 
 private:
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
new file mode 100644
index 000000000..84110f6ec
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
@@ -0,0 +1,191 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "CarlaEncoder.h"
+
+#include "Agent/TrafficSignAgentComponent.h"
+#include "Agent/VehicleAgentComponent.h"
+#include "Agent/WalkerAgentComponent.h"
+#include "Game/CarlaPlayerState.h"
+#include "Settings/SensorDescription.h"
+
+#include "GameFramework/PlayerStart.h"
+
+// =============================================================================
+// -- Static local methods -----------------------------------------------------
+// =============================================================================
+
+static void Encode(const FVector &Vector, carla_vector3d &Data)
+{
+  Data = {Vector.X, Vector.Y, Vector.Z};
+}
+
+static void Encode(const FRotator &Rotator, carla_rotation3d &Data)
+{
+  Data.pitch = Rotator.Pitch;
+  Data.roll = Rotator.Roll;
+  Data.yaw = Rotator.Yaw;
+}
+
+static void Encode(const FTransform &Transform, carla_transform &Data)
+{
+  Encode(Transform.GetLocation(), Data.location);
+  Encode(Transform.GetRotation().GetForwardVector(), Data.orientation);
+  Encode(Transform.Rotator(), Data.rotation);
+}
+
+static void Encode(const USensorDescription &SensorDescription, carla_sensor_definition &Data)
+{
+  Data.id = SensorDescription.GetId();
+  Data.name = TCHAR_TO_ANSI(*SensorDescription.Name);
+  Data.type = [](const FString &Type) {
+#define CARLA_CHECK_TYPE(Str) if (Type == TEXT(#Str)) return CARLA_SERVER_ ## Str;
+      CARLA_CHECK_TYPE(CAMERA)
+      CARLA_CHECK_TYPE(LIDAR_RAY_TRACE)
+      else return CARLA_SERVER_SENSOR_UNKNOWN;
+#undef CARLA_CHECK_TYPE
+  }(SensorDescription.Type);
+}
+
+// =============================================================================
+// -- FCarlaEncoder static methods ---------------------------------------------
+// =============================================================================
+
+void FCarlaEncoder::Encode(
+    const TArray<APlayerStart *> &AvailableStartSpots,
+    TArray<carla_transform> &Data)
+{
+  const int32 NumberOfStartSpots = AvailableStartSpots.Num();
+  Data.AddUninitialized(NumberOfStartSpots);
+  for (auto i = 0; i < NumberOfStartSpots; ++i) {
+    check(AvailableStartSpots[i] != nullptr);
+    ::Encode(AvailableStartSpots[i]->GetActorTransform(), Data[i]);
+  }
+}
+
+void FCarlaEncoder::Encode(
+    const TArray<USensorDescription *> &SensorDescriptions,
+    TArray<carla_sensor_definition> &Data)
+{
+  const int32 NumberOfSensors = SensorDescriptions.Num();
+  Data.AddUninitialized(NumberOfSensors);
+  for (auto i = 0; i < NumberOfSensors; ++i) {
+    check(SensorDescriptions[i] != nullptr);
+    ::Encode(*SensorDescriptions[i], Data[i]);
+  }
+}
+
+void FCarlaEncoder::Encode(
+    const ACarlaPlayerState &PlayerState,
+    carla_measurements &Data)
+{
+  Data.platform_timestamp = PlayerState.GetPlatformTimeStamp();
+  Data.game_timestamp = PlayerState.GetGameTimeStamp();
+  auto &Player = Data.player_measurements;
+  ::Encode(PlayerState.GetTransform(), Player.transform);
+  ::Encode(PlayerState.GetAcceleration(), Player.acceleration);
+  Player.forward_speed = PlayerState.GetForwardSpeed();
+  Player.collision_vehicles = PlayerState.GetCollisionIntensityCars();
+  Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians();
+  Player.collision_other = PlayerState.GetCollisionIntensityOther();
+  Player.intersection_otherlane = PlayerState.GetOtherLaneIntersectionFactor();
+  Player.intersection_offroad = PlayerState.GetOffRoadIntersectionFactor();
+  Player.autopilot_control.steer = PlayerState.GetSteer();
+  Player.autopilot_control.throttle = PlayerState.GetThrottle();
+  Player.autopilot_control.brake = PlayerState.GetBrake();
+  Player.autopilot_control.hand_brake = PlayerState.GetHandBrake();
+  Player.autopilot_control.reverse = PlayerState.GetCurrentGear() < 0;
+}
+
+void FCarlaEncoder::Encode(
+    const TArray<const UAgentComponent *> &Agents,
+    TArray<carla_agent> &Data)
+{
+  const int32 NumberOfAgents = Agents.Num();
+  Data.AddUninitialized(NumberOfAgents);
+  for (auto i = 0; i < NumberOfAgents; ++i) {
+    check(Agents[i] != nullptr);
+    Encode(*Agents[i], Data[i]);
+  }
+}
+
+void FCarlaEncoder::Encode(const UAgentComponent &AgentComponent, carla_agent &AgentData)
+{
+  AgentData.id = AgentComponent.GetId();
+  ::Encode(AgentComponent.GetComponentTransform(), AgentData.transform);
+  FCarlaEncoder Encoder(AgentData);
+  AgentComponent.AcceptVisitor(Encoder);
+}
+
+// =============================================================================
+// -- FCarlaEncoder ------------------------------------------------------------
+// =============================================================================
+
+FCarlaEncoder::FCarlaEncoder(carla_agent &InData) : Data(InData) {}
+
+void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
+{
+  auto &TrafficSign = Agent.GetTrafficSign();
+  switch (TrafficSign.GetTrafficSignState()) {
+    case ETrafficSignState::TrafficLightRed:
+      Data.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_RED;
+      break;
+    case ETrafficSignState::TrafficLightYellow:
+      Data.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_YELLOW;
+      break;
+    case ETrafficSignState::TrafficLightGreen:
+      Data.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_GREEN;
+      break;
+    case ETrafficSignState::SpeedLimit_30:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 30.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_40:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 40.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_50:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 50.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_60:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 60.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_90:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 90.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_100:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 100.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_120:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 120.0f;
+      break;
+    case ETrafficSignState::SpeedLimit_130:
+      Data.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
+      Data.forward_speed = 130.0f;
+      break;
+    default:
+      UE_LOG(LogCarla, Error, TEXT("Unknown traffic sign!"));
+  }
+}
+
+void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
+{
+  auto &Vehicle = Agent.GetVehicle();
+  Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
+  ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
+}
+
+void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
+{
+  Data.forward_speed = Agent.GetForwardSpeed();
+  ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
new file mode 100644
index 000000000..c0a52a05b
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
@@ -0,0 +1,73 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Agent/AgentComponentVisitor.h"
+
+#include "Sensor/SensorDataView.h"
+#include "Vehicle/VehicleControl.h"
+
+#include <carla/carla_server.h>
+
+/// Encodes Unreal classes to CarlaServer API. To be used by FCarlaServer only.
+class FCarlaEncoder : private IAgentComponentVisitor
+{
+public:
+
+  static void Encode(
+    const TArray<APlayerStart *> &AvailableStartSpots,
+    TArray<carla_transform> &Data);
+
+  static void Encode(
+    const TArray<USensorDescription *> &SensorDescriptions,
+    TArray<carla_sensor_definition> &Data);
+
+  static void Encode(
+      const ACarlaPlayerState &PlayerState,
+      carla_measurements &Data);
+
+  static void Encode(
+      const TArray<const UAgentComponent *> &Agents,
+      TArray<carla_agent> &Data);
+
+  static void Encode(const FSensorDataView &SensorData, carla_sensor_data &Data)
+  {
+    Data.id = SensorData.GetSensorId();
+    Data.header = SensorData.GetHeader().GetData();
+    Data.header_size = SensorData.GetHeader().GetSize();
+    Data.data = SensorData.GetData().GetData();
+    Data.data_size = SensorData.GetData().GetSize();
+  }
+
+  static void Decode(const carla_request_new_episode &Data, FString &IniFile)
+  {
+    IniFile = FString(Data.ini_file_length, ANSI_TO_TCHAR(Data.ini_file));
+  }
+
+  static void Decode(const carla_control &Data, FVehicleControl &Control)
+  {
+    Control.Steer = Data.steer;
+    Control.Throttle = Data.throttle;
+    Control.Brake = Data.brake;
+    Control.bHandBrake = Data.hand_brake;
+    Control.bReverse = Data.reverse;
+  }
+
+private:
+
+  static void Encode(const UAgentComponent &AgentComponent, carla_agent &Data);
+
+  FCarlaEncoder(carla_agent &Data);
+
+  virtual void Visit(const UTrafficSignAgentComponent &) override;
+
+  virtual void Visit(const UVehicleAgentComponent &) override;
+
+  virtual void Visit(const UWalkerAgentComponent &) override;
+
+  carla_agent &Data;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
deleted file mode 100644
index 294447baa..000000000
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB).
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "Game/CarlaGameControllerBase.h"
-
-class ACarlaGameState;
-class ACarlaVehicleController;
-class CarlaServer;
-
-/// Implements remote control of game and player.
-class CARLA_API CarlaGameController : public ICarlaGameControllerBase
-{
-public:
-
-  explicit CarlaGameController();
-
-  ~CarlaGameController();
-
-  virtual void Initialize(UCarlaSettings &CarlaSettings) override;
-
-  virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) override;
-
-  virtual void RegisterPlayer(AController &NewPlayer) override;
-
-  virtual void BeginPlay() override;
-
-  virtual void Tick(float DeltaSeconds) override;
-
-private:
-
-  void RestartLevel();
-
-  TUniquePtr<CarlaServer> Server;
-
-  ACarlaVehicleController *Player = nullptr;
-
-  const ACarlaGameState *GameState = nullptr;
-
-  UCarlaSettings *CarlaSettings = nullptr;
-};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index e7ef5accd..841d20e46 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -7,14 +7,7 @@
 #include "Carla.h"
 #include "CarlaServer.h"
 
-#include "Game/CarlaPlayerState.h"
-#include "Sensor/SceneCaptureCamera.h"
-#include "Settings/CarlaSettings.h"
-#include "Vehicle/CarlaVehicleController.h"
-#include "Vehicle/CarlaWheeledVehicle.h"
-
-#include "GameFramework/Character.h"
-#include "GameFramework/PlayerStart.h"
+#include "Server/CarlaEncoder.h"
 
 #include <carla/carla_server.h>
 
@@ -22,14 +15,14 @@
 // -- Static local methods -----------------------------------------------------
 // =============================================================================
 
-static CarlaServer::ErrorCode ParseErrorCode(const uint32 ErrorCode)
+static FCarlaServer::ErrorCode ParseErrorCode(const uint32 ErrorCode)
 {
   if (ErrorCode == CARLA_SERVER_SUCCESS) {
-    return CarlaServer::Success;
+    return FCarlaServer::Success;
   } else if (ErrorCode == CARLA_SERVER_TRY_AGAIN) {
-    return CarlaServer::TryAgain;
+    return FCarlaServer::TryAgain;
   } else {
-    return CarlaServer::Error;
+    return FCarlaServer::Error;
   }
 }
 
@@ -38,188 +31,18 @@ static int32 GetTimeOut(uint32 TimeOut, const bool bBlocking)
   return (bBlocking ? TimeOut : 0u);
 }
 
-// =============================================================================
-// -- Set functions ------------------------------------------------------------
-// =============================================================================
-
-static inline void Set(bool &lhs, bool rhs)
-{
-  lhs = rhs;
-}
-
-static inline void Set(float &lhs, float rhs)
-{
-  lhs = rhs;
-}
-
-static inline void Set(carla_vector3d &lhs, const FVector &rhs)
-{
-  lhs = {rhs.X, rhs.Y, rhs.Z};
-}
-
-static inline void Set(carla_rotation3d &lhs, const FRotator &rhs)
-{
-  lhs.pitch = rhs.Pitch;
-  lhs.roll = rhs.Roll;
-  lhs.yaw = rhs.Yaw;
-}
-
-static inline void Set(carla_transform &lhs, const FTransform &rhs)
-{
-  Set(lhs.location, rhs.GetLocation());
-  Set(lhs.orientation, rhs.GetRotation().GetForwardVector());
-  Set(lhs.rotation, rhs.Rotator());
-}
-
-// static void Set(carla_image &cImage, const FCapturedImage &uImage)
-// {
-//   if (uImage.BitMap.Num() > 0) {
-//     cImage.width = uImage.SizeX;
-//     cImage.height = uImage.SizeY;
-//     cImage.type = PostProcessEffect::ToUInt(uImage.PostProcessEffect);
-//     cImage.fov = uImage.FOVAngle;
-//     cImage.data = &uImage.BitMap.GetData()->DWColor();
-
-// #ifdef CARLA_SERVER_EXTRA_LOG
-//     {
-//       const auto Size = uImage.BitMap.Num();
-//       UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
-//     }
-//   } else {
-//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
-// #endif // CARLA_SERVER_EXTRA_LOG
-//   }
-// }
-
-// struct carla_lidar_measurement_data {
-//   TUniquePtr<uint32_t[]> points_count_by_channel;
-//   TUniquePtr<double[]> points;
-// };
-
-// static void Set(
-//   carla_lidar_measurement &cLidarMeasurement,
-//   const FCapturedLidarSegment &uLidarSegment,
-//   carla_lidar_measurement_data &cLidarMeasurementData)
-// {
-
-//   if (uLidarSegment.LidarLasersSegments.Num() > 0) {
-
-//     cLidarMeasurement.horizontal_angle = uLidarSegment.HorizontalAngle;
-//     cLidarMeasurement.channels_count = uLidarSegment.LidarLasersSegments.Num();
-
-//     cLidarMeasurementData.points_count_by_channel = MakeUnique<uint32_t[]>(cLidarMeasurement.channels_count);
-//     size_t total_points = 0;
-//     for(int i=0; i<cLidarMeasurement.channels_count; i++)
-//     {
-//       size_t points_count = uLidarSegment.LidarLasersSegments[0].Points.Num();
-//       cLidarMeasurementData.points_count_by_channel[i] = points_count;
-//       total_points += points_count;
-//     }
-//     cLidarMeasurementData.points = MakeUnique<double[]>(3 * total_points);
-//     size_t points_filled = 0;
-//     for(int i=0; i<cLidarMeasurement.channels_count; i++)
-//     {
-//       size_t points_count = cLidarMeasurementData.points_count_by_channel[i];
-//       auto& laser_points = uLidarSegment.LidarLasersSegments[i].Points;
-//       for(int pi=0; pi<points_count; pi++)
-//       {
-//         cLidarMeasurementData.points[3 * (pi + points_filled)] = laser_points[pi].X;
-//         cLidarMeasurementData.points[3 * (pi + points_filled) + 1] = laser_points[pi].Y;
-//         cLidarMeasurementData.points[3 * (pi + points_filled) + 2] = laser_points[pi].Z;
-//       }
-//       points_filled += points_count;
-//     }
-
-//     cLidarMeasurement.points_count_by_channel = cLidarMeasurementData.points_count_by_channel.Get();
-//     cLidarMeasurement.data = cLidarMeasurementData.points.Get();
-
-// #ifdef CARLA_SERVER_EXTRA_LOG
-//     {
-//       const auto Size = uImage.BitMap.Num();
-//       UE_LOG(LogCarlaServer, Log, TEXT("Sending lidar measurement %d x %d"), uLidarSegment.LidarLasersSegments.Num(), uLidarSegment.LidarLasersSegments[0].Points.Num());
-//     }
-//   } else {
-//     UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty lidar measurement"));
-// #endif // CARLA_SERVER_EXTRA_LOG
-//   }
-// }
-
-static void SetBoxSpeedAndType(carla_agent &values, const ACharacter *Walker)
-{
-  values.type = CARLA_SERVER_AGENT_PEDESTRIAN;
-  values.forward_speed = FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
-  /// @todo Perhaps the box it is not the same for every walker...
-  values.box_extent = {45.0f, 35.0f, 100.0f};
-}
-
-static void SetBoxSpeedAndType(carla_agent &values, const ACarlaWheeledVehicle *Vehicle)
-{
-  values.type = CARLA_SERVER_AGENT_VEHICLE;
-  values.forward_speed = Vehicle->GetVehicleForwardSpeed();
-  Set(values.box_extent, Vehicle->GetVehicleBoundsExtent());
-}
-
-static void SetBoxSpeedAndType(carla_agent &values, const ATrafficSignBase *TrafficSign)
-{
-  switch (TrafficSign->GetTrafficSignState()) {
-    case ETrafficSignState::TrafficLightRed:
-      values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_RED;
-      break;
-    case ETrafficSignState::TrafficLightYellow:
-      values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_YELLOW;
-      break;
-    case ETrafficSignState::TrafficLightGreen:
-      values.type = CARLA_SERVER_AGENT_TRAFFICLIGHT_GREEN;
-      break;
-    case ETrafficSignState::SpeedLimit_30:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 30.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_40:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 40.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_50:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 50.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_60:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 60.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_90:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 90.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_100:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 100.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_120:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 120.0f;
-      break;
-    case ETrafficSignState::SpeedLimit_130:
-      values.type = CARLA_SERVER_AGENT_SPEEDLIMITSIGN;
-      values.forward_speed = 130.0f;
-      break;
-    default:
-      UE_LOG(LogCarla, Error, TEXT("Unknown traffic sign!"));
-  }
-}
-
 // =============================================================================
 // -- CarlaServer --------------------------------------------------------------
 // =============================================================================
 
-CarlaServer::CarlaServer(const uint32 InWorldPort, const uint32 InTimeOut) :
+FCarlaServer::FCarlaServer(const uint32 InWorldPort, const uint32 InTimeOut) :
   WorldPort(InWorldPort),
   TimeOut(InTimeOut),
   Server(carla_make_server()) {
   check(Server != nullptr);
 }
 
-CarlaServer::~CarlaServer()
+FCarlaServer::~FCarlaServer()
 {
 #ifdef CARLA_SERVER_EXTRA_LOG
   UE_LOG(LogCarlaServer, Warning, TEXT("Destroying CarlaServer"));
@@ -227,50 +50,49 @@ CarlaServer::~CarlaServer()
   carla_free_server(Server);
 }
 
-CarlaServer::ErrorCode CarlaServer::Connect()
+FCarlaServer::ErrorCode FCarlaServer::Connect()
 {
   UE_LOG(LogCarlaServer, Log, TEXT("Waiting for the client to connect..."));
   return ParseErrorCode(carla_server_connect(Server, WorldPort, TimeOut));
 }
 
-CarlaServer::ErrorCode CarlaServer::ReadNewEpisode(UCarlaSettings &Settings, const bool bBlocking)
+FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const bool bBlocking)
 {
   carla_request_new_episode values;
   auto ec = ParseErrorCode(carla_read_request_new_episode(Server, values, GetTimeOut(TimeOut, bBlocking)));
   if (Success == ec) {
-    auto IniFile = FString(values.ini_file_length, ANSI_TO_TCHAR(values.ini_file));
+    FCarlaEncoder::Decode(values, IniFile);
     UE_LOG(LogCarlaServer, Log, TEXT("Received new episode"));
 #ifdef CARLA_SERVER_EXTRA_LOG
     UE_LOG(LogCarlaServer, Log, TEXT("Received CarlaSettings.ini:\n%s"), *IniFile);
 #endif // CARLA_SERVER_EXTRA_LOG
-    Settings.LoadSettingsFromString(IniFile);
   }
   return ec;
 }
 
-CarlaServer::ErrorCode CarlaServer::SendSceneDescription(
-      const TArray<APlayerStart *> &AvailableStartSpots,
-      const bool bBlocking)
+FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
+    const TArray<APlayerStart *> &AvailableStartSpots,
+    const TArray<USensorDescription *> &SensorDescriptions,
+    const bool bBlocking)
 {
-  const int32 NumberOfStartSpots = AvailableStartSpots.Num();
-  auto StartSpots = MakeUnique<carla_transform[]>(NumberOfStartSpots);
-
-  for (auto i = 0; i < NumberOfStartSpots; ++i) {
-    Set(StartSpots[i], AvailableStartSpots[i]->GetActorTransform());
-  }
-
-  UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), NumberOfStartSpots);
   carla_scene_description scene;
-  scene.player_start_spots = StartSpots.Get();
-  scene.number_of_player_start_spots = NumberOfStartSpots;
-  /// @todo Add the sensors here.
-  scene.sensors = nullptr;
-  scene.number_of_sensors = 0u;
-
+  // Encode start spots.
+  TArray<carla_transform> Transforms;
+  FCarlaEncoder::Encode(AvailableStartSpots, Transforms);
+  scene.player_start_spots = (Transforms.Num() > 0 ? Transforms.GetData() : nullptr);;
+  scene.number_of_player_start_spots = Transforms.Num();
+  // Encode sensors.
+  TArray<carla_sensor_definition> Sensors;
+  FCarlaEncoder::Encode(SensorDescriptions, Sensors);
+  scene.sensors = (Sensors.Num() > 0 ? Sensors.GetData() : nullptr);;
+  scene.number_of_sensors = Sensors.Num();
+  // Send scene description.
+  UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), scene.number_of_player_start_spots);
+  UE_LOG(LogCarlaServer, Log, TEXT("Sending %d sensor descriptions"), scene.number_of_sensors);
   return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
 }
 
-CarlaServer::ErrorCode CarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex, const bool bBlocking)
+FCarlaServer::ErrorCode FCarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex, const bool bBlocking)
 {
   carla_episode_start values;
   auto ec = ParseErrorCode(carla_read_episode_start(Server, values, GetTimeOut(TimeOut, bBlocking)));
@@ -281,25 +103,18 @@ CarlaServer::ErrorCode CarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex,
   return ec;
 }
 
-CarlaServer::ErrorCode CarlaServer::SendEpisodeReady(const bool bBlocking)
+FCarlaServer::ErrorCode FCarlaServer::SendEpisodeReady(const bool bBlocking)
 {
   UE_LOG(LogCarlaServer, Log, TEXT("Ready to play, notifying client"));
   const carla_episode_ready values = {true};
   return ParseErrorCode(carla_write_episode_ready(Server, values, GetTimeOut(TimeOut, bBlocking)));
 }
 
-CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaVehicleController &Player, const bool bBlocking)
+FCarlaServer::ErrorCode FCarlaServer::ReadControl(FVehicleControl &Control, const bool bBlocking)
 {
   carla_control values;
   auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
   if (Success == ec) {
-    check(Player.IsPossessingAVehicle());
-    auto Vehicle = Player.GetPossessedVehicle();
-    Vehicle->SetSteeringInput(values.steer);
-    Vehicle->SetThrottleInput(values.throttle);
-    Vehicle->SetBrakeInput(values.brake);
-    Vehicle->SetHandbrakeInput(values.hand_brake);
-    Vehicle->SetReverse(values.reverse);
 #ifdef CARLA_SERVER_EXTRA_LOG
     UE_LOG(
         LogCarlaServer,
@@ -312,87 +127,38 @@ CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaVehicleController &Player,
         (values.hand_brake ? TEXT("True") : TEXT("False")),
         (values.reverse ? TEXT("True") : TEXT("False")));
 #endif // CARLA_SERVER_EXTRA_LOG
+    FCarlaEncoder::Decode(values, Control);
   } else if ((!bBlocking) && (TryAgain == ec)) {
     UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
   }
   return ec;
 }
 
-template <typename T>
-static void AddAgents(TArray<carla_agent> &Agents, const TArray<T> &Actors)
+FCarlaServer::ErrorCode FCarlaServer::SendSensorData(const FSensorDataView &Data)
 {
-  for (auto &&Actor : Actors) {
-    if (Actor != nullptr) {
-      Agents.Emplace();
-      auto &values = Agents.Last();
-      values.id = GetTypeHash(Actor);
-      Set(values.transform, Actor->GetActorTransform());
-      SetBoxSpeedAndType(values, Actor);
-    }
-  }
+  carla_sensor_data values;
+  FCarlaEncoder::Encode(Data, values);
+  return ParseErrorCode(carla_write_sensor_data(Server, values));
 }
 
-static void GetAgentInfo(
-    const ACarlaGameState &GameState,
-    TArray<carla_agent> &Agents)
-{
-  const auto *WalkerSpawner = GameState.GetWalkerSpawner();
-  const auto *VehicleSpawner = GameState.GetVehicleSpawner();
-  const auto &TrafficSigns = GameState.GetTrafficSigns();
-
-  auto NumberOfAgents = TrafficSigns.Num();
-  if (WalkerSpawner != nullptr) {
-    NumberOfAgents += WalkerSpawner->GetCurrentNumberOfWalkers();
-  }
-  if (VehicleSpawner != nullptr) {
-    NumberOfAgents += VehicleSpawner->GetNumberOfSpawnedVehicles();
-  }
-  Agents.Reserve(NumberOfAgents);
-
-  AddAgents(Agents, TrafficSigns);
-  if (WalkerSpawner != nullptr) {
-    AddAgents(Agents, WalkerSpawner->GetWalkersWhiteList());
-    AddAgents(Agents, WalkerSpawner->GetWalkersBlackList());
-  }
-  if (VehicleSpawner != nullptr) {
-    AddAgents(Agents, VehicleSpawner->GetVehicles());
-  }
-}
-
-CarlaServer::ErrorCode CarlaServer::SendMeasurements(
-    const ACarlaGameState &GameState,
+FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
     const ACarlaPlayerState &PlayerState,
+    const TArray<const UAgentComponent *> &Agents,
     const bool bSendNonPlayerAgentsInfo)
 {
-  // Measurements.
+  // Encode measurements.
   carla_measurements values;
-  values.platform_timestamp = PlayerState.GetPlatformTimeStamp();
-  values.game_timestamp = PlayerState.GetGameTimeStamp();
-  auto &player = values.player_measurements;
-  Set(player.transform, PlayerState.GetTransform());
-  Set(player.acceleration, PlayerState.GetAcceleration());
-  Set(player.forward_speed, PlayerState.GetForwardSpeed());
-  Set(player.collision_vehicles, PlayerState.GetCollisionIntensityCars());
-  Set(player.collision_pedestrians, PlayerState.GetCollisionIntensityPedestrians());
-  Set(player.collision_other, PlayerState.GetCollisionIntensityOther());
-  Set(player.intersection_otherlane, PlayerState.GetOtherLaneIntersectionFactor());
-  Set(player.intersection_offroad, PlayerState.GetOffRoadIntersectionFactor());
-  Set(player.autopilot_control.steer, PlayerState.GetSteer());
-  Set(player.autopilot_control.throttle, PlayerState.GetThrottle());
-  Set(player.autopilot_control.brake, PlayerState.GetBrake());
-  Set(player.autopilot_control.hand_brake, PlayerState.GetHandBrake());
-  Set(player.autopilot_control.reverse, PlayerState.GetCurrentGear() < 0);
-
-  TArray<carla_agent> Agents;
+  FCarlaEncoder::Encode(PlayerState, values);
+  // Encode agents.
+  TArray<carla_agent> AgentsData;
   if (bSendNonPlayerAgentsInfo) {
-    GetAgentInfo(GameState, Agents);
+    FCarlaEncoder::Encode(Agents, AgentsData);
   }
-  values.non_player_agents = (Agents.Num() > 0 ? Agents.GetData() : nullptr);
-  values.number_of_non_player_agents = Agents.Num();
-
+  values.non_player_agents = (AgentsData.Num() > 0 ? AgentsData.GetData() : nullptr);;
+  values.number_of_non_player_agents = AgentsData.Num();
+  // Send measurements.
 #ifdef CARLA_SERVER_EXTRA_LOG
   UE_LOG(LogCarlaServer, Log, TEXT("Sending data of %d agents"), values.number_of_non_player_agents);
 #endif // CARLA_SERVER_EXTRA_LOG
-
   return ParseErrorCode(carla_write_measurements(Server, values));
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
index 2c1dc3837..09e1e3119 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
@@ -6,13 +6,17 @@
 
 #pragma once
 
-class ACarlaGameState;
-class ACarlaVehicleController;
+#include "Containers/Array.h"
+
+class ACarlaPlayerState;
 class APlayerStart;
-class UCarlaSettings;
+class FSensorDataView;
+class FString;
+class USensorDescription;
+struct FVehicleControl;
 
 /// Wrapper around carla_server API.
-class CarlaServer
+class FCarlaServer
 {
 public:
 
@@ -22,29 +26,32 @@ public:
     Error
   };
 
-  explicit CarlaServer(uint32 WorldPort, uint32 TimeOutInMilliseconds);
+  explicit FCarlaServer(uint32 WorldPort, uint32 TimeOutInMilliseconds);
 
-  ~CarlaServer();
+  ~FCarlaServer();
 
   /// Connect with the client, block until the client connects or the time-out
   /// is met.
   ErrorCode Connect();
 
-  ErrorCode ReadNewEpisode(UCarlaSettings &Settings, bool bBlocking);
+  ErrorCode ReadNewEpisode(FString &IniFile, bool bBlocking);
 
   ErrorCode SendSceneDescription(
       const TArray<APlayerStart *> &AvailableStartSpots,
+      const TArray<USensorDescription *> &SensorDescriptions,
       bool bBlocking);
 
   ErrorCode ReadEpisodeStart(uint32 &StartPositionIndex, bool bBlocking);
 
   ErrorCode SendEpisodeReady(bool bBlocking);
 
-  ErrorCode ReadControl(ACarlaVehicleController &Player, bool bBlocking);
+  ErrorCode ReadControl(FVehicleControl &Control, bool bBlocking);
+
+  ErrorCode SendSensorData(const FSensorDataView &Data);
 
   ErrorCode SendMeasurements(
-      const ACarlaGameState &GameState,
       const ACarlaPlayerState &PlayerState,
+      const TArray<const UAgentComponent *> &Agents,
       bool bSendNonPlayerAgentsInfo);
 
 private:
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.cpp
similarity index 58%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.cpp
index 15e0eb468..90bbfceb4 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaGameController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.cpp
@@ -5,45 +5,55 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "Carla.h"
-#include "CarlaGameController.h"
+#include "ServerGameController.h"
 
+#include "Game/DataRouter.h"
 #include "Server/CarlaServer.h"
+#include "Server/ServerSensorDataSink.h"
 #include "Settings/CarlaSettings.h"
-#include "Vehicle/CarlaVehicleController.h"
 
-using Errc = CarlaServer::ErrorCode;
+using Errc = FCarlaServer::ErrorCode;
 
 static constexpr bool BLOCKING = true;
 static constexpr bool NON_BLOCKING = false;
 
-CarlaGameController::CarlaGameController() :
-  Server(nullptr),
-  Player(nullptr) {}
+FServerGameController::FServerGameController(FDataRouter &InDataRouter)
+  : ICarlaGameControllerBase(InDataRouter),
+    DataSink(MakeShared<FServerSensorDataSink>()),
+    Server(nullptr) {
+  DataRouter.SetSensorDataSink(DataSink);
+}
 
-CarlaGameController::~CarlaGameController() {}
+FServerGameController::~FServerGameController() {}
 
-void CarlaGameController::Initialize(UCarlaSettings &InCarlaSettings)
+void FServerGameController::Initialize(UCarlaSettings &InCarlaSettings)
 {
   CarlaSettings = &InCarlaSettings;
 
   // Initialize server if missing.
-  if (Server == nullptr) {
-    Server = MakeUnique<CarlaServer>(CarlaSettings->WorldPort, CarlaSettings->ServerTimeOut);
-    if ((Errc::Success != Server->Connect()) ||
-        (Errc::Success != Server->ReadNewEpisode(*CarlaSettings, BLOCKING))) {
+  if (!Server.IsValid()) {
+    Server = MakeShared<FCarlaServer>(CarlaSettings->WorldPort, CarlaSettings->ServerTimeOut);
+    DataSink->SetServer(Server);
+    FString IniFile;
+    if ((Errc::Success == Server->Connect()) &&
+        (Errc::Success == Server->ReadNewEpisode(IniFile, BLOCKING))) {
+      CarlaSettings->LoadSettingsFromString(IniFile);
+    } else {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to initialize, server needs restart"));
       Server = nullptr;
     }
   }
 }
 
-APlayerStart *CarlaGameController::ChoosePlayerStart(
+APlayerStart *FServerGameController::ChoosePlayerStart(
     const TArray<APlayerStart *> &AvailableStartSpots)
 {
   check(AvailableStartSpots.Num() > 0);
   // Send scene description.
-  if (Server != nullptr) {
-    if (Errc::Success != Server->SendSceneDescription(AvailableStartSpots, BLOCKING)) {
+  if (Server.IsValid()) {
+    TArray<USensorDescription *> Sensors;
+    CarlaSettings->SensorDescriptions.GenerateValueArray(Sensors);
+    if (Errc::Success != Server->SendSceneDescription(AvailableStartSpots, Sensors, BLOCKING)) {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to send scene description, server needs restart"));
       Server = nullptr;
     }
@@ -51,7 +61,7 @@ APlayerStart *CarlaGameController::ChoosePlayerStart(
 
   // Read episode start.
   uint32 StartIndex = 0u; // default.
-  if (Server != nullptr) {
+  if (Server.IsValid()) {
     if (Errc::Success != Server->ReadEpisodeStart(StartIndex, BLOCKING)) {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to read episode start, server needs restart"));
       Server = nullptr;
@@ -66,18 +76,14 @@ APlayerStart *CarlaGameController::ChoosePlayerStart(
   return AvailableStartSpots[StartIndex];
 }
 
-void CarlaGameController::RegisterPlayer(AController &NewPlayer)
+void FServerGameController::RegisterPlayer(AController &NewPlayer)
 {
-  Player = Cast<ACarlaVehicleController>(&NewPlayer);
-  check(Player != nullptr);
+
 }
 
-void CarlaGameController::BeginPlay()
+void FServerGameController::BeginPlay()
 {
-  check(Player != nullptr);
-  GameState = Cast<ACarlaGameState>(Player->GetWorld()->GetGameState());
-  check(GameState != nullptr);
-  if (Server != nullptr) {
+  if (Server.IsValid()) {
     if (Errc::Success != Server->SendEpisodeReady(BLOCKING)) {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to read episode start, server needs restart"));
       Server = nullptr;
@@ -85,12 +91,11 @@ void CarlaGameController::BeginPlay()
   }
 }
 
-void CarlaGameController::Tick(float DeltaSeconds)
+void FServerGameController::Tick(float DeltaSeconds)
 {
-  check(Player != nullptr);
   check(CarlaSettings != nullptr);
 
-  if (Server == nullptr) {
+  if (!Server.IsValid()) {
     UE_LOG(LogCarlaServer, Warning, TEXT("Client disconnected, server needs restart"));
     RestartLevel();
     return;
@@ -98,9 +103,11 @@ void CarlaGameController::Tick(float DeltaSeconds)
 
   // Check if the client requested a new episode.
   {
-    auto ec = Server->ReadNewEpisode(*CarlaSettings, NON_BLOCKING);
+    FString IniFile;
+    auto ec = Server->ReadNewEpisode(IniFile, NON_BLOCKING);
     switch (ec) {
       case Errc::Success:
+        CarlaSettings->LoadSettingsFromString(IniFile);
         RestartLevel();
         return;
       case Errc::Error:
@@ -113,10 +120,9 @@ void CarlaGameController::Tick(float DeltaSeconds)
 
   // Send measurements.
   {
-    check(GameState != nullptr);
     if (Errc::Error == Server->SendMeasurements(
-            *GameState,
-            Player->GetPlayerState(),
+            DataRouter.GetPlayerState(),
+            DataRouter.GetAgents(),
             CarlaSettings->bSendNonPlayerAgentsInfo)) {
       Server = nullptr;
       return;
@@ -126,15 +132,18 @@ void CarlaGameController::Tick(float DeltaSeconds)
   // Read control, block if the settings say so.
   {
     const bool bShouldBlock = CarlaSettings->bSynchronousMode;
-    if (Errc::Error == Server->ReadControl(*Player, bShouldBlock)) {
+    FVehicleControl Control;
+    if (Errc::Error == Server->ReadControl(Control, bShouldBlock)) {
       Server = nullptr;
       return;
+    } else {
+      DataRouter.ApplyVehicleControl(Control);
     }
   }
 }
 
-void CarlaGameController::RestartLevel()
+void FServerGameController::RestartLevel()
 {
   UE_LOG(LogCarlaServer, Log, TEXT("Restarting the level..."));
-  Player->RestartLevel();
+  DataRouter.RestartLevel();
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.h
new file mode 100644
index 000000000..6409837c6
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.h
@@ -0,0 +1,42 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Game/CarlaGameControllerBase.h"
+
+class FCarlaServer;
+class FServerSensorDataSink;
+
+/// Implements remote control of game and player.
+class FServerGameController : public ICarlaGameControllerBase
+{
+public:
+
+  FServerGameController(FDataRouter &DataRouter);
+
+  ~FServerGameController();
+
+  virtual void Initialize(UCarlaSettings &CarlaSettings) final;
+
+  virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) final;
+
+  virtual void RegisterPlayer(AController &NewPlayer) final;
+
+  virtual void BeginPlay() final;
+
+  virtual void Tick(float DeltaSeconds) final;
+
+private:
+
+  void RestartLevel();
+
+  const TSharedPtr<FServerSensorDataSink> DataSink;
+
+  TSharedPtr<FCarlaServer> Server;
+
+  UCarlaSettings *CarlaSettings = nullptr;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerSensorDataSink.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerSensorDataSink.h
new file mode 100644
index 000000000..ba817ff3e
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerSensorDataSink.h
@@ -0,0 +1,31 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Sensor/SensorDataSink.h"
+
+/// Sends the sensor data to the client.
+class FServerSensorDataSink : public ISensorDataSink {
+public:
+
+  void SetServer(TSharedPtr<FCarlaServer> InServer)
+  {
+    Server = InServer;
+  }
+
+  virtual void Write(const FSensorDataView &SensorData) final
+  {
+    auto Ptr = Server.Pin();
+    if (Ptr.IsValid()) {
+      Ptr->SendSensorData(SensorData);
+    }
+  }
+
+private:
+
+  TWeakPtr<FCarlaServer> Server;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index 7ec61fe9e..5b194f693 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -76,6 +76,7 @@ void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleCon
   SetSteeringInput(VehicleControl.Steer);
   SetBrakeInput(VehicleControl.Brake);
   SetHandbrakeInput(VehicleControl.bHandBrake);
+  SetReverse(VehicleControl.bReverse);
 }
 
 void ACarlaWheeledVehicle::SetThrottleInput(const float Value)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
index f1b2b5000..b59d3a32f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
@@ -24,4 +24,7 @@ struct CARLA_API FVehicleControl
 
   UPROPERTY(Category = "Vehicle Control", EditAnywhere)
   bool bHandBrake = false;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  bool bReverse = false;
 };

From c3c52dea3afa90b4d298a251002cff986e733400 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 16:17:16 +0100
Subject: [PATCH 084/108] Fix sensor names memory destroy before sending

---
 .../Source/Carla/Server/CarlaEncoder.cpp      | 24 +++++++++++++++----
 .../Carla/Source/Carla/Server/CarlaEncoder.h  |  3 ++-
 .../Carla/Source/Carla/Server/CarlaServer.cpp |  3 ++-
 3 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
index 84110f6ec..27cd039ae 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
@@ -15,10 +15,20 @@
 
 #include "GameFramework/PlayerStart.h"
 
+#include <cstring>
+
 // =============================================================================
 // -- Static local methods -----------------------------------------------------
 // =============================================================================
 
+static auto MakeCharBuffer(const FString &String)
+{
+  const char *Ptr = TCHAR_TO_ANSI(*String);
+  auto Buffer = MakeUnique<char[]>(std::strlen(Ptr) + 1u); // + null terminator.
+  std::strcpy(Buffer.Get(), Ptr);
+  return TUniquePtr<const char[]>(Buffer.Release());
+}
+
 static void Encode(const FVector &Vector, carla_vector3d &Data)
 {
   Data = {Vector.X, Vector.Y, Vector.Z};
@@ -38,10 +48,11 @@ static void Encode(const FTransform &Transform, carla_transform &Data)
   Encode(Transform.Rotator(), Data.rotation);
 }
 
-static void Encode(const USensorDescription &SensorDescription, carla_sensor_definition &Data)
+static TUniquePtr<const char[]> Encode(
+    const USensorDescription &SensorDescription,
+    carla_sensor_definition &Data)
 {
   Data.id = SensorDescription.GetId();
-  Data.name = TCHAR_TO_ANSI(*SensorDescription.Name);
   Data.type = [](const FString &Type) {
 #define CARLA_CHECK_TYPE(Str) if (Type == TEXT(#Str)) return CARLA_SERVER_ ## Str;
       CARLA_CHECK_TYPE(CAMERA)
@@ -49,6 +60,9 @@ static void Encode(const USensorDescription &SensorDescription, carla_sensor_def
       else return CARLA_SERVER_SENSOR_UNKNOWN;
 #undef CARLA_CHECK_TYPE
   }(SensorDescription.Type);
+  auto Memory = MakeCharBuffer(SensorDescription.Name);
+  Data.name = Memory.Get();
+  return Memory;
 }
 
 // =============================================================================
@@ -69,13 +83,15 @@ void FCarlaEncoder::Encode(
 
 void FCarlaEncoder::Encode(
     const TArray<USensorDescription *> &SensorDescriptions,
-    TArray<carla_sensor_definition> &Data)
+    TArray<carla_sensor_definition> &Data,
+    TArray<TUniquePtr<const char[]>> &SensorNames)
 {
   const int32 NumberOfSensors = SensorDescriptions.Num();
   Data.AddUninitialized(NumberOfSensors);
+  SensorNames.Reserve(NumberOfSensors);
   for (auto i = 0; i < NumberOfSensors; ++i) {
     check(SensorDescriptions[i] != nullptr);
-    ::Encode(*SensorDescriptions[i], Data[i]);
+    SensorNames.Emplace(::Encode(*SensorDescriptions[i], Data[i]));
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
index c0a52a05b..4c32bfaa6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
@@ -24,7 +24,8 @@ public:
 
   static void Encode(
     const TArray<USensorDescription *> &SensorDescriptions,
-    TArray<carla_sensor_definition> &Data);
+    TArray<carla_sensor_definition> &Data,
+    TArray<TUniquePtr<const char[]>> &SensorNamesMemory);
 
   static void Encode(
       const ACarlaPlayerState &PlayerState,
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 841d20e46..ee4f41de5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -82,8 +82,9 @@ FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
   scene.player_start_spots = (Transforms.Num() > 0 ? Transforms.GetData() : nullptr);;
   scene.number_of_player_start_spots = Transforms.Num();
   // Encode sensors.
+  TArray<TUniquePtr<const char[]>> SensorNames; // This holds the memory while we send it.
   TArray<carla_sensor_definition> Sensors;
-  FCarlaEncoder::Encode(SensorDescriptions, Sensors);
+  FCarlaEncoder::Encode(SensorDescriptions, Sensors, SensorNames);
   scene.sensors = (Sensors.Num() > 0 ? Sensors.GetData() : nullptr);;
   scene.number_of_sensors = Sensors.Num();
   // Send scene description.

From 33c6d06ed0921b64322d58c88c1498c941e8181f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 18:38:18 +0100
Subject: [PATCH 085/108] Fix points per channel not reset

---
 .../Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h    | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
index bdd10baff..d1299f77f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h
@@ -60,8 +60,14 @@ public:
     Header[0] = reinterpret_cast<const uint32 &>(HorizontalAngle);
   }
 
+  uint32 GetChannelCount() const
+  {
+    return Header[1];
+  }
+
   void Reset(uint32 TotalPointCount)
   {
+    std::memset(Header.GetData() + 2u, 0, sizeof(uint32) * GetChannelCount());
     Points.Reset(3u * TotalPointCount);
   }
 

From 2da42dae40fd5bb43a18a66f0878de9c88aff453 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 19:13:12 +0100
Subject: [PATCH 086/108] Update client to new sensor interface

---
 PythonClient/carla/benchmarks/corl_2017.py    |   2 +-
 PythonClient/carla/client.py                  | 104 ++++++----
 PythonClient/carla/sensor.py                  | 189 ++++++------------
 PythonClient/carla/settings.py                |  77 ++-----
 PythonClient/client_example.py                |  61 +++---
 PythonClient/manual_control.py                |  68 ++++---
 PythonClient/point_cloud_example.py           |   8 +-
 PythonClient/test/unit_tests/Basic.py         |  14 +-
 .../Carla/Settings/CameraDescription.cpp      |   2 +-
 9 files changed, 220 insertions(+), 305 deletions(-)

diff --git a/PythonClient/carla/benchmarks/corl_2017.py b/PythonClient/carla/benchmarks/corl_2017.py
index 55a12b46c..5989ee1d2 100644
--- a/PythonClient/carla/benchmarks/corl_2017.py
+++ b/PythonClient/carla/benchmarks/corl_2017.py
@@ -138,7 +138,7 @@ class CoRL2017(Benchmark):
         # This single RGB camera is used on every experiment
 
         camera = Camera('CameraRGB')
-        camera.set(CameraFOV=100)
+        camera.set(FOV=100)
 
         camera.set_image_size(800, 600)
 
diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
index 80fed70eb..57ed04542 100644
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@@ -11,7 +11,6 @@ import struct
 from contextlib import contextmanager
 
 from . import sensor
-from . import settings
 from . import tcp
 from . import util
 
@@ -20,6 +19,11 @@ try:
 except ImportError:
     raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
 
+try:
+    import numpy
+except ImportError:
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
+
 
 VehicleControl = carla_protocol.Control
 
@@ -40,7 +44,7 @@ class CarlaClient(object):
         self._control_client = tcp.TCPClient(host, world_port + 2, timeout)
         self._current_settings = None
         self._is_episode_requested = False
-        self._sensor_names = []
+        self._sensors = {}
 
     def connect(self, connection_attempts=10):
         """
@@ -69,7 +73,6 @@ class CarlaClient(object):
         self._current_settings = carla_settings
         return self._request_new_episode(carla_settings)
 
-
     def start_episode(self, player_start_index):
         """
         Start the new episode at the player start given by the
@@ -120,8 +123,7 @@ class CarlaClient(object):
         pb_message = carla_protocol.Measurements()
         pb_message.ParseFromString(data)
         # Read sensor data.
-        raw_sensor_data = self._stream_client.read()
-        return pb_message, self._parse_raw_sensor_data(raw_sensor_data)
+        return pb_message, dict(x for x in self._read_sensor_data())
 
     def send_control(self, *args, **kwargs):
         """
@@ -159,40 +161,66 @@ class CarlaClient(object):
             raise RuntimeError('failed to read data from server')
         pb_message = carla_protocol.SceneDescription()
         pb_message.ParseFromString(data)
-        self._sensor_names = settings.get_sensor_names(carla_settings)
+        self._sensors = dict((sensor.id, sensor) \
+            for sensor in _make_sensor_parsers(pb_message.sensors))
         self._is_episode_requested = True
         return pb_message
 
-    def _parse_raw_sensor_data(self, raw_data):
-        """Return a dict of {'sensor_name': sensor_data, ...}."""
-        return dict((name, data) for name, data in zip(
-            self._sensor_names,
-            self._iterate_sensor_data(raw_data)))
+    def _read_sensor_data(self):
+        while True:
+            data = self._stream_client.read()
+            if not data:
+                raise StopIteration
+            yield self._parse_sensor_data(data)
 
-    @staticmethod
-    def _iterate_sensor_data(raw_data):
-        image_types = ['None', 'SceneFinal', 'Depth', 'SemanticSegmentation', 'Lidar']
-        gettype = lambda id: image_types[id] if len(image_types) > id else 'Unknown'
-        getint = lambda index: struct.unpack('<L', raw_data[index*4:index*4+4])[0]
-        getfloat = lambda index: struct.unpack('<f', raw_data[index*4:index*4+4])[0]
-        getdouble = lambda index: struct.unpack('<d', raw_data[index*4:index*4+8])[0]
-        total_size = len(raw_data) / 4
-        index = 0
-        while index < total_size:
-            sensor_type = gettype(getint(index + 2))
-            if sensor_type == 'Lidar':
-                horizontal_angle = getdouble(index)
-                channels_count = getint(index + 3)
-                lm = sensor.LidarMeasurement(
-                    horizontal_angle, channels_count,
-                    sensor_type, raw_data[index*4:])
-                index += lm.size_in_bytes
-                yield lm
-            else:
-                width = getint(index)
-                height = getint(index + 1)
-                fov = getfloat(index + 3)
-                begin = index + 4
-                end = begin + width * height
-                index = end
-                yield sensor.Image(width, height, sensor_type, fov, raw_data[begin*4:end*4])
+    def _parse_sensor_data(self, data):
+        sensor_id = struct.unpack('<L', data[0:4])[0]
+        parser = self._sensors[sensor_id]
+        return parser.name, parser.parse_raw_data(data[4:])
+
+
+def _make_sensor_parsers(sensors):
+    image_types = ['None', 'SceneFinal', 'Depth', 'SemanticSegmentation']
+    getimgtype = lambda id: image_types[id] if len(image_types) > id else 'Unknown'
+    getint = lambda data, index: struct.unpack('<L', data[index*4:index*4+4])[0]
+    getfloat = lambda data, index: struct.unpack('<f', data[index*4:index*4+4])[0]
+
+    def parse_image(data):
+        width = getint(data, 0)
+        height = getint(data, 1)
+        image_type = getimgtype(getint(data, 2))
+        fov = getfloat(data, 3)
+        return sensor.Image(width, height, image_type, fov, data[16:])
+
+    def parse_lidar(data):
+        horizontal_angle = getfloat(data, 0)
+        channels_count = getint(data, 1)
+        points_count_by_channel = numpy.frombuffer(
+            data[8:8+channels_count*4],
+            dtype=numpy.dtype('uint32'))
+        points = numpy.frombuffer(
+            data[8+channels_count*4:],
+            dtype=numpy.dtype('f4'))
+        points = numpy.reshape(points, (int(points.shape[0]/3), 3))
+        return sensor.LidarMeasurement(
+            horizontal_angle,
+            channels_count,
+            points_count_by_channel,
+            sensor.PointCloud(points))
+
+    class SensorDefinition(object):
+        def __init__(self, s):
+            self.id = s.id
+            self.name = s.name
+            self.type = s.type
+            self.parse_raw_data = lambda x: x
+
+    for s in sensors:
+        sensor_def = SensorDefinition(s)
+        if sensor_def.type == carla_protocol.Sensor.UNKNOWN:
+            pass
+        elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_TRACE:
+            sensor_def.parse_raw_data = parse_lidar
+        else:
+            sensor_def.parse_raw_data = parse_image
+        yield sensor_def
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index e2489ec54..ca2a65fcc 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -13,8 +13,7 @@ import os
 try:
     import numpy
 except ImportError:
-    raise RuntimeError(
-        'cannot import numpy, make sure numpy package is installed.')
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
 
 from collections import namedtuple
 from .transform import Transform, Translation, Rotation, Scale
@@ -42,12 +41,51 @@ class Sensor(object):
     Base class for sensor descriptions. Used to add sensors to CarlaSettings.
     """
 
+    def __init__(self, name, sensor_type):
+        self.SensorName = name
+        self.SensorType = sensor_type
+        self.PositionX = 140
+        self.PositionY = 0
+        self.PositionZ = 140
+        self.RotationPitch = 0
+        self.RotationRoll = 0
+        self.RotationYaw = 0
+
     def set(self, **kwargs):
         for key, value in kwargs.items():
             if not hasattr(self, key):
-                raise ValueError('CarlaSettings.Camera: no key named %r' % key)
+                raise ValueError('sensor.Sensor: no key named %r' % key)
             setattr(self, key, value)
 
+    def set_position(self, x, y, z):
+        self.PositionX = x
+        self.PositionY = y
+        self.PositionZ = z
+
+    def set_rotation(self, pitch, yaw, roll):
+        self.RotationPitch = pitch
+        self.RotationYaw = yaw
+        self.RotationRoll = roll
+
+    def get_transform(self):
+        '''
+        Returns the camera to [whatever the camera is attached to]
+        transformation.
+        '''
+        return Transform(
+            Translation(self.PositionX, self.PositionY, self.PositionZ),
+            Rotation(self.RotationPitch, self.RotationYaw, self.RotationRoll))
+
+    def get_unreal_transform(self):
+        '''
+        Returns the camera to [whatever the camera is attached to]
+        transformation with the Unreal necessary corrections applied.
+
+        @todo Do we need to expose this?
+        '''
+        to_unreal_transform = Transform(Rotation(roll=-90, yaw=90), Scale(x=-1))
+        return self.get_transform() * to_unreal_transform
+
 
 class Camera(Sensor):
     """
@@ -56,17 +94,11 @@ class Camera(Sensor):
     """
 
     def __init__(self, name, **kwargs):
-        self.CameraName = name
+        super(Camera, self).__init__(name, sensor_type="CAMERA")
         self.PostProcessing = 'SceneFinal'
         self.ImageSizeX = 800
         self.ImageSizeY = 600
-        self.CameraFOV = 90
-        self.CameraPositionX = 140
-        self.CameraPositionY = 0
-        self.CameraPositionZ = 140
-        self.CameraRotationPitch = 0
-        self.CameraRotationRoll = 0
-        self.CameraRotationYaw = 0
+        self.FOV = 90
         self.set(**kwargs)
 
     def set_image_size(self, pixels_x, pixels_y):
@@ -74,51 +106,6 @@ class Camera(Sensor):
         self.ImageSizeX = pixels_x
         self.ImageSizeY = pixels_y
 
-    def set_position(self, x, y, z):
-        '''Sets a position to the camera in cm'''
-        self.CameraPositionX = x
-        self.CameraPositionY = y
-        self.CameraPositionZ = z
-
-    def set_rotation(self, pitch, yaw, roll):
-        '''Sets a rotation to the camera'''
-        self.CameraRotationPitch = pitch
-        self.CameraRotationYaw = yaw
-        self.CameraRotationRoll = roll
-
-    def get_transform(self):
-        '''
-        Returns the camera to [whatever the camera is
-        attached to] transformation.
-        '''
-        return Transform(
-            Translation(
-                self.CameraPositionX,
-                self.CameraPositionY,
-                self.CameraPositionZ
-            ),
-            Rotation(
-                self.CameraRotationPitch,
-                self.CameraRotationYaw,
-                self.CameraRotationRoll
-            )
-        )
-
-    def get_unreal_transform(self):
-        '''
-        Returns the camera to [whatever the camera is
-        attached to] transformation with the Unreal
-        necessary corrections applied.
-        '''
-        # Do the custom transformations.
-        to_unreal_transform = Transform(
-            Rotation(roll=-90, yaw=90),
-            Scale(x=-1)
-        )
-        # Apply and return it.
-        return self.get_transform() * to_unreal_transform
-
-
 
 class Lidar(Sensor):
     """
@@ -127,43 +114,16 @@ class Lidar(Sensor):
     """
 
     def __init__(self, name, **kwargs):
-        self.LidarName = name
-        # Number of lasers
+        super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE")
         self.Channels = 32
-        # Measure distance
         self.Range = 5000
-        # Points generated by all lasers per second
         self.PointsPerSecond = 100000
-        # Lidar rotation frequency
         self.RotationFrequency = 10
-        # Upper laser angle, counts from horizontal,
-        # positive values means above horizontal line
         self.UpperFovLimit = 10
-        # Lower laser angle, counts from horizontal,
-        # negative values means under horizontal line
         self.LowerFovLimit = -30
-        # wether to show debug points of laser hits in simulator
         self.ShowDebugPoints = False
-        # Position relative to the player.
-        self.LidarPositionX = 0
-        self.LidarPositionY = 0
-        self.LidarPositionZ = 250
-        # Rotation relative to the player.
-        self.LidarRotationPitch = 0
-        self.LidarRotationRoll = 0
-        self.LidarRotationYaw = 0
         self.set(**kwargs)
 
-    def set_position(self, x, y, z):
-        self.LidarPositionX = x
-        self.LidarPositionY = y
-        self.LidarPositionZ = z
-
-    def set_rotation(self, pitch, roll, yaw):
-        self.LidarRotationPitch = pitch
-        self.LidarRotationRoll = roll
-        self.LidarRotationYaw = yaw
-
 
 # ==============================================================================
 # -- SensorData ----------------------------------------------------------
@@ -339,57 +299,24 @@ class PointCloud(SensorData):
 class LidarMeasurement(SensorData):
     """Data generated by a Lidar."""
 
-    def __init__(self, horizontal_angle, channels_count, lidar_type, raw_data):
+    def __init__(self, horizontal_angle, channels, points_count_by_channel, point_cloud):
+        assert numpy.sum(points_count_by_channel) == len(point_cloud.array)
         self.horizontal_angle = horizontal_angle
-        self.channels_count = channels_count
-        self.type = lidar_type
-        self._converted_data = None
-
-        points_count_by_channel_size = channels_count * 4
-        points_count_by_channel_bytes = raw_data[4*4:4*4 + points_count_by_channel_size]
-        self.points_count_by_channel = numpy.frombuffer(points_count_by_channel_bytes, dtype=numpy.dtype('uint32'))
-
-        self.points_size = int(numpy.sum(self.points_count_by_channel) * 3 * 8)  # three floats X, Y, Z
-        begin = 4*4 + points_count_by_channel_size  # 4*4 is horizontal_angle, type, channels_count
-        end = begin + self.points_size
-        self.points_data = raw_data[begin:end]
-
-        self._data_size = 4*4 + points_count_by_channel_size + self.points_size
-
-    @property
-    def size_in_bytes(self):
-        return self._data_size
+        self.channels_count = channels
+        self.points_count_by_channel = points_count_by_channel
+        self.point_cloud = point_cloud
 
     @property
     def data(self):
+        """The numpy array holding the point-cloud.
+
+        3D points format for n elements:
+        [ [X0,Y0,Z0],
+          ...,
+          [Xn,Yn,Zn] ]
         """
-        Lazy initialization for data property, stores converted data in its
-        default format.
-        """
-        if self._converted_data is None:
-
-            points_in_one_channel = self.points_count_by_channel[0]
-            points = numpy.frombuffer(self.points_data[:self.points_size], dtype='float')
-            points = numpy.reshape(points, (self.channels_count, points_in_one_channel, 3))
-
-            self._converted_data = {
-                'horizontal_angle' : self.horizontal_angle,
-                'channels_count' : self.channels_count,
-                'points_count_by_channel' : self.points_count_by_channel,
-                'points' : points
-            }
-
-        return self._converted_data
+        return self.point_cloud.array
 
     def save_to_disk(self, filename):
-        """Save lidar measurements to disk"""
-        folder = os.path.dirname(filename)
-        if not os.path.isdir(folder):
-            os.makedirs(folder)
-        with open(filename, 'wt') as f:
-            f.write(json.dumps({
-                'horizontal_angle' : self.horizontal_angle,
-                'channels_count' : self.channels_count,
-                'points_count_by_channel' : self.points_count_by_channel.tolist(),
-                'points' : self.data['points'].tolist()
-            }))
+        """Save point-cloud to disk as PLY format."""
+        self.point_cloud.save_to_disk(filename)
diff --git a/PythonClient/carla/settings.py b/PythonClient/carla/settings.py
index 667fb14fc..146da8947 100644
--- a/PythonClient/carla/settings.py
+++ b/PythonClient/carla/settings.py
@@ -45,8 +45,7 @@ class CarlaSettings(object):
         self.SeedPedestrians = None
         self.randomize_weather()
         self.set(**kwargs)
-        self._cameras = []
-        self._lidars = []
+        self._sensors = []
 
     def set(self, **kwargs):
         for key, value in kwargs.items():
@@ -68,12 +67,9 @@ class CarlaSettings(object):
 
     def add_sensor(self, sensor):
         """Add a sensor to the player vehicle (see sensor.py)."""
-        if isinstance(sensor, carla_sensor.Camera):
-            self._cameras.append(sensor)
-        elif isinstance(sensor, carla_sensor.Lidar):
-            self._lidars.append(sensor)
-        else:
+        if not isinstance(sensor, carla_sensor.Sensor):
             raise ValueError('Sensor not supported')
+        self._sensors.append(sensor)
 
     def __str__(self):
         """Converts this object to an INI formatted string."""
@@ -81,7 +77,10 @@ class CarlaSettings(object):
         ini.optionxform = str
         S_SERVER = 'CARLA/Server'
         S_LEVEL = 'CARLA/LevelSettings'
-        S_CAPTURE = 'CARLA/SceneCapture'
+        S_SENSOR = 'CARLA/Sensor'
+
+        def get_attribs(obj):
+            return [a for a in dir(obj) if not a.startswith('_') and not callable(getattr(obj, a))]
 
         def add_section(section, obj, keys):
             for key in keys:
@@ -100,38 +99,12 @@ class CarlaSettings(object):
             'SeedVehicles',
             'SeedPedestrians'])
 
-        ini.add_section(S_CAPTURE)
-        ini.set(S_CAPTURE, 'Cameras', ','.join(c.CameraName for c in self._cameras))
-        ini.set(S_CAPTURE, 'Lidars', ','.join(l.LidarName for l in self._lidars))
+        ini.add_section(S_SENSOR)
+        ini.set(S_SENSOR, 'Sensors', ','.join(s.SensorName for s in self._sensors))
 
-        for camera in self._cameras:
-            add_section(S_CAPTURE + '/' + camera.CameraName, camera, [
-                'PostProcessing',
-                'ImageSizeX',
-                'ImageSizeY',
-                'CameraFOV',
-                'CameraPositionX',
-                'CameraPositionY',
-                'CameraPositionZ',
-                'CameraRotationPitch',
-                'CameraRotationRoll',
-                'CameraRotationYaw'])
-
-        for lidar in self._lidars:
-            add_section(S_CAPTURE + '/' + lidar.LidarName, lidar, [
-                'Channels',
-                'Range',
-                'PointsPerSecond',
-                'RotationFrequency',
-                'UpperFovLimit',
-                'LowerFovLimit',
-                'ShowDebugPoints',
-                'LidarPositionX',
-                'LidarPositionY',
-                'LidarPositionZ',
-                'LidarRotationPitch',
-                'LidarRotationRoll',
-                'LidarRotationYaw'])
+        for sensor_def in self._sensors:
+            section = S_SENSOR + '/' + sensor_def.SensorName
+            add_section(section, sensor_def, get_attribs(sensor_def))
 
         if sys.version_info >= (3, 0):
             text = io.StringIO()
@@ -140,29 +113,3 @@ class CarlaSettings(object):
 
         ini.write(text)
         return text.getvalue().replace(' = ', '=')
-
-
-def get_sensor_names(settings):
-    """
-    Return a list with the names of the sensors defined in the settings object.
-    The settings object can be a CarlaSettings or an INI formatted string.
-    """
-    if isinstance(settings, CarlaSettings):
-        # pylint: disable=protected-access
-        return [camera.CameraName for camera in settings._cameras] + \
-            [lidar.LidarName for lidar in settings._lidars]
-    ini = ConfigParser()
-    if sys.version_info >= (3, 2):
-        ini.read_string(settings)
-    elif sys.version_info >= (3, 0):
-        ini.readfp(io.StringIO(settings))  # pylint: disable=deprecated-method
-    else:
-        ini.readfp(io.BytesIO(settings))  # pylint: disable=deprecated-method
-
-    section_name = 'CARLA/SceneCapture'
-    option_name = 'Cameras'
-
-    if ini.has_section(section_name) and ini.has_option(section_name, option_name):
-        cameras = ini.get(section_name, option_name)
-        return cameras.split(',')
-    return []
diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index 3883c6980..fc22420e4 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -22,7 +22,7 @@ from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line
 
 
-def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format, lidar_filename_format, settings_filepath):
+def run_carla_client(args):
     # Here we will run 3 episodes with 300 frames each.
     number_of_episodes = 3
     frames_per_episode = 300
@@ -32,13 +32,13 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
     # context manager, it creates a CARLA client object and starts the
     # connection. It will throw an exception if something goes wrong. The
     # context manager makes sure the connection is always cleaned up on exit.
-    with make_carla_client(host, port) as client:
+    with make_carla_client(args.host, args.port) as client:
         print('CarlaClient connected')
 
         for episode in range(0, number_of_episodes):
             # Start a new episode.
 
-            if settings_filepath is None:
+            if args.settings_filepath is None:
 
                 # Create a CarlaSettings object. This object is a wrapper around
                 # the CarlaSettings.ini file. Here we set the configuration we
@@ -70,23 +70,23 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 camera1.set_position(30, 0, 130)
                 settings.add_sensor(camera1)
 
-                lidar0 = Lidar('Lidar32')
-                lidar0.set_position(0, 0, 250)
-                lidar0.set_rotation(0, 0, 0)
-                lidar0.set(
-                    Channels = 32,
-                    Range = 5000,
-                    PointsPerSecond = 100000,
-                    RotationFrequency = 10,
-                    UpperFovLimit = 10,
-                    LowerFovLimit = -30,
-                    ShowDebugPoints = False)
-                settings.add_sensor(lidar0)
+                if args.lidar:
+                    lidar = Lidar('Lidar32')
+                    lidar.set_position(0, 0, 250)
+                    lidar.set_rotation(0, 0, 0)
+                    lidar.set(
+                        Channels=32,
+                        Range=5000,
+                        PointsPerSecond=100000,
+                        RotationFrequency=10,
+                        UpperFovLimit=10,
+                        LowerFovLimit=-30)
+                    settings.add_sensor(lidar)
 
             else:
 
                 # Alternatively, we can load these settings from a file.
-                with open(settings_filepath, 'r') as fp:
+                with open(args.settings_filepath, 'r') as fp:
                     settings = fp.read()
 
             # Now we load these settings into the server. The server replies
@@ -115,12 +115,13 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 print_measurements(measurements)
 
                 # Save the images to disk if requested.
-                if save_images_to_disk:
+                if args.save_images_to_disk:
                     for name, measurement in sensor_data.items():
                         if isinstance(measurement, LidarMeasurement):
-                            measurement.save_to_disk(lidar_filename_format.format(episode, name, frame))
+                            filename = args.lidar_filename_format
                         else:
-                            measurement.save_to_disk(image_filename_format.format(episode, name, frame))
+                            filename = args.image_filename_format
+                        measurement.save_to_disk(filename.format(episode, name, frame))
 
                 # We can access the encoded data of a given image as numpy
                 # array using its "data" property. For instance, to get the
@@ -134,7 +135,7 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 # If we are in synchronous mode the server will pause the
                 # simulation until we send this control.
 
-                if not autopilot_on:
+                if not args.autopilot:
 
                     client.send_control(
                         steer=random.uniform(-1.0, 1.0),
@@ -199,13 +200,19 @@ def main():
         '-a', '--autopilot',
         action='store_true',
         help='enable autopilot')
+    argparser.add_argument(
+        '-l', '--lidar',
+        action='store_true',
+        help='enable Lidar')
     argparser.add_argument(
         '-i', '--images-to-disk',
         action='store_true',
-        help='save images to disk')
+        dest='save_images_to_disk',
+        help='save images (and Lidar data if active) to disk')
     argparser.add_argument(
         '-c', '--carla-settings',
         metavar='PATH',
+        dest='settings_filepath',
         default=None,
         help='Path to a "CarlaSettings.ini" file')
 
@@ -216,17 +223,13 @@ def main():
 
     logging.info('listening to server %s:%s', args.host, args.port)
 
+    args.image_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.png'
+    args.lidar_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.ply'
+
     while True:
         try:
 
-            run_carla_client(
-                host=args.host,
-                port=args.port,
-                autopilot_on=args.autopilot,
-                save_images_to_disk=args.images_to_disk,
-                image_filename_format='_out/episode_{:0>4d}/{:s}/{:0>6d}.png',
-                lidar_filename_format='_out/episode_{:0>4d}/{:s}/{:0>6d}.json',
-                settings_filepath=args.carla_settings)
+            run_carla_client(args)
 
             print('Done.')
             return
diff --git a/PythonClient/manual_control.py b/PythonClient/manual_control.py
index 6970dda3c..0eabdcc19 100755
--- a/PythonClient/manual_control.py
+++ b/PythonClient/manual_control.py
@@ -68,7 +68,7 @@ MINI_WINDOW_WIDTH = 320
 MINI_WINDOW_HEIGHT = 180
 
 
-def make_carla_settings():
+def make_carla_settings(enable_lidar):
     """Make a CarlaSettings object with the settings we need."""
     settings = CarlaSettings()
     settings.set(
@@ -93,19 +93,18 @@ def make_carla_settings():
     camera2.set_position(200, 0, 140)
     camera2.set_rotation(0.0, 0.0, 0.0)
     settings.add_sensor(camera2)
-    lidar0 = sensor.Lidar('Lidar32')
-    lidar0.set_position(0, 0, 250)
-    lidar0.set_rotation(0, 0, 0)
-    lidar0.set(
-        Channels = 32,
-        Range = 5000,
-        PointsPerSecond = 100000,
-        RotationFrequency = 10,
-        UpperFovLimit = 10,
-        LowerFovLimit = -30,
-        ShowDebugPoints = False)
-    settings.add_sensor(lidar0)
-
+    if enable_lidar:
+        lidar = sensor.Lidar('Lidar32')
+        lidar.set_position(0, 0, 250)
+        lidar.set_rotation(0, 0, 0)
+        lidar.set(
+            Channels=32,
+            Range=5000,
+            PointsPerSecond=100000,
+            RotationFrequency=10,
+            UpperFovLimit=10,
+            LowerFovLimit=-30)
+        settings.add_sensor(lidar)
     return settings
 
 
@@ -130,13 +129,14 @@ class Timer(object):
 
 
 class CarlaGame(object):
-    def __init__(self, carla_client, city_name=None):
+    def __init__(self, carla_client, enable_lidar=False, city_name=None):
         self.client = carla_client
         self._timer = None
         self._display = None
         self._main_image = None
         self._mini_view_image1 = None
         self._mini_view_image2 = None
+        self._enable_lidar = enable_lidar
         self._lidar_measurement = None
         self._map_view = None
         self._is_on_reverse = False
@@ -175,7 +175,7 @@ class CarlaGame(object):
         self._on_new_episode()
 
     def _on_new_episode(self):
-        scene = self.client.load_settings(make_carla_settings())
+        scene = self.client.load_settings(make_carla_settings(self._enable_lidar))
         number_of_player_starts = len(scene.player_start_spots)
         player_start = np.random.randint(number_of_player_starts)
         print('Starting new episode...')
@@ -191,7 +191,8 @@ class CarlaGame(object):
         self._main_image = sensor_data['CameraRGB']
         self._mini_view_image1 = sensor_data['CameraDepth']
         self._mini_view_image2 = sensor_data['CameraSemSeg']
-        self._lidar_measurement = sensor_data['Lidar32']
+        if self._enable_lidar:
+            self._lidar_measurement = sensor_data['Lidar32']
 
         # Print measurements every second.
         if self._timer.elapsed_seconds_since_lap() > 1.0:
@@ -222,9 +223,9 @@ class CarlaGame(object):
         # Set the player position
         if self._city_name is not None:
             self._position = self._map.convert_to_pixel([
-                        measurements.player_measurements.transform.location.x,
-                        measurements.player_measurements.transform.location.y,
-                        measurements.player_measurements.transform.location.z])
+                measurements.player_measurements.transform.location.x,
+                measurements.player_measurements.transform.location.y,
+                measurements.player_measurements.transform.location.z])
             self._agent_positions = measurements.non_player_agents
 
         if control is None:
@@ -261,7 +262,8 @@ class CarlaGame(object):
             map_position,
             lane_orientation):
         message = 'Step {step} ({fps:.1f} FPS): '
-        message += 'Map Position ({map_x:.1f},{map_y:.1f}) Lane Orientation ({ori_x:.1f},{ori_y:.1f})  '
+        message += 'Map Position ({map_x:.1f},{map_y:.1f}) '
+        message += 'Lane Orientation ({ori_x:.1f},{ori_y:.1f}) '
         message += '{speed:.2f} km/h, '
         message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road'
         message = message.format(
@@ -311,8 +313,7 @@ class CarlaGame(object):
                 surface, (2 * gap_x + MINI_WINDOW_WIDTH, mini_image_y))
 
         if self._lidar_measurement is not None:
-
-            lidar_data = np.array(self._lidar_measurement.data['points'][:, :, :2])
+            lidar_data = np.array(self._lidar_measurement.data[:, :2])
             lidar_data /= 50.0
             lidar_data += 100.0
             lidar_data = np.fabs(lidar_data)
@@ -322,22 +323,22 @@ class CarlaGame(object):
             lidar_img_size = (200, 200, 3)
             lidar_img = np.zeros(lidar_img_size)
             lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
-            surface = pygame.surfarray.make_surface(
-                lidar_img
-            )
+            surface = pygame.surfarray.make_surface(lidar_img)
             self._display.blit(surface, (10, 10))
 
         if self._map_view is not None:
             array = self._map_view
             array = array[:, :, :3]
 
-            new_window_width =(float(WINDOW_HEIGHT)/float(self._map_shape[0]))*float(self._map_shape[1])
+            new_window_width = \
+                (float(WINDOW_HEIGHT) / float(self._map_shape[0])) * \
+                float(self._map_shape[1])
             surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
 
             w_pos = int(self._position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0])))
             h_pos = int(self._position[1] *(new_window_width/float(self._map_shape[1])))
 
-            pygame.draw.circle(surface, [255, 0, 0, 255], (w_pos,h_pos), 6, 0)
+            pygame.draw.circle(surface, [255, 0, 0, 255], (w_pos, h_pos), 6, 0)
             for agent in self._agent_positions:
                 if agent.HasField('vehicle'):
                     agent_position = self._map.convert_to_pixel([
@@ -348,7 +349,7 @@ class CarlaGame(object):
                     w_pos = int(agent_position[0]*(float(WINDOW_HEIGHT)/float(self._map_shape[0])))
                     h_pos = int(agent_position[1] *(new_window_width/float(self._map_shape[1])))
 
-                    pygame.draw.circle(surface, [255, 0, 255, 255], (w_pos ,h_pos), 4, 0)
+                    pygame.draw.circle(surface, [255, 0, 255, 255], (w_pos, h_pos), 4, 0)
 
             self._display.blit(surface, (WINDOW_WIDTH, 0))
 
@@ -374,11 +375,16 @@ def main():
         default=2000,
         type=int,
         help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-l', '--lidar',
+        action='store_true',
+        help='enable Lidar')
     argparser.add_argument(
         '-m', '--map-name',
         metavar='M',
         default=None,
-        help='plot the map of the current city (needs to match active map in server, options: Town01 or Town02)')
+        help='plot the map of the current city (needs to match active map in '
+             'server, options: Town01 or Town02)')
     args = argparser.parse_args()
 
     log_level = logging.DEBUG if args.debug else logging.INFO
@@ -392,7 +398,7 @@ def main():
         try:
 
             with make_carla_client(args.host, args.port) as client:
-                game = CarlaGame(client, args.map_name)
+                game = CarlaGame(client, args.lidar, args.map_name)
                 game.execute()
                 break
 
diff --git a/PythonClient/point_cloud_example.py b/PythonClient/point_cloud_example.py
index b597e1085..50c53867c 100755
--- a/PythonClient/point_cloud_example.py
+++ b/PythonClient/point_cloud_example.py
@@ -51,17 +51,13 @@ def run_carla_client(host, port, far):
             WeatherId=random.choice([1, 3, 7, 8, 14]))
         settings.randomize_seeds()
 
-        camera1 = Camera(
-            'CameraDepth', PostProcessing='Depth', CameraFOV=fov
-        )
+        camera1 = Camera('CameraDepth', PostProcessing='Depth', FOV=fov)
         camera1.set_image_size(*image_size)
         camera1.set_position(*camera_local_pos)
         camera1.set_rotation(*camera_local_rotation)
         settings.add_sensor(camera1)
 
-        camera2 = Camera(
-            'CameraRGB', PostProcessing='SceneFinal', CameraFOV=fov
-        )
+        camera2 = Camera('CameraRGB', PostProcessing='SceneFinal', FOV=fov)
         camera2.set_image_size(*image_size)
         camera2.set_position(*camera_local_pos)
         camera2.set_rotation(*camera_local_rotation)
diff --git a/PythonClient/test/unit_tests/Basic.py b/PythonClient/test/unit_tests/Basic.py
index 9197c1241..ab1d1630e 100644
--- a/PythonClient/test/unit_tests/Basic.py
+++ b/PythonClient/test/unit_tests/Basic.py
@@ -13,6 +13,7 @@ import carla
 
 from carla.client import CarlaClient
 from carla.sensor import Camera, Image
+from carla.sensor import Lidar, LidarMeasurement
 from carla.settings import CarlaSettings
 from carla.util import make_connection
 
@@ -45,8 +46,8 @@ class _BasicTestBase(unit_tests.CarlaServerTest):
                     number_of_agents = len(measurements.non_player_agents)
                     logging.debug('received data of %d agents', number_of_agents)
                     logging.debug('received %d images', len(images))
-                    if len(images) != len(carla_settings._cameras):
-                        raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
+                    if len(sensor_data) != len(carla_settings._sensors):
+                        raise RuntimeError('received %d, expected %d' % (len(sensor_data), len(carla_settings._sensors)))
                     logging.debug('sending control...')
                     control = measurements.player_measurements.autopilot_control
                     if not use_autopilot_control:
@@ -80,7 +81,7 @@ class TwoCameras(_BasicTestBase):
         settings = CarlaSettings()
         settings.add_sensor(Camera('DefaultCamera'))
         camera2 = Camera('Camera2')
-        camera2.set(PostProcessing='Depth', CameraFOV=120)
+        camera2.set(PostProcessing='Depth', FOV=120)
         camera2.set_image_size(1924, 1028)
         settings.add_sensor(camera2)
         self.run_carla_client(settings, 3, 100)
@@ -110,3 +111,10 @@ class LongEpisode(_BasicTestBase):
         settings = CarlaSettings()
         settings.add_sensor(Camera('DefaultCamera'))
         self.run_carla_client(settings, 1, 2000, use_autopilot_control=True)
+
+
+class LidarTest(_BasicTestBase):
+    def run(self):
+        settings = CarlaSettings()
+        settings.add_sensor(Lidar('DefaultLidar'))
+        self.run_carla_client(settings, 3, 100)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
index bb8b38348..6a26b68b8 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
@@ -17,7 +17,7 @@ void UCameraDescription::Load(const FIniFile &Config, const FString &Section)
   PostProcessEffect = PostProcessEffect::FromString(PostProcessing);
   Config.GetInt(*Section, TEXT("ImageSizeX"), ImageSizeX);
   Config.GetInt(*Section, TEXT("ImageSizeY"), ImageSizeY);
-  Config.GetFloat(*Section, TEXT("CameraFOV"), FOVAngle);
+  Config.GetFloat(*Section, TEXT("FOV"), FOVAngle);
 }
 
 void UCameraDescription::Validate()

From ac358c4826cf37675e3d2c3b478b5ccd1ba05fdc Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 19:18:42 +0100
Subject: [PATCH 087/108] Fix pylint warnings

---
 PythonClient/.pylintrc       | 2 +-
 PythonClient/carla/sensor.py | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/PythonClient/.pylintrc b/PythonClient/.pylintrc
index dd0ef806f..a8085ad7b 100644
--- a/PythonClient/.pylintrc
+++ b/PythonClient/.pylintrc
@@ -1,4 +1,4 @@
 [TYPECHECK]
 ignore=carla_server_pb2.py
 ignored-modules=ConfigParser,numpy,numpy.random,pygame,shutil
-ignored-classes=_socketobject,EpisodeReady
+ignored-classes=_socketobject,EpisodeReady,SceneDescription,Sensor
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index ca2a65fcc..b1600b413 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -7,15 +7,15 @@
 """CARLA sensors."""
 
 
-import json
 import os
 
+from collections import namedtuple
+
 try:
     import numpy
 except ImportError:
     raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
 
-from collections import namedtuple
 from .transform import Transform, Translation, Rotation, Scale
 
 # ==============================================================================

From bb3b8697eb99c9027a7b9130550e75d4e1500ad5 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 24 Feb 2018 20:15:21 +0100
Subject: [PATCH 088/108] More robust sensor and agent id

---
 .../Carla/Source/Carla/Agent/AgentComponent.cpp      | 10 ----------
 .../Carla/Source/Carla/Agent/AgentComponent.h        |  9 +--------
 .../Carla/Source/Carla/Server/CarlaEncoder.cpp       |  2 ++
 .../Source/Carla/Settings/SensorDescription.cpp      | 12 +-----------
 .../Carla/Source/Carla/Settings/SensorDescription.h  |  9 +--------
 .../CarlaServer/source/carla/server/CarlaEncoder.cpp |  2 ++
 6 files changed, 7 insertions(+), 37 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
index 1e3d5f5df..3cef8518e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@@ -12,12 +12,6 @@
 #include "Game/CarlaGameModeBase.h"
 #include "Game/DataRouter.h"
 
-static uint32 GetNextAgentId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
 static FDataRouter &GetDataRouter(UWorld *World)
 {
   check(World != nullptr);
@@ -26,10 +20,6 @@ static FDataRouter &GetDataRouter(UWorld *World)
   return GameMode->GetDataRouter();
 }
 
-UAgentComponent::UAgentComponent(const FObjectInitializer &ObjectInitializer)
-  : Super(ObjectInitializer),
-    Id(GetNextAgentId()) {}
-
 void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
 {
   unimplemented();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
index 6ca83b3e2..a272af4d3 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -22,11 +22,9 @@ class CARLA_API UAgentComponent : public USceneComponent
 
 public:
 
-  UAgentComponent(const FObjectInitializer &ObjectInitializer);
-
   uint32 GetId() const
   {
-    return Id;
+    return GetTypeHash(this);
   }
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const;
@@ -36,9 +34,4 @@ protected:
   virtual void BeginPlay() override;
 
   virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
-
-private:
-
-  UPROPERTY(VisibleAnywhere)
-  uint32 Id;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
index 27cd039ae..6fb12e141 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
@@ -196,12 +196,14 @@ void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 {
   auto &Vehicle = Agent.GetVehicle();
+  Data.type = CARLA_SERVER_AGENT_VEHICLE;
   Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
   ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
 }
 
 void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
 {
+  Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
   Data.forward_speed = Agent.GetForwardSpeed();
   ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
index d75d9667d..446eca375 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
@@ -9,16 +9,6 @@
 
 #include "Util/IniFile.h"
 
-static uint32 GetNextSensorDescriptionId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
-USensorDescription::USensorDescription(const FObjectInitializer &ObjectInitializer)
-  : Super(ObjectInitializer),
-    Id(GetNextSensorDescriptionId()) {}
-
 void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
 {
   unimplemented();
@@ -37,7 +27,7 @@ void USensorDescription::Load(const FIniFile &Config, const FString &Section)
 void USensorDescription::Log() const
 {
   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name);
-  UE_LOG(LogCarla, Log, TEXT("Id = %d"), Id);
+  UE_LOG(LogCarla, Log, TEXT("Id = %d"), GetId());
   UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
   UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
   UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index 5a8462fc5..2fb33c092 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -19,11 +19,9 @@ class CARLA_API USensorDescription : public UObject
 
 public:
 
-  USensorDescription(const FObjectInitializer &ObjectInitializer);
-
   uint32 GetId() const
   {
-    return Id;
+    return GetTypeHash(this);
   }
 
   virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
@@ -39,11 +37,6 @@ public:
 
   virtual void Log() const;
 
-private:
-
-  UPROPERTY(Category = "Sensor Description", VisibleAnywhere)
-  uint32 Id;
-
 public:
 
   /** Display name of the sensor. */
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 42656f48c..7abc669ad 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -118,6 +118,8 @@ namespace server {
         return SetTrafficLight(lhs->mutable_traffic_light(), rhs, cs::TrafficLight::YELLOW);
       case CARLA_SERVER_AGENT_TRAFFICLIGHT_RED:
         return SetTrafficLight(lhs->mutable_traffic_light(), rhs, cs::TrafficLight::RED);
+      default:
+        log_error("invalid agent type");
     }
   }
 

From 33c8b075389f50b45e30d1154cd4589cce5fdbb1 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 16:49:17 +0100
Subject: [PATCH 089/108] Remove job position

---
 README.md | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/README.md b/README.md
index 2d32f729d..cbcbe0c29 100644
--- a/README.md
+++ b/README.md
@@ -94,13 +94,6 @@ F.A.Q.
 If you run into problems, check our
 [FAQ](http://carla.readthedocs.io/en/latest/faq/).
 
-Jobs
-----
-
-We are currently looking for a new programmer to join our team
-
-  * [C++ (UE4) Programmer](https://drive.google.com/open?id=1Hx0eUgpXl95d4IL9meEGhJECgSRos1T1)
-
 License
 -------
 

From dee61fc1c4c9e6397e3285af19d27e77fc3e4904 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 17:21:12 +0100
Subject: [PATCH 090/108] Bring back overridable settings for cameras depending
 on the weather

---
 .../Source/Carla/Game/CarlaGameModeBase.cpp   | 15 ++++++-----
 .../Carla/Sensor/SceneCaptureCamera.cpp       | 26 +++++++++----------
 .../Carla/Settings/CameraDescription.cpp      |  9 +++++++
 .../Source/Carla/Settings/CameraDescription.h | 11 ++++++++
 .../Source/Carla/Settings/SensorDescription.h |  3 +++
 5 files changed, 45 insertions(+), 19 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index 5efd1be63..a943a9d5d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -209,13 +209,16 @@ void ACarlaGameModeBase::AttachSensorsToPlayer()
   check(PlayerController != nullptr);
   const auto &Settings = GameInstance->GetCarlaSettings();
   const auto *Weather = Settings.GetActiveWeatherDescription();
-  const FCameraPostProcessParameters *OverridePostProcessParameters = nullptr;
-  if ((Weather != nullptr) && (Weather->bOverrideCameraPostProcessParameters)) {
-    OverridePostProcessParameters = &Weather->CameraPostProcessParameters;
-  }
 
-  for (const auto &Item : Settings.SensorDescriptions) {
-    auto *Sensor = FSensorFactory::Make(*Item.Value, *GetWorld());
+  for (auto &Item : Settings.SensorDescriptions)
+  {
+    check(Item.Value != nullptr);
+    auto &SensorDescription = *Item.Value;
+    if (Weather != nullptr)
+    {
+      SensorDescription.AdjustToWeather(*Weather);
+    }
+    auto *Sensor = FSensorFactory::Make(SensorDescription, *GetWorld());
     check(Sensor != nullptr);
     Sensor->AttachToActor(PlayerController->GetPawn());
     GetDataRouter().RegisterSensor(*Sensor);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
index 7ae3f252c..312bcf62f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp
@@ -190,20 +190,20 @@ void ASceneCaptureCamera::SetTargetGamma(const float TargetGamma)
 
 void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)
 {
-  /// @todo What to do with OverridePostProcessParameters?
-  // if (CameraDescription.OverridePostProcessParameters != nullptr) {
-  //   auto Override = *CameraDescription.OverridePostProcessParameters;
-  //   auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
-  //   PostProcessSettings.bOverride_AutoExposureMethod = true;
-  //   PostProcessSettings.AutoExposureMethod = Override.AutoExposureMethod;
-  //   PostProcessSettings.bOverride_AutoExposureMinBrightness = true;
-  //   PostProcessSettings.AutoExposureMinBrightness = Override.AutoExposureMinBrightness;
-  //   PostProcessSettings.bOverride_AutoExposureMaxBrightness = true;
-  //   PostProcessSettings.AutoExposureMaxBrightness = Override.AutoExposureMaxBrightness;
-  //   PostProcessSettings.bOverride_AutoExposureBias = true;
-  //   PostProcessSettings.AutoExposureBias = Override.AutoExposureBias;
-  // }
   Super::Set(CameraDescription);
+
+  if (CameraDescription.bOverrideCameraPostProcessParameters) {
+    auto &Override = CameraDescription.CameraPostProcessParameters;
+    auto &PostProcessSettings = CaptureComponent2D->PostProcessSettings;
+    PostProcessSettings.bOverride_AutoExposureMethod = true;
+    PostProcessSettings.AutoExposureMethod = Override.AutoExposureMethod;
+    PostProcessSettings.bOverride_AutoExposureMinBrightness = true;
+    PostProcessSettings.AutoExposureMinBrightness = Override.AutoExposureMinBrightness;
+    PostProcessSettings.bOverride_AutoExposureMaxBrightness = true;
+    PostProcessSettings.AutoExposureMaxBrightness = Override.AutoExposureMaxBrightness;
+    PostProcessSettings.bOverride_AutoExposureBias = true;
+    PostProcessSettings.AutoExposureBias = Override.AutoExposureBias;
+  }
   SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
   SetPostProcessEffect(CameraDescription.PostProcessEffect);
   SetFOVAngle(CameraDescription.FOVAngle);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
index 6a26b68b8..d37759804 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.cpp
@@ -27,6 +27,15 @@ void UCameraDescription::Validate()
   ImageSizeY = (ImageSizeY == 0u ? 512u : ImageSizeY);
 }
 
+void UCameraDescription::AdjustToWeather(const FWeatherDescription &WeatherDescription)
+{
+  bOverrideCameraPostProcessParameters = WeatherDescription.bOverrideCameraPostProcessParameters;
+  if (bOverrideCameraPostProcessParameters)
+  {
+    CameraPostProcessParameters = WeatherDescription.CameraPostProcessParameters;
+  }
+}
+
 void UCameraDescription::Log() const
 {
   Super::Log();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
index 54f823fe2..d4b663b81 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CameraDescription.h
@@ -9,6 +9,7 @@
 #include "Settings/SensorDescription.h"
 
 #include "Settings/PostProcessEffect.h"
+#include "Settings/WeatherDescription.h"
 
 #include "CameraDescription.generated.h"
 
@@ -33,6 +34,8 @@ public:
     return PostProcessEffect == EPostProcessEffect::SemanticSegmentation;
   }
 
+  virtual void AdjustToWeather(const FWeatherDescription &WeatherDescription) final;
+
   virtual void Log() const final;
 
   /** X size in pixels of the captured image. */
@@ -50,4 +53,12 @@ public:
   /** Camera field of view (in degrees). */
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(DisplayName = "Field of View", ClampMin = "0.001", ClampMax = "360.0"))
   float FOVAngle = 90.0f;
+
+  /** If disabled the camera default values will be used instead. */
+  UPROPERTY(Category = "Camera Description|Weather", EditDefaultsOnly)
+  bool bOverrideCameraPostProcessParameters = false;
+
+  /** Camera post-process parameters to be overriden depending on the weather. */
+  UPROPERTY(Category = "Camera Description|Weather", EditDefaultsOnly, meta=(EditCondition = "bOverrideCameraPostProcessParameters"))
+  FCameraPostProcessParameters CameraPostProcessParameters;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index 2fb33c092..a84fbdf1c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -11,6 +11,7 @@
 #include "SensorDescription.generated.h"
 
 class FIniFile;
+struct FWeatherDescription;
 
 UCLASS(Abstract)
 class CARLA_API USensorDescription : public UObject
@@ -35,6 +36,8 @@ public:
     return false;
   }
 
+  virtual void AdjustToWeather(const FWeatherDescription &) {}
+
   virtual void Log() const;
 
 public:

From 2d7c59b33fa1871e9c8ac775dae9c7bbce093f8d Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 18:02:11 +0100
Subject: [PATCH 091/108] Fix bug incorrect task was checked

---
 Util/CarlaServer/source/carla/server/AgentServer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Util/CarlaServer/source/carla/server/AgentServer.cpp b/Util/CarlaServer/source/carla/server/AgentServer.cpp
index 458f6ccb3..db2462c12 100644
--- a/Util/CarlaServer/source/carla/server/AgentServer.cpp
+++ b/Util/CarlaServer/source/carla/server/AgentServer.cpp
@@ -33,7 +33,7 @@ namespace server {
 
   error_code AgentServer::WriteMeasurements(const carla_measurements &measurements) {
     error_code ec;
-    if (!_control.TryGetResult(ec)) { /// @todo Why _control here?? is it a bug?
+    if (!_measurements.TryGetResult(ec)) {
       auto writer = _measurements.buffer()->MakeWriter();
       writer->Write(measurements, _sensor_inbox);
       ec = errc::success();

From 1fc3753ae606aa57dca9481cfd5f04f22899349f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 18:14:04 +0100
Subject: [PATCH 092/108] Fix unit tests

---
 Makefile                                      |  4 ++--
 PythonClient/test/test_client.py              |  4 ++--
 Util/CarlaServer/source/test/Sensor.cpp       | 23 ++++++++++++-------
 .../source/test/Test_CarlaServer.cpp          |  9 +++++++-
 4 files changed, 27 insertions(+), 13 deletions(-)

diff --git a/Makefile b/Makefile
index 41e50596c..a91cc4f32 100644
--- a/Makefile
+++ b/Makefile
@@ -74,9 +74,9 @@ run_test_release:
 
 launch_test_clients:
 	@echo "Launch echo client"
-	@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py --echo -p 4000 --log echo_client.log & echo $$! > echo_client.pid
+	@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py --echo -v -p 4000 --log echo_client.log & echo $$! > echo_client.pid
 	@echo "Launch carla client"
-	@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py -p 2000 --log carla_client.log & echo $$! > carla_client.pid
+	@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py -v -p 2000 --log carla_client.log & echo $$! > carla_client.pid
 
 kill_test_clients:
 	@echo "Kill echo client"
diff --git a/PythonClient/test/test_client.py b/PythonClient/test/test_client.py
index cba555cc3..6d35a97f5 100755
--- a/PythonClient/test/test_client.py
+++ b/PythonClient/test/test_client.py
@@ -67,8 +67,8 @@ def run_carla_client(args):
                 images = [x for x in sensor_data.values() if isinstance(x, Image)]
 
                 logging.debug('received data of %d agents', len(measurements.non_player_agents))
-                assert len(images) == 1
-                assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
+                if len(images) > 0:
+                    assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
 
                 if args.images_to_disk:
                     images[0].save_to_disk(filename.format(episode, frame))
diff --git a/Util/CarlaServer/source/test/Sensor.cpp b/Util/CarlaServer/source/test/Sensor.cpp
index ef121338b..8bb12e6a7 100644
--- a/Util/CarlaServer/source/test/Sensor.cpp
+++ b/Util/CarlaServer/source/test/Sensor.cpp
@@ -2,8 +2,6 @@
 
 #include <gtest/gtest.h>
 
-#include <random>
-
 namespace test {
 
   static uint32_t ID_COUNT = 0u;
@@ -17,14 +15,23 @@ namespace test {
 
   carla_sensor_data Sensor::MakeRandomData() {
     std::lock_guard<std::mutex> lock(_mutex);
-    std::random_device device;
-    std::default_random_engine rng(device());
-    std::uniform_int_distribution<uint32_t> dist(1, 10000);
 
-    _data.header_size = dist(rng);
-    _data.data_size = dist(rng);
+    const struct {
+      uint32_t Width;
+      uint32_t Height;
+      uint32_t Type;
+      float FOV;
+    } ImageHeader = {300u, 200u, 1u, 90.0f};
 
-    _header = std::make_unique<const unsigned char[]>(_data.header_size);
+    _data.header_size = sizeof(ImageHeader);
+    auto header = std::make_unique<unsigned char[]>(_data.header_size);
+    std::memcpy(
+        reinterpret_cast<void *>(header.get()),
+        reinterpret_cast<const void *>(&ImageHeader),
+        _data.header_size);
+    _header = std::move(header);
+
+    _data.data_size = 300u * 200u;
     _buffer = std::make_unique<const unsigned char[]>(_data.data_size);
 
     _data.header = _header.get();
diff --git a/Util/CarlaServer/source/test/Test_CarlaServer.cpp b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
index 9d8b0bb7a..183e7a111 100644
--- a/Util/CarlaServer/source/test/Test_CarlaServer.cpp
+++ b/Util/CarlaServer/source/test/Test_CarlaServer.cpp
@@ -101,7 +101,14 @@ TEST(CarlaServerAPI, SimBlocking) {
       ASSERT_EQ(S, carla_write_episode_ready(CarlaServer, values, TIMEOUT));
     }
 
-    std::array<carla_agent, 10u> agents_data;
+    std::array<carla_agent, 30u> agents_data;
+    for (auto i = 0u; i < agents_data.size(); ++i) {
+      agents_data[i].id = i;
+      agents_data[i].type = CARLA_SERVER_AGENT_VEHICLE;
+      agents_data[i].transform = start_locations[0u];
+      agents_data[i].box_extent = {100.0f, 100.0f, 100.0f};
+      agents_data[i].forward_speed = 50.0f;
+    }
 
     std::atomic_bool done{false};
 

From 551cb29a950fd54fe07d3d1169eae8bf2a79e454 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 20:02:12 +0100
Subject: [PATCH 093/108] Some clean up and documentation

---
 PythonClient/carla/image_converter.py         |  3 +-
 PythonClient/carla/sensor.py                  | 40 +++++++++----------
 PythonClient/carla/settings.py                |  3 +-
 Rebuild.sh                                    |  2 +
 .../Source/Carla/Settings/CarlaSettings.cpp   | 10 ++++-
 .../Source/Carla/Settings/SensorDescription.h |  1 +
 6 files changed, 33 insertions(+), 26 deletions(-)

diff --git a/PythonClient/carla/image_converter.py b/PythonClient/carla/image_converter.py
index 1e66c30a7..2b3b44491 100644
--- a/PythonClient/carla/image_converter.py
+++ b/PythonClient/carla/image_converter.py
@@ -19,8 +19,7 @@ try:
     import numpy
     from numpy.matlib import repmat
 except ImportError:
-    raise RuntimeError(
-        'cannot import numpy, make sure numpy package is installed')
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
 
 
 from . import sensor
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index b1600b413..ca2ea2505 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -16,10 +16,13 @@ try:
 except ImportError:
     raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
 
+from . import image_converter
+
 from .transform import Transform, Translation, Rotation, Scale
 
+
 # ==============================================================================
-# -- Helpers -------------------------------------------------------------
+# -- Helpers -------------------------------------------------------------------
 # ==============================================================================
 
 
@@ -32,7 +35,7 @@ Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
 
 
 # ==============================================================================
-# -- Sensor --------------------------------------------------------------
+# -- Sensor --------------------------------------------------------------------
 # ==============================================================================
 
 
@@ -44,12 +47,12 @@ class Sensor(object):
     def __init__(self, name, sensor_type):
         self.SensorName = name
         self.SensorType = sensor_type
-        self.PositionX = 140
-        self.PositionY = 0
-        self.PositionZ = 140
-        self.RotationPitch = 0
-        self.RotationRoll = 0
-        self.RotationYaw = 0
+        self.PositionX = 140.0
+        self.PositionY = 0.0
+        self.PositionZ = 140.0
+        self.RotationPitch = 0.0
+        self.RotationRoll = 0.0
+        self.RotationYaw = 0.0
 
     def set(self, **kwargs):
         for key, value in kwargs.items():
@@ -96,9 +99,9 @@ class Camera(Sensor):
     def __init__(self, name, **kwargs):
         super(Camera, self).__init__(name, sensor_type="CAMERA")
         self.PostProcessing = 'SceneFinal'
-        self.ImageSizeX = 800
-        self.ImageSizeY = 600
-        self.FOV = 90
+        self.ImageSizeX = 720
+        self.ImageSizeY = 512
+        self.FOV = 90.0
         self.set(**kwargs)
 
     def set_image_size(self, pixels_x, pixels_y):
@@ -116,20 +119,19 @@ class Lidar(Sensor):
     def __init__(self, name, **kwargs):
         super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE")
         self.Channels = 32
-        self.Range = 5000
-        self.PointsPerSecond = 100000
-        self.RotationFrequency = 10
-        self.UpperFovLimit = 10
-        self.LowerFovLimit = -30
+        self.Range = 5000.0
+        self.PointsPerSecond = 56000
+        self.RotationFrequency = 10.0
+        self.UpperFovLimit = 10.0
+        self.LowerFovLimit = -30.0
         self.ShowDebugPoints = False
         self.set(**kwargs)
 
 
 # ==============================================================================
-# -- SensorData ----------------------------------------------------------
+# -- SensorData ----------------------------------------------------------------
 # ==============================================================================
 
-
 class SensorData(object):
     """Base class for sensor data returned from the server."""
     pass
@@ -154,8 +156,6 @@ class Image(SensorData):
         default format.
         """
         if self._converted_data is None:
-            from . import image_converter
-
             if self.type == 'Depth':
                 self._converted_data = image_converter.depth_to_array(self)
             elif self.type == 'SemanticSegmentation':
diff --git a/PythonClient/carla/settings.py b/PythonClient/carla/settings.py
index 146da8947..6c67a88c1 100644
--- a/PythonClient/carla/settings.py
+++ b/PythonClient/carla/settings.py
@@ -40,10 +40,9 @@ class CarlaSettings(object):
         self.PlayerVehicle = None
         self.NumberOfVehicles = 20
         self.NumberOfPedestrians = 30
-        self.WeatherId = -1
+        self.WeatherId = 1
         self.SeedVehicles = None
         self.SeedPedestrians = None
-        self.randomize_weather()
         self.set(**kwargs)
         self._sensors = []
 
diff --git a/Rebuild.sh b/Rebuild.sh
index 09db805e2..e85ef931f 100755
--- a/Rebuild.sh
+++ b/Rebuild.sh
@@ -58,6 +58,8 @@ function log {
 
 if [ ! -d "${UE4_ROOT}" ]; then
   fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
+else
+  echo "Using Unreal Engine at '$UE4_ROOT'"
 fi
 
 # ==============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
index d89203235..b051ed383 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
@@ -24,11 +24,13 @@
 // -- Static methods -----------------------------------------------------------
 // =============================================================================
 
+/// Call Callback for every subsection (from top to bottom) in SectionName.
+/// Subsections are separated by '/' character.
 template <typename T>
-static void ForEachSectionInName(const FString &SensorName, T &&Callback)
+static void ForEachSectionInName(const FString &SectionName, T &&Callback)
 {
   TArray<FString> SubSections;
-  SensorName.ParseIntoArray(SubSections, TEXT("/"), true);
+  SectionName.ParseIntoArray(SubSections, TEXT("/"), true);
   check(SubSections.Num() > 0);
   FString Section = S_CARLA_SENSOR;
   Callback(Section);
@@ -39,6 +41,8 @@ static void ForEachSectionInName(const FString &SensorName, T &&Callback)
   }
 }
 
+/// Recursively get sensor type from the ConfigFile for each subsection in
+/// SensorName.
 static FString GetSensorType(
     const FIniFile &ConfigFile,
     const FString &SensorName)
@@ -50,6 +54,8 @@ static FString GetSensorType(
   return SensorType;
 }
 
+/// Recursively load sensor settings from the ConfigFile for each subsection in
+/// SensorName.
 static void LoadSensorFromConfig(
     const FIniFile &ConfigFile,
     USensorDescription &Sensor)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
index a84fbdf1c..875bff8da 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h
@@ -13,6 +13,7 @@
 class FIniFile;
 struct FWeatherDescription;
 
+/// A description of a sensor as loaded from the settings file.
 UCLASS(Abstract)
 class CARLA_API USensorDescription : public UObject
 {

From c74c72932ab83e05b8619cae33777f0fce4b596c Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Mon, 26 Feb 2018 20:09:47 +0100
Subject: [PATCH 094/108] More documentation

---
 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
index 09e1e3119..c512c195e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
@@ -47,6 +47,8 @@ public:
 
   ErrorCode ReadControl(FVehicleControl &Control, bool bBlocking);
 
+  /// Enqueues sensor data to be sent to the client. It is safe to call this
+  /// function from a different thread.
   ErrorCode SendSensorData(const FSensorDataView &Data);
 
   ErrorCode SendMeasurements(

From 82d156cda4122fe137b8fd5a1a5bfcd3b048e517 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 14:48:42 +0100
Subject: [PATCH 095/108] Fix import error in Python 2

---
 PythonClient/carla/sensor.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index ca2ea2505..822d93661 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -16,8 +16,6 @@ try:
 except ImportError:
     raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
 
-from . import image_converter
-
 from .transform import Transform, Translation, Rotation, Scale
 
 
@@ -156,6 +154,8 @@ class Image(SensorData):
         default format.
         """
         if self._converted_data is None:
+            from . import image_converter
+
             if self.type == 'Depth':
                 self._converted_data = image_converter.depth_to_array(self)
             elif self.type == 'SemanticSegmentation':

From 5cd21fc22b42f8fac4666e94c386930558d64ece Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 14:49:35 +0100
Subject: [PATCH 096/108] Append file extension if missing when saving sensor
 data

---
 PythonClient/carla/sensor.py     |  7 +++++++
 PythonClient/client_example.py   | 10 +++-------
 PythonClient/test/test_client.py | 15 +++++++++------
 3 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index 822d93661..ffeb13d21 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -32,6 +32,10 @@ Point = namedtuple('Point', 'x y z color')
 Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
 
 
+def _append_extension(filename, ext):
+    return filename if filename.lower().endswith(ext.lower()) else filename + ext
+
+
 # ==============================================================================
 # -- Sensor --------------------------------------------------------------------
 # ==============================================================================
@@ -166,6 +170,8 @@ class Image(SensorData):
 
     def save_to_disk(self, filename):
         """Save this image to disk (requires PIL installed)."""
+        filename = _append_extension(filename, '.png')
+
         try:
             from PIL import Image as PImage
         except ImportError:
@@ -227,6 +233,7 @@ class PointCloud(SensorData):
 
     def save_to_disk(self, filename):
         """Save this point-cloud to disk as PLY format."""
+        filename = _append_extension(filename, '.ply')
 
         def construct_ply_header():
             """Generates a PLY header given a total number of 3D points and
diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index fc22420e4..c5590ad39 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -117,11 +117,8 @@ def run_carla_client(args):
                 # Save the images to disk if requested.
                 if args.save_images_to_disk:
                     for name, measurement in sensor_data.items():
-                        if isinstance(measurement, LidarMeasurement):
-                            filename = args.lidar_filename_format
-                        else:
-                            filename = args.image_filename_format
-                        measurement.save_to_disk(filename.format(episode, name, frame))
+                        filename = args.out_filename_format.format(episode, name, frame)
+                        measurement.save_to_disk(filename)
 
                 # We can access the encoded data of a given image as numpy
                 # array using its "data" property. For instance, to get the
@@ -223,8 +220,7 @@ def main():
 
     logging.info('listening to server %s:%s', args.host, args.port)
 
-    args.image_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.png'
-    args.lidar_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.ply'
+    args.out_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}'
 
     while True:
         try:
diff --git a/PythonClient/test/test_client.py b/PythonClient/test/test_client.py
index 6d35a97f5..e5fcd2a01 100755
--- a/PythonClient/test/test_client.py
+++ b/PythonClient/test/test_client.py
@@ -19,8 +19,8 @@ sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
 
 import carla
 
+from carla import sensor
 from carla.client import CarlaClient
-from carla.sensor import Camera, Image
 from carla.settings import CarlaSettings
 from carla.tcp import TCPClient
 from carla.util import make_connection
@@ -31,17 +31,19 @@ import console
 def run_carla_client(args):
     with make_connection(CarlaClient, args.host, args.port, timeout=15) as client:
         logging.info('CarlaClient connected')
-        filename = '_images/episode_{:0>3d}/image_{:0>5d}.png'
+        filename = '_out/test_episode_{:0>4d}/{:s}/{:0>6d}'
         frames_per_episode = 300
         episode = 0
         while True:
             episode += 1
             settings = CarlaSettings()
-            settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous)
+            settings.set(SendNonPlayerAgentsInfo=True, SynchronousMode=args.synchronous)
             settings.randomize_seeds()
-            camera = Camera('DefaultCamera')
+            camera = sensor.Camera('DefaultCamera')
             camera.set_image_size(300, 200) # Do not change this, hard-coded in test.
             settings.add_sensor(camera)
+            lidar = sensor.Lidar('DefaultLidar')
+            settings.add_sensor(lidar)
 
             logging.debug('sending CarlaSettings:\n%s', settings)
             logging.info('new episode requested')
@@ -64,14 +66,15 @@ def run_carla_client(args):
             for frame in range(0, frames_per_episode):
                 logging.debug('reading measurements...')
                 measurements, sensor_data = client.read_data()
-                images = [x for x in sensor_data.values() if isinstance(x, Image)]
+                images = [x for x in sensor_data.values() if isinstance(x, sensor.Image)]
 
                 logging.debug('received data of %d agents', len(measurements.non_player_agents))
                 if len(images) > 0:
                     assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
 
                 if args.images_to_disk:
-                    images[0].save_to_disk(filename.format(episode, frame))
+                    for name, data in sensor_data.items():
+                        data.save_to_disk(filename.format(episode, name, frame))
 
                 logging.debug('sending control...')
                 control = measurements.player_measurements.autopilot_control

From bda6067b9045e26125a29418f43d1d1581046a53 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 17:08:01 +0100
Subject: [PATCH 097/108] Add UML graph of CARLA plugin

---
 Docs/img/carla_plugin_graph.java | 272 +++++++++++++++++++++++++++++++
 Docs/img/carla_plugin_graph.png  | Bin 0 -> 253848 bytes
 2 files changed, 272 insertions(+)
 create mode 100644 Docs/img/carla_plugin_graph.java
 create mode 100644 Docs/img/carla_plugin_graph.png

diff --git a/Docs/img/carla_plugin_graph.java b/Docs/img/carla_plugin_graph.java
new file mode 100644
index 000000000..cefb6b442
--- /dev/null
+++ b/Docs/img/carla_plugin_graph.java
@@ -0,0 +1,272 @@
+// src/main/java/org/umlgraph/doclet/
+
+// java -jar /usr/lib/jvm/java-8-oracle/lib/UmlGraph.jar -package -output - CarlaUE4.java | dot -Tpng -oCarlaUE4.png
+
+// =============================================================================
+// -- Unreal classes -----------------------------------------------------------
+// =============================================================================
+
+/**
+ * @hidden
+ * @opt nodefillcolor gray
+ */
+class UObject {}
+
+/** @opt nodefillcolor gray */ class AAIController extends AController {}
+/** @opt nodefillcolor gray */ class AActor extends UObject {}
+/** @opt nodefillcolor gray */ class ACharacter extends APawn {}
+/** @opt nodefillcolor gray */ class AController extends AActor {}
+/** @opt nodefillcolor gray */ class AGameModeBase extends AActor {}
+/** @opt nodefillcolor gray */ class AHUD extends AActor {}
+/** @opt nodefillcolor gray */ class AInfo extends AActor {}
+/** @opt nodefillcolor gray */ class APawn extends AActor {}
+/** @opt nodefillcolor gray */ class APlayerController extends AController {}
+/** @opt nodefillcolor gray */ class APlayerState extends AInfo {}
+/** @opt nodefillcolor gray */ class AWheeledVehicle extends APawn {}
+/** @opt nodefillcolor gray */ class UActorComponent extends UObject {}
+/** @opt nodefillcolor gray */ class UCameraComponent extends USceneComponent {}
+/** @opt nodefillcolor gray */ class UGameInstance extends UObject {}
+/** @opt nodefillcolor gray */ class USceneComponent extends UActorComponent {}
+
+// =============================================================================
+// -- Agent --------------------------------------------------------------------
+// =============================================================================
+
+class UAgentComponent extends USceneComponent {}
+
+class UTrafficSignAgentComponent extends UAgentComponent {}
+
+class UVehicleAgentComponent extends UAgentComponent {}
+
+class UWalkerAgentComponent extends UAgentComponent {}
+
+// =============================================================================
+// -- Game ---------------------------------------------------------------------
+// =============================================================================
+
+/**
+ * @has - - - FDataRouter
+ */
+class ICarlaGameControllerBase {}
+
+/**
+ * @composed - - - ICarlaGameControllerBase
+ * @composed - - - FDataRouter
+ * @composed - - - UCarlaSettings
+ */
+class UCarlaGameInstance extends UGameInstance {}
+
+ // * @has - Player - ACarlaVehicleController
+
+/**
+ * @depend - - - UCarlaGameInstance
+ * @composed - - - UTaggerDelegate
+ * @composed - - - ADynamicWeather
+ * @composed - - - AVehicleSpawnerBase
+ * @composed - - - AWalkerSpawnerBase
+ */
+class ACarlaGameModeBase extends AGameModeBase {}
+
+class ACarlaHUD extends AHUD {}
+
+class ACarlaPlayerState extends APlayerState {}
+
+/**
+ * @depend - - - UAgentComponent
+ * @depend - - - ACarlaVehicleController
+ * @composed - - - ISensorDataSink
+ */
+class FDataRouter {}
+
+/**
+ * @composed - - - FMockSensorDataSink
+ */
+class MockGameController extends ICarlaGameControllerBase {}
+
+class FMockSensorDataSink extends ISensorDataSink {}
+
+/**
+ * @depend - - - ATagger
+ */
+class UTaggerDelegate extends UObject {}
+
+class ATagger /*extends AActor*/ {}
+
+// =============================================================================
+// -- MapGen -------------------------------------------------------------------
+// =============================================================================
+
+// MapGen is ignored here.
+
+// =============================================================================
+// -- Sensor -------------------------------------------------------------------
+// =============================================================================
+
+class ALidar extends ASensor {}
+
+class ASceneCaptureCamera extends ASensor {}
+
+/**
+ * @depend - - - ISensorDataSink
+ */
+class ASensor extends AActor {}
+
+class ISensorDataSink {}
+
+// =============================================================================
+// -- Server -------------------------------------------------------------------
+// =============================================================================
+
+/**
+ * @depend - - - CarlaServerAPI
+ */
+class FCarlaServer {}
+
+/**
+ * @composed - - - FCarlaServer
+ * @has - - - FServerSensorDataSink
+ */
+class FServerGameController extends ICarlaGameControllerBase {}
+
+/**
+ * @depend - - - FCarlaServer
+ */
+class FServerSensorDataSink extends ISensorDataSink {}
+
+/**
+ * CarlaServer
+ * Library API
+ * @opt commentname
+ * @opt nodefillcolor #fdf6e3
+ */
+class CarlaServerAPI {}
+
+// =============================================================================
+// -- Settings -----------------------------------------------------------------
+// =============================================================================
+
+class UCameraDescription extends USensorDescription {}
+
+/**
+ * @composed - - - USensorDescription
+ */
+class UCarlaSettings extends UObject {}
+
+class ULidarDescription extends USensorDescription {}
+
+class USensorDescription extends UObject {}
+
+// =============================================================================
+// -- Traffic ------------------------------------------------------------------
+// =============================================================================
+
+class ATrafficLightBase extends ATrafficSignBase {}
+
+/**
+ * @composed - - - UTrafficSignAgentComponent
+ */
+class ATrafficSignBase extends AActor {}
+
+// =============================================================================
+// -- Util ---------------------------------------------------------------------
+// =============================================================================
+
+class AActorWithRandomEngine extends AActor {}
+
+// =============================================================================
+// -- Vehicle ------------------------------------------------------------------
+// =============================================================================
+
+/**
+ * @has - - - ACarlaPlayerState
+ * @has - - - ACarlaHUD
+ */
+class ACarlaVehicleController extends AWheeledVehicleController {}
+
+/**
+ * @composed - - - UVehicleAgentComponent
+ */
+class ACarlaWheeledVehicle extends AWheeledVehicle {}
+
+/**
+ * @has - - - ACarlaWheeledVehicle
+ */
+class AVehicleSpawnerBase extends AActorWithRandomEngine {}
+
+/**
+ * @has - - - ACarlaWheeledVehicle
+ */
+class AWheeledVehicleAIController extends APlayerController {}
+
+/**
+ * @composed - - - UCameraComponent
+ */
+class AWheeledVehicleController extends AWheeledVehicleAIController {}
+
+// =============================================================================
+// -- Walker -------------------------------------------------------------------
+// =============================================================================
+
+/**
+ * @has - - - ACharacter
+ */
+class AWalkerAIController extends AAIController {}
+
+/**
+ * @has - - - ACharacter
+ */
+class AWalkerSpawnerBase extends AActorWithRandomEngine {}
+
+// =============================================================================
+// -- Blueprints ---------------------------------------------------------------
+// =============================================================================
+
+/**
+ * Carla Game Mode
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class CarlaGameMode extends ACarlaGameModeBase {}
+
+/**
+ * Speed Limit Sign
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class SpeedLimitSignBlueprint extends ATrafficSignBase {}
+
+/**
+ * Traffic Light
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class TrafficLightBlueprint extends ATrafficLightBase {}
+
+/**
+ * Vehicle Blueprints
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class VehicleBlueprints extends ACarlaWheeledVehicle {}
+
+/**
+ * Vehicle Spawner
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class VehicleSpawnerBlueprint extends AVehicleSpawnerBase {}
+
+/**
+ * Walker Blueprints
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ * @composed - - - UWalkerAgentComponent
+ */
+class WalkerBlueprints extends ACharacter {}
+
+/**
+ * Walker Spawner
+ * @opt commentname
+ * @opt nodefillcolor #bfe4ff
+ */
+class WalkerSpawnerBlueprint extends AWalkerSpawnerBase {}
diff --git a/Docs/img/carla_plugin_graph.png b/Docs/img/carla_plugin_graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..68e2eae86c5a2c97ab9a1d03ff1336d47e9b1f10
GIT binary patch
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literal 0
HcmV?d00001


From 913628a53b910eff896a2e2f0adbd3a80cc766d1 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 17:09:11 +0100
Subject: [PATCH 098/108] Remove comment

---
 Docs/img/carla_plugin_graph.java | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/Docs/img/carla_plugin_graph.java b/Docs/img/carla_plugin_graph.java
index cefb6b442..fae0c126a 100644
--- a/Docs/img/carla_plugin_graph.java
+++ b/Docs/img/carla_plugin_graph.java
@@ -1,7 +1,3 @@
-// src/main/java/org/umlgraph/doclet/
-
-// java -jar /usr/lib/jvm/java-8-oracle/lib/UmlGraph.jar -package -output - CarlaUE4.java | dot -Tpng -oCarlaUE4.png
-
 // =============================================================================
 // -- Unreal classes -----------------------------------------------------------
 // =============================================================================

From 6e1905bea75ab6ba32aa2b4696b8e5c95fe75c55 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 18:14:06 +0100
Subject: [PATCH 099/108] Remove some actors and components ticks and
 visibility

---
 .../Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp  | 9 +++++++++
 .../Plugins/Carla/Source/Carla/Agent/AgentComponent.h    | 2 ++
 .../Carla/Source/Carla/Traffic/TrafficSignBase.cpp       | 3 +++
 .../Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp    | 7 +++++--
 4 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
index 3cef8518e..547081e2a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp
@@ -20,6 +20,15 @@ static FDataRouter &GetDataRouter(UWorld *World)
   return GameMode->GetDataRouter();
 }
 
+UAgentComponent::UAgentComponent(const FObjectInitializer& ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  bVisible = false;
+  bHiddenInGame = true;
+  bShouldUpdatePhysicsVolume = false;
+  PrimaryComponentTick.bCanEverTick = false;
+}
+
 void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
 {
   unimplemented();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
index a272af4d3..7262e1e89 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h
@@ -22,6 +22,8 @@ class CARLA_API UAgentComponent : public USceneComponent
 
 public:
 
+  UAgentComponent(const FObjectInitializer& ObjectInitializer);
+
   uint32 GetId() const
   {
     return GetTypeHash(this);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
index 3320febbe..1d9ef1a39 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.cpp
@@ -9,6 +9,8 @@
 
 ATrafficSignBase::ATrafficSignBase(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {
+  PrimaryActorTick.bCanEverTick = false;
+
   RootComponent =
       ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneRootComponent"));
   RootComponent->SetMobility(EComponentMobility::Static);
@@ -16,4 +18,5 @@ ATrafficSignBase::ATrafficSignBase(const FObjectInitializer &ObjectInitializer)
   TrafficSignAgentComponent =
       CreateDefaultSubobject<UTrafficSignAgentComponent>(TEXT("TrafficSignAgentComponent"));
   TrafficSignAgentComponent->SetupAttachment(RootComponent);
+  TrafficSignAgentComponent->SetMobility(EComponentMobility::Static);
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
index 839bf8398..0292fe784 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleSpawnerBase.cpp
@@ -35,8 +35,11 @@ static AWheeledVehicleAIController *GetController(ACarlaWheeledVehicle *Vehicle)
 // =============================================================================
 
 // Sets default values
-AVehicleSpawnerBase::AVehicleSpawnerBase(const FObjectInitializer& ObjectInitializer) :
-  Super(ObjectInitializer) {}
+AVehicleSpawnerBase::AVehicleSpawnerBase(const FObjectInitializer& ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  PrimaryActorTick.bCanEverTick = false;
+}
 
 void AVehicleSpawnerBase::BeginPlay()
 {

From ed5aad9c569b974dd8b8b903c9420ed13c069f9f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 18:43:12 +0100
Subject: [PATCH 100/108] Make agent components spawnable in blueprints

---
 .../Carla/Source/Carla/Agent/TrafficSignAgentComponent.h        | 2 +-
 .../Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h    | 2 +-
 .../Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
index 752ebee6f..5c60eb0ab 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h
@@ -12,7 +12,7 @@
 
 class ATrafficSignBase;
 
-UCLASS()
+UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
 class CARLA_API UTrafficSignAgentComponent : public UAgentComponent
 {
   GENERATED_BODY()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
index b15a878b1..b4904e054 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h
@@ -12,7 +12,7 @@
 
 class ACarlaWheeledVehicle;
 
-UCLASS()
+UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
 class CARLA_API UVehicleAgentComponent : public UAgentComponent
 {
   GENERATED_BODY()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
index ab822803c..7b1ead9b7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
@@ -14,7 +14,7 @@ class ACharacter;
 
 /// This component can be added to any ACharacter to be added as agent.
 /// See UAgentComponent.
-UCLASS()
+UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
 class CARLA_API UWalkerAgentComponent : public UAgentComponent
 {
   GENERATED_BODY()

From 9bc2807fe4698c525450699b6398d48fc7b4a358 Mon Sep 17 00:00:00 2001
From: FPerez <fperez@cvc.uab.es>
Date: Tue, 27 Feb 2018 18:50:19 +0100
Subject: [PATCH 101/108] upgraded unreal version of Uassets

---
 .../DepthEffectMaterial.uasset                | Bin 56150 -> 62150 bytes
 .../DepthEffectMaterial_GLSL.uasset           | Bin 56747 -> 76522 bytes
 .../PostProcessingMaterials/GTMaterial.uasset | Bin 88589 -> 86473 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Content/PostProcessingMaterials/DepthEffectMaterial.uasset b/Unreal/CarlaUE4/Plugins/Carla/Content/PostProcessingMaterials/DepthEffectMaterial.uasset
index 4196c03c20bec50728a835cceee82d3440ec1465..4c9592610135b190c3c991409f9e731dd954bc67 100644
GIT binary patch
delta 44746
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From 9ffc39bfa4f319b82016912c913969b8157838fc Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Tue, 27 Feb 2018 19:02:28 +0100
Subject: [PATCH 102/108] Fix pylint warnings

---
 PythonClient/client_example.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
index c5590ad39..4270199ff 100755
--- a/PythonClient/client_example.py
+++ b/PythonClient/client_example.py
@@ -16,7 +16,7 @@ import random
 import time
 
 from carla.client import make_carla_client
-from carla.sensor import Camera, Lidar, LidarMeasurement
+from carla.sensor import Camera, Lidar
 from carla.settings import CarlaSettings
 from carla.tcp import TCPConnectionError
 from carla.util import print_over_same_line

From e87c8a77ff25b47a390bf906b90fb258043637d5 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 28 Feb 2018 11:36:07 +0100
Subject: [PATCH 103/108] Print error on unknown sensor type

---
 PythonClient/carla/client.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
index 57ed04542..0b1764c5f 100644
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@@ -6,6 +6,7 @@
 
 """CARLA Client."""
 
+import logging
 import struct
 
 from contextlib import contextmanager
@@ -217,10 +218,10 @@ def _make_sensor_parsers(sensors):
 
     for s in sensors:
         sensor_def = SensorDefinition(s)
-        if sensor_def.type == carla_protocol.Sensor.UNKNOWN:
-            pass
+        if sensor_def.type == carla_protocol.Sensor.CAMERA:
+            sensor_def.parse_raw_data = parse_image
         elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_TRACE:
             sensor_def.parse_raw_data = parse_lidar
         else:
-            sensor_def.parse_raw_data = parse_image
+            logging.error('unknown sensor type %s', sensor_def.type)
         yield sensor_def

From f84856520497f2ed9945dd37e2570ad0816d4c20 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 28 Feb 2018 14:33:45 +0100
Subject: [PATCH 104/108] Rename some lidar variables

---
 PythonClient/carla/client.py | 12 ++++++------
 PythonClient/carla/sensor.py |  8 ++++----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
index 0b1764c5f..f5509c47b 100644
--- a/PythonClient/carla/client.py
+++ b/PythonClient/carla/client.py
@@ -195,18 +195,18 @@ def _make_sensor_parsers(sensors):
 
     def parse_lidar(data):
         horizontal_angle = getfloat(data, 0)
-        channels_count = getint(data, 1)
-        points_count_by_channel = numpy.frombuffer(
-            data[8:8+channels_count*4],
+        channels = getint(data, 1)
+        point_count_by_channel = numpy.frombuffer(
+            data[8:8+channels*4],
             dtype=numpy.dtype('uint32'))
         points = numpy.frombuffer(
-            data[8+channels_count*4:],
+            data[8+channels*4:],
             dtype=numpy.dtype('f4'))
         points = numpy.reshape(points, (int(points.shape[0]/3), 3))
         return sensor.LidarMeasurement(
             horizontal_angle,
-            channels_count,
-            points_count_by_channel,
+            channels,
+            point_count_by_channel,
             sensor.PointCloud(points))
 
     class SensorDefinition(object):
diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
index ffeb13d21..2a09cb019 100644
--- a/PythonClient/carla/sensor.py
+++ b/PythonClient/carla/sensor.py
@@ -306,11 +306,11 @@ class PointCloud(SensorData):
 class LidarMeasurement(SensorData):
     """Data generated by a Lidar."""
 
-    def __init__(self, horizontal_angle, channels, points_count_by_channel, point_cloud):
-        assert numpy.sum(points_count_by_channel) == len(point_cloud.array)
+    def __init__(self, horizontal_angle, channels, point_count_by_channel, point_cloud):
+        assert numpy.sum(point_count_by_channel) == len(point_cloud.array)
         self.horizontal_angle = horizontal_angle
-        self.channels_count = channels
-        self.points_count_by_channel = points_count_by_channel
+        self.channels = channels
+        self.point_count_by_channel = point_count_by_channel
         self.point_cloud = point_cloud
 
     @property

From 83e5253bcce7d9068b056833a64bec35537dd98f Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 28 Feb 2018 14:34:14 +0100
Subject: [PATCH 105/108] Improve sensor documentation

---
 Docs/cameras_and_sensors.md    | 196 +++++++++++++++++++++++++++++----
 Docs/img/lidar_point_cloud.gif | Bin 0 -> 2884858 bytes
 2 files changed, 174 insertions(+), 22 deletions(-)
 create mode 100644 Docs/img/lidar_point_cloud.gif

diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md
index 08d141a4d..4bd2c9d4f 100644
--- a/Docs/cameras_and_sensors.md
+++ b/Docs/cameras_and_sensors.md
@@ -2,20 +2,20 @@ Cameras and sensors
 ===================
 
 Cameras and sensors can be added to the player vehicle by defining them in the
-settings file sent by the client on every new episode. Check out the examples at
-[CARLA Settings example][settingslink].
+settings sent by the client on every new episode. This can be done either by
+filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink])
+or by loading an INI settings file ([CARLA Settings example][settingslink]).
 
 This document describes the details of the different cameras/sensors currently
 available as well as the resulting images produced by them.
 
 Although we plan to extend the sensor suite of CARLA in the near future, at the
-moment there are only three different sensors available. These three sensors are
-implemented as different post-processing effects applied to scene capture
-cameras.
+moment there are four different sensors available.
 
-  * [Scene final](#scene-final)
-  * [Depth map](#depth-map)
-  * [Semantic segmentation](#semantic-segmentation)
+  * [Camera: Scene final](#camera-scene-final)
+  * [Camera: Depth map](#camera-depth-map)
+  * [Camera: Semantic segmentation](#camera-semantic-segmentation)
+  * [Ray-trace based lidar](#ray-trace-based-lidar)
 
 !!! note
     The images are sent by the server as a BGRA array of bytes. The provided
@@ -23,26 +23,27 @@ cameras.
     parse the images and convert them to the desired format. There are some
     examples in the PythonClient folder showing how to parse the images.
 
-There is a fourth post-processing effect available, _None_, which provides a
-view with of the scene with no effect, not even lens effects like flares or
-depth of field; we will skip this one in the following descriptions.
+There is a fourth post-processing effect available for cameras, _None_, which
+provides a view with of the scene with no effect, not even scene lighting; we
+will skip this one in the following descriptions.
 
-We provide a tool to convert raw depth and semantic segmentation images to a
-more human readable palette of colors. It can be found at
-["Util/ImageConverter"][imgconvlink].
+We provide a tool to convert raw depth and semantic segmentation images in bulk
+to a more human readable palette of colors. It can be found at
+["Util/ImageConverter"][imgconvlink]. Alternatively, they can also be converted
+using the functions at `carla.image_converter` Python module.
 
+[clientexamplelink]: https://github.com/carla-simulator/carla/blob/master/PythonClient/client_example.py
 [settingslink]: https://github.com/carla-simulator/carla/blob/master/Docs/Example.CarlaSettings.ini
-
 [imgconvlink]: https://github.com/carla-simulator/carla/tree/master/Util/ImageConverter
 
-Scene final
------------
+Camera: Scene final
+-------------------
 
 ![SceneFinal](img/capture_scenefinal.png)<br>
 
 The "scene final" camera provides a view of the scene after applying some
 post-processing effects to create a more realistic feel. These are actually
-stored on the Level, in an actor called [PostProcessVolume][postprolink] and not
+stored in the Level, in an actor called [PostProcessVolume][postprolink] and not
 in the Camera. We use the following post process effects:
 
   * **Vignette** Darkens the border of the screen.
@@ -54,8 +55,37 @@ in the Camera. We use the following post process effects:
 
 [postprolink]: https://docs.unrealengine.com/latest/INT/Engine/Rendering/PostProcessEffects/
 
-Depth map
----------
+###### Python
+
+```py
+camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
+camera.set(FOV=90.0)
+camera.set_image_size(800, 600)
+camera.set_position(x=30, y=0, z=130)
+camera.set_rotation(pitch=0, yaw=0, roll=0)
+
+carla_settings.add_sensor(camera)
+```
+
+###### CarlaSettings.ini
+
+```ini
+[CARLA/Sensor/MyCamera]
+SensorType=CAMERA
+PostProcessing=SceneFinal
+ImageSizeX=800
+ImageSizeY=600
+FOV=90
+PositionX=30
+PositionY=0
+PositionZ=130
+RotationPitch=0
+RotationRoll=0
+RotationYaw=0
+```
+
+Camera: Depth map
+-----------------
 
 ![Depth](img/capture_depth.png)
 
@@ -82,8 +112,41 @@ Our max render distance (far) is 1km.
 
         Ans * far
 
-Semantic segmentation
----------------------
+The generated "depth map" images are usually converted to a logarithmic
+grayscale for display. A point cloud can also be extracted from depth images as
+seen in "PythonClient/point_cloud_example.py".
+
+###### Python
+
+```py
+camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
+camera.set(FOV=90.0)
+camera.set_image_size(800, 600)
+camera.set_position(x=30, y=0, z=130)
+camera.set_rotation(pitch=0, yaw=0, roll=0)
+
+carla_settings.add_sensor(camera)
+```
+
+###### CarlaSettings.ini
+
+```ini
+[CARLA/Sensor/MyCamera]
+SensorType=CAMERA
+PostProcessing=Depth
+ImageSizeX=800
+ImageSizeY=600
+FOV=90
+PositionX=30
+PositionY=0
+PositionZ=130
+RotationPitch=0
+RotationRoll=0
+RotationYaw=0
+```
+
+Camera: Semantic segmentation
+-----------------------------
 
 ![SemanticSegmentation](img/capture_semseg.png)
 
@@ -122,3 +185,92 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
     the C++ code. Add a new label to the `ECityObjectLabel` enum in "Tagger.h",
     and its corresponding filepath check inside `GetLabelByFolderName()`
     function in "Tagger.cpp".
+
+###### Python
+
+```py
+camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
+camera.set(FOV=90.0)
+camera.set_image_size(800, 600)
+camera.set_position(x=30, y=0, z=130)
+camera.set_rotation(pitch=0, yaw=0, roll=0)
+
+carla_settings.add_sensor(camera)
+```
+
+###### CarlaSettings.ini
+
+```ini
+[CARLA/Sensor/MyCamera]
+SensorType=CAMERA
+PostProcessing=SemanticSegmentation
+ImageSizeX=800
+ImageSizeY=600
+FOV=90
+PositionX=30
+PositionY=0
+PositionZ=130
+RotationPitch=0
+RotationRoll=0
+RotationYaw=0
+```
+
+Ray-trace based Lidar
+---------------------
+
+![LidarPointCloud](img/lidar_point_cloud.gif)
+
+A rotating Lidar implemented with ray-tracing. The points are computed by adding
+a laser for each channel distributed in the vertical FOV, then the rotation is
+simulated computing the horizontal angle that the Lidar rotated this frame, and
+doing a ray-cast for each point that each laser was supposed to generate this
+frame; `PointsPerSecond / (FPS * Channels)`.
+
+Each frame the server sends a packet with all the points generated during a
+`1/FPS` interval. During the interval the physics wasn’t updated so all the
+points in a packet reflect the same "static picture" of the scene.
+
+The received `LidarMeasurement` object contains the following information
+
+Key                        | Type       | Description
+-------------------------- | ---------- | ------------
+horizontal_angle           | float      | Angle in XY plane of the lidar this frame
+channels                   | uint32     | Number of channels (lasers) of the lidar
+point_count_by_channel     | uint32     | Number of points per channel captured this frame
+point_cloud                | PointCloud | Captured points this frame
+
+###### Python
+
+```py
+lidar = carla.sensor.Lidar('MyLidar')
+lidar.set(
+    Channels=32,
+    Range=5000,
+    PointsPerSecond=100000,
+    RotationFrequency=10,
+    UpperFovLimit=10,
+    LowerFovLimit=-30)
+lidar.set_position(x=0, y=0, z=140)
+lidar.set_rotation(pitch=0, yaw=0, roll=0)
+
+carla_settings.add_sensor(lidar)
+```
+
+###### CarlaSettings.ini
+
+```ini
+[CARLA/Sensor/MyLidar]
+SensorType=LIDAR_RAY_TRACE
+Channels=32
+Range=5000
+PointsPerSecond=100000
+RotationFrequency=10
+UpperFOVLimit=10
+LowerFOVLimit=-30
+PositionX=0
+PositionY=0
+PositionZ=140
+RotationPitch=0
+RotationYaw=0
+RotationRoll=0
+```
diff --git a/Docs/img/lidar_point_cloud.gif b/Docs/img/lidar_point_cloud.gif
new file mode 100644
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BKa2nX

literal 0
HcmV?d00001


From 82d59665789e850f21e1f7dfa2d44e9b209012a0 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Mar 2018 14:10:02 +0100
Subject: [PATCH 106/108] Fix GenerateProjectFiles crash on Linux

---
 Rebuild.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Rebuild.sh b/Rebuild.sh
index e85ef931f..879e79483 100755
--- a/Rebuild.sh
+++ b/Rebuild.sh
@@ -96,7 +96,7 @@ pushd "$UNREAL_PROJECT_FOLDER" >/dev/null
 # This command usually fails but normally we can continue anyway.
 set +e
 log "Generate Unreal project files..."
-${UE4_ROOT}/GenerateProjectFiles.sh -project="${PWD}/CarlaUE4.uproject" -game -engine
+${UE4_ROOT}/GenerateProjectFiles.sh -project="${PWD}/CarlaUE4.uproject" -game -engine -makefiles
 set -e
 
 log "Build CarlaUE4 project..."

From b6b40f53a9236f0e424fd79666bc00c2ab38ed4a Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Mar 2018 14:10:59 +0100
Subject: [PATCH 107/108] Ignore output files when packaging

---
 Package.sh | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/Package.sh b/Package.sh
index fe862178f..8f94623a2 100755
--- a/Package.sh
+++ b/Package.sh
@@ -120,9 +120,15 @@ if $DO_COPY_FILES ; then
   cp -v ./Docs/Example.CarlaSettings.ini ${DESTINATION}/Example.CarlaSettings.ini
 
   rsync -vhr --delete --delete-excluded \
-      --exclude "__pycache__" \
+      --exclude "*.egg-info" \
+      --exclude "*.log" \
       --exclude "*.pyc" \
       --exclude ".*" \
+      --exclude ".tags*" \
+      --exclude "__pycache__" \
+      --exclude "_benchmarks_results*" \
+      --exclude "_images*" \
+      --exclude "_out*" \
       PythonClient/ ${DESTINATION}/PythonClient
 
   echo

From 957d44bb38ba1fb04041dd935cf3ac41f675121e Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Fri, 2 Mar 2018 14:11:34 +0100
Subject: [PATCH 108/108] Update assets

---
 Util/ContentVersions.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Util/ContentVersions.txt b/Util/ContentVersions.txt
index 8b1e2ac5e..64d98a07d 100644
--- a/Util/ContentVersions.txt
+++ b/Util/ContentVersions.txt
@@ -8,4 +8,4 @@
 0.6.0: 1Gw8sw01hDEV4FtpHEZZwvS-6XN0jmaLT
 0.7.0: 11PKC_lG7L80L1ZxiMlzV17utU45UcRnT
 0.7.1: 1gf3YaFIjwr1EaK6qxq2V-a510Brt9Imq
-Latest: 1Coa1iX19TKR5DMxPPQSWsT83l-Ize0Jk
+Latest: 1_kSLT8Q05I7zC_X0q4ABMIB8gRd-W-ZF