Upload client_test.py as weather in utils

Activate mesh distance fields

PythonAPI/examples/dynamic_weather.py

@@ -46,7 +46,7 @@ class Sun(object):
         self._t %= 2.0 * math.pi
         self.azimuth += 0.25 * delta_seconds
         self.azimuth %= 360.0
-        self.altitude = 35.0 * (math.sin(self._t) + 1.0)
+        self.altitude = -35.0 * (math.sin(self._t) + 1.0)
 
     def __str__(self):
         return 'Sun(%.2f, %.2f)' % (self.azimuth, self.altitude)

PythonAPI/util/weather.py

@@ -0,0 +1,241 @@
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+from math import sin
+import argparse
+
+# -------------------------------------------------
+
+def main():
+    argparser = argparse.ArgumentParser(
+        description="CARLA weather example")
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '--sun',
+        default=None,
+        type=str,
+        help='Sun position presets [day | night | sunset]')
+    argparser.add_argument(
+        '--weather',
+        default=None,
+        type=str,
+        help='Weather condition presets [clear | overcast | rain]')
+    argparser.add_argument(
+        '--altitude', '-alt',
+        metavar='A',
+        default=None,
+        type=float,
+        help='Sun altitude [-90 to 90]')
+    argparser.add_argument(
+        '--azimuth', '-azm',
+        metavar='A',
+        default=None,
+        type=float,
+        help='Sun azimuth [0 to 360]')
+    argparser.add_argument(
+        '--clouds', '-c',
+        metavar='C',
+        default=None,
+        type=float,
+        help='Clouds amount [0.0 to 100.0]')
+    argparser.add_argument(
+        '--rain', '-r',
+        default=None,
+        type=float,
+        help='Rain amount [0.0 to 100.0]')
+    argparser.add_argument(
+        '--puddles', '-pd',
+        default=None,
+        type=float,
+        help='Puddles amount [0.0 to 100.0]')
+    argparser.add_argument(
+        '--wind', '-w',
+        default=None,
+        type=float,
+        help='Wind intensity [0.0 to 100.0]')
+    argparser.add_argument(
+        '--fog', '-f',
+        default=None,
+        type=float,
+        help='Fog intensity [0.0 to 100.0]')
+    argparser.add_argument(
+        '--fogdist', '-fd',
+        default=None,
+        type=float,
+        help='Fog Distance')
+    argparser.add_argument(
+        '-s',
+        default=1.0,
+        type=float,
+        help='Dynamic weather time factor (default: 1.0)')
+    args = argparser.parse_args()
+
+    client = carla.Client(args.host, args.port)
+    client.set_timeout(2.0)
+
+    world = client.get_world()
+
+    weather = world.get_weather()
+
+    run_dynamic_simulation = True
+
+    ####   PRESETS   ###
+    if args.sun is not None:
+        ##  Sun Position  ##
+        if args.sun == 'day':
+            weather.sun_altitude_angle = 90
+            weather.sun_azimuth_angle = 220.0
+            run_dynamic_simulation = False
+        elif args.sun == 'night':
+            weather.sun_altitude_angle = -90
+            weather.sun_azimuth_angle = 220.0
+            run_dynamic_simulation = False
+        elif args.sun == 'sunset':
+            weather.sun_altitude_angle = 181
+            weather.sun_azimuth_angle = 100
+            run_dynamic_simulation = False
+        else:
+            print("[ERROR]: Command [--sun | -s] ´" + args.sun + "´ not known")
+            sys.exit(1)
+
+    ##  Weather  ##
+    if args.weather is not None:
+        if args.weather == 'clear':
+            weather.cloudyness = 7.0
+            weather.precipitation = 0.0
+            weather.precipitation_deposits = 0.0
+            weather.wind_intensity = 5.0
+            run_dynamic_simulation = False
+        elif args.weather == 'overcast':
+            weather.cloudyness = 80.0
+            weather.precipitation = 0.0
+            weather.precipitation_deposits = 0.0
+            weather.wind_intensity = 50.0
+            run_dynamic_simulation = False
+        elif args.weather == 'rain':
+            weather.cloudyness = 100.0
+            weather.precipitation = 80.0
+            weather.precipitation_deposits = 90.0
+            weather.wind_intensity = 100.0
+            weather.fog = 20.0
+            weather.fogdist = 30.0
+            run_dynamic_simulation = False
+        else:
+            print("[ERROR]: Command [--weather | -w] ´" + args.weather + "´ not known")
+            sys.exit(1)
+
+
+
+
+    if args.azimuth is not None:
+        weather.sun_azimuth_angle = args.azimuth
+        run_dynamic_simulation = False
+
+    if args.altitude is not None:
+        weather.sun_altitude_angle = args.altitude
+        run_dynamic_simulation = False
+
+    if args.clouds is not None:
+        weather.cloudyness = args.clouds
+        run_dynamic_simulation = False
+
+    if args.rain is not None:
+        weather.precipitation = args.rain
+        run_dynamic_simulation = False
+
+    if args.puddles is not None:
+        weather.precipitation_deposits = args.puddles
+        run_dynamic_simulation = False
+
+    if args.wind is not None:
+        weather.wind_intensity = args.wind
+        run_dynamic_simulation = False
+
+    if args.fog is not None:
+        weather.fog = args.fog
+        run_dynamic_simulation = False
+
+    if args.fogdist is not None:
+        weather.fogdist = args.fogdist
+        run_dynamic_simulation = False
+
+    if run_dynamic_simulation:
+        speed_factor = args.s
+        update_freq = 0.000001 / speed_factor
+        elapsed_time = 0.0
+        total_time = 0.0
+
+        while True:
+            timestamp = world.wait_for_tick(seconds=30.0).timestamp
+            elapsed_time += timestamp.delta_seconds
+            if elapsed_time > update_freq:
+                # tick -> speed_factor * elapsed_time
+                delta_time = speed_factor * elapsed_time
+                total_time += delta_time
+                world.set_weather(weather)
+
+
+
+
+                weather.sun_altitude_angle += delta_time * 15.0
+
+                weather.sun_azimuth_angle += delta_time * 0.5
+                weather.sun_azimuth_angle %= 360.0
+
+                weather.cloudyness = max(0, sin(total_time/10) * 100)
+
+                weather.precipitation = max(0, sin(total_time/20) * 150 - 50)
+                weather.precipitation_deposits = max(0, sin(total_time/20) * 130 - 30)
+                weather.wind_intensity = max(30, sin(total_time/20) * 150 - 50)
+
+
+
+
+                info_str = '\r' + str('Altitude: {:6.2f} Azimuth: {:6.2f} Clouds: {:4.2f} Wind: {:4.2f} Rain: {:4.2f} Puddles: {:4.2f}'.format(
+                        weather.sun_altitude_angle * -1.0,
+                        weather.sun_azimuth_angle,
+                        weather.cloudyness,
+                        weather.wind_intensity,
+                        weather.precipitation,
+                        weather.precipitation_deposits)) + 12 * ' '
+
+                sys.stdout.write(info_str)
+                sys.stdout.flush()
+
+                elapsed_time = 0.0
+
+    else:
+        world.set_weather(weather)
+
+
+
+
+
+
+
+
+
+
+
+if __name__ == '__main__':
+    main()

Unreal/CarlaUE4/Config/DefaultEngine.ini

@@ -28,7 +28,7 @@ r.DefaultFeature.AutoExposure=False
 r.CustomDepth=3
 r.Streaming.PoolSize=2000
 r.TextureStreaming=True
-r.GenerateMeshDistanceFields=False
+r.GenerateMeshDistanceFields=True
 r.DistanceFieldBuild.EightBit=False
 r.DistanceFieldBuild.Compress=False