diff --git a/Docs/Example.CarlaSettings.ini b/Docs/Example.CarlaSettings.ini index bdfd63835..3ecf4ac50 100644 --- a/Docs/Example.CarlaSettings.ini +++ b/Docs/Example.CarlaSettings.ini @@ -50,7 +50,7 @@ SeedPedestrians=123456789 ; 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 +; 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 @@ -60,7 +60,7 @@ SeedPedestrians=123456789 [CARLA/Sensor/MyCamera] ; Type of the sensor. The available types are: ; * CAMERA A scene capture camera. -; * LIDAR_RAY_TRACE A LiDAR implementation based on ray-tracing. +; * LIDAR_RAY_CAST A Lidar implementation based on ray-casting. SensorType=CAMERA ; Post-processing effect to be applied to this camera. Valid values: ; * None No effects applied. @@ -90,7 +90,7 @@ PostProcessing=Depth [CARLA/Sensor/MyLidar] -SensorType=LIDAR_RAY_TRACE +SensorType=LIDAR_RAY_CAST ; Number of lasers. Channels=32 ; Measure distance in meters. diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md index 45ce66f07..23496f7a7 100644 --- a/Docs/cameras_and_sensors.md +++ b/Docs/cameras_and_sensors.md @@ -19,7 +19,7 @@ moment there are four different sensors available. * [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) + * [Ray-cast based lidar](#ray-cast-based-lidar) !!! note The images are sent by the server as a BGRA array of bytes. The provided @@ -219,12 +219,12 @@ RotationRoll=0 RotationYaw=0 ``` -Ray-trace based Lidar ---------------------- +Ray-cast based Lidar +-------------------- ![LidarPointCloud](img/lidar_point_cloud.gif) -A rotating Lidar implemented with ray-tracing. The points are computed by adding +A rotating Lidar implemented with ray-casting. 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 @@ -264,7 +264,7 @@ carla_settings.add_sensor(lidar) ```ini [CARLA/Sensor/MyLidar] -SensorType=LIDAR_RAY_TRACE +SensorType=LIDAR_RAY_CAST Channels=32 Range=50 PointsPerSecond=100000 diff --git a/PythonClient/carla/carla_server_pb2.py b/PythonClient/carla/carla_server_pb2.py index 6bebc5cbb..913579280 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\"\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\"\xb6\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\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\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\"\x80\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\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\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\"\xb6\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\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\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') ) @@ -39,14 +39,14 @@ _SENSOR_TYPE = _descriptor.EnumDescriptor( options=None, type=None), _descriptor.EnumValueDescriptor( - name='LIDAR_RAY_TRACE', index=2, number=2, + name='LIDAR_RAY_CAST', index=2, number=2, options=None, type=None), ], containing_type=None, options=None, serialized_start=364, - serialized_end=416, + serialized_end=415, ) _sym_db.RegisterEnumDescriptor(_SENSOR_TYPE) @@ -71,8 +71,8 @@ _TRAFFICLIGHT_STATE = _descriptor.EnumDescriptor( ], containing_type=None, options=None, - serialized_start=775, - serialized_end=814, + serialized_start=774, + serialized_end=813, ) _sym_db.RegisterEnumDescriptor(_TRAFFICLIGHT_STATE) @@ -254,7 +254,7 @@ _SENSOR = _descriptor.Descriptor( oneofs=[ ], serialized_start=287, - serialized_end=416, + serialized_end=415, ) @@ -298,8 +298,8 @@ _VEHICLE = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=418, - serialized_end=538, + serialized_start=417, + serialized_end=537, ) @@ -343,8 +343,8 @@ _PEDESTRIAN = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=540, - serialized_end=663, + serialized_start=539, + serialized_end=662, ) @@ -382,8 +382,8 @@ _TRAFFICLIGHT = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=666, - serialized_end=814, + serialized_start=665, + serialized_end=813, ) @@ -420,8 +420,8 @@ _SPEEDLIMITSIGN = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=816, - serialized_end=897, + serialized_start=815, + serialized_end=896, ) @@ -482,8 +482,8 @@ _AGENT = _descriptor.Descriptor( name='agent', full_name='carla_server.Agent.agent', index=0, containing_type=None, fields=[]), ], - serialized_start=900, - serialized_end=1129, + serialized_start=899, + serialized_end=1128, ) @@ -513,8 +513,8 @@ _REQUESTNEWEPISODE = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1131, - serialized_end=1168, + serialized_start=1130, + serialized_end=1167, ) @@ -551,8 +551,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1170, - serialized_end=1280, + serialized_start=1169, + serialized_end=1279, ) @@ -582,8 +582,8 @@ _EPISODESTART = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1282, - serialized_end=1329, + serialized_start=1281, + serialized_end=1328, ) @@ -613,8 +613,8 @@ _EPISODEREADY = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1331, - serialized_end=1360, + serialized_start=1330, + serialized_end=1359, ) @@ -672,8 +672,8 @@ _CONTROL = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1362, - serialized_end=1456, + serialized_start=1361, + serialized_end=1455, ) @@ -766,8 +766,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1652, - serialized_end=2025, + serialized_start=1651, + serialized_end=2024, ) _MEASUREMENTS = _descriptor.Descriptor( @@ -817,8 +817,8 @@ _MEASUREMENTS = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=1459, - serialized_end=2025, + serialized_start=1458, + serialized_end=2024, ) _TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py index f5509c47b..c2550c020 100644 --- a/PythonClient/carla/client.py +++ b/PythonClient/carla/client.py @@ -220,7 +220,7 @@ def _make_sensor_parsers(sensors): sensor_def = SensorDefinition(s) 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: + elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_CAST: sensor_def.parse_raw_data = parse_lidar else: logging.error('unknown sensor type %s', sensor_def.type) diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py index aa073145b..f40476551 100644 --- a/PythonClient/carla/sensor.py +++ b/PythonClient/carla/sensor.py @@ -119,7 +119,7 @@ class Lidar(Sensor): """ def __init__(self, name, **kwargs): - super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE") + super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_CAST") self.Channels = 32 self.Range = 5000.0 self.PointsPerSecond = 56000 diff --git a/README.md b/README.md index cbcbe0c29..f2cb7ee51 100644 --- a/README.md +++ b/README.md @@ -38,10 +38,10 @@ Roadmap We are continuously working on improving CARLA, and we appreciate contributions from the community. Our most immediate goals are: -- Releasing the methods evaluated in the CARLA paper -- Adding a LiDAR sensor -- Allowing for flexible and user-friendly import and editing of maps -- Allowing the users to control non-player characters (and therefore set up user-specified scenarios) +- [ ] Releasing the methods evaluated in the CARLA paper +- [x] Adding a Lidar sensor +- [ ] Allowing for flexible and user-friendly import and editing of maps +- [ ] Allowing the users to control non-player characters (and therefore set up user-specified scenarios) We will post a detailed roadmap and contribution guidelines soon - stay tuned! diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h index 01519456c..bdd2dc8cb 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h @@ -36,7 +36,7 @@ private: /// Shoot a laser ray-trace, return whether the laser hit something. bool ShootLaser(uint32 Channel, float HorizontalAngle, FVector &Point) const; - UPROPERTY(Category = "LiDAR", VisibleAnywhere) + UPROPERTY(Category = "Lidar", VisibleAnywhere) const ULidarDescription *Description; TArray LaserAngles; diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp index 3fe042a77..c49f7b79c 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp @@ -54,7 +54,7 @@ void FSensorFactory::Visit(const ULidarDescription &Description) UE_LOG( LogCarla, Log, - TEXT("Created LiDAR %d"), + TEXT("Created Lidar %d"), Lidar->GetId()); Sensor = Lidar; } diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp index 1cf710b8a..605881877 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp @@ -63,7 +63,7 @@ static TUniquePtr Encode( 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) + CARLA_CHECK_TYPE(LIDAR_RAY_CAST) else return CARLA_SERVER_SENSOR_UNKNOWN; #undef CARLA_CHECK_TYPE }(SensorDescription.Type); diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp index de9affb12..24f80747c 100755 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp @@ -21,7 +21,6 @@ #include "Engine/PostProcessVolume.h" #include "Materials/MaterialInstance.h" - // INI file sections. #define S_CARLA_SERVER TEXT("CARLA/Server") #define S_CARLA_LEVELSETTINGS TEXT("CARLA/LevelSettings") @@ -31,6 +30,7 @@ // ============================================================================= // -- Static variables & constants --------------------------------------------- // ============================================================================= + const FName UCarlaSettings::CARLA_ROAD_TAG = FName("CARLA_ROAD"); const FName UCarlaSettings::CARLA_SKY_TAG = FName("CARLA_SKY"); @@ -90,7 +90,7 @@ static USensorDescription *MakeSensor( const auto SensorType = GetSensorType(ConfigFile, SensorName); if (SensorType == TEXT("CAMERA")) { return MakeSensor(Parent, SensorName, SensorType); - } else if (SensorType == TEXT("LIDAR_RAY_TRACE")) { + } else if (SensorType == TEXT("LIDAR_RAY_CAST")) { return MakeSensor(Parent, SensorName, SensorType); } else { UE_LOG(LogCarla, Error, TEXT("Invalid sensor type '%s'"), *SensorType); @@ -125,8 +125,7 @@ static void LoadSettingsFromConfig( if(!Settings.SetQualitySettingsLevel(UQualitySettings::FromString(sQualityLevel))) { //error - } - + } // Sensors. FString Sensors; @@ -190,7 +189,6 @@ bool UCarlaSettings::SetQualitySettingsLevel(EQualitySettingsLevel newQualityLev return true; } - void UCarlaSettings::LoadSettings() { CurrentFileName = TEXT(""); @@ -275,7 +273,7 @@ void UCarlaSettings::LogSettings() const 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)); - for (auto &&Sensor : SensorDescriptions) + for (auto &&Sensor : SensorDescriptions) { check(Sensor.Value != nullptr); Sensor.Value->Log(); diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h index 59b014456..813d04c7d 100644 --- a/Util/CarlaServer/include/carla/carla_server.h +++ b/Util/CarlaServer/include/carla/carla_server.h @@ -76,7 +76,7 @@ extern "C" { #define CARLA_SERVER_SENSOR_UNKNOWN 0u #define CARLA_SERVER_CAMERA 101u -#define CARLA_SERVER_LIDAR_RAY_TRACE 102u +#define CARLA_SERVER_LIDAR_RAY_CAST 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 eb4e46cba..7eea0f40f 100644 --- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp +++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp @@ -61,7 +61,7 @@ namespace server { lhs->set_type([&](){ switch (rhs.type) { case CARLA_SERVER_CAMERA: return cs::Sensor::CAMERA; - case CARLA_SERVER_LIDAR_RAY_TRACE: return cs::Sensor::LIDAR_RAY_TRACE; + case CARLA_SERVER_LIDAR_RAY_CAST: return cs::Sensor::LIDAR_RAY_CAST; default: return cs::Sensor::UNKNOWN; } }()); diff --git a/Util/Proto/carla_server.proto b/Util/Proto/carla_server.proto index 8c5b76621..4c71f5300 100644 --- a/Util/Proto/carla_server.proto +++ b/Util/Proto/carla_server.proto @@ -40,7 +40,7 @@ message Sensor { enum Type { UNKNOWN = 0; CAMERA = 1; - LIDAR_RAY_TRACE = 2; + LIDAR_RAY_CAST = 2; } fixed32 id = 1;