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Make adding capture cameras fully customizable in settings file

This commit is contained in:
nsubiron 2017-04-06 15:56:43 +02:00
parent 714fec71ac
commit c498ff357a
17 changed files with 276 additions and 335 deletions
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56
Resources/Example.CarlaSettings.ini
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@ -15,15 +15,22 @@ WritePort=2001
ReadPort=2002
[CARLA/SceneCapture]
; Valid values: Mono, Stereo, NoCapture.
; The mode is overriden by the client if networking is enabled.
Mode=Mono
; Size of the captured image in pixels.
; Names of the scene capture cameras to attach to the player, each of them
; should be defined in its own subsection.
Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
; Cameras=CameraMono
; Defaults for each camera can be set here, e.g.
ImageSizeX=720
ImageSizeY=512
[CARLA/SceneCapture/Mono]
; Image size can also be changed by mode.
[CARLA/SceneCapture/CameraMono]
; Post-processing effect to be applied. Valid values:
; * None No effects applied.
; * SceneFinal Post-processing present at scene (bloom, fog, etc).
; * Depth Depth map only.
PostProcessing=SceneFinal
; Size of the captured image in pixels.
ImageSizeX=720
ImageSizeY=512
; Position of the camera relative to the car in centimeters.
@ -35,18 +42,25 @@ CameraRotationPitch=0
CameraRotationRoll=0
CameraRotationYaw=0
[CARLA/SceneCapture/Stereo]
; Position of the cameras relative to the car in centimeters.
Camera0PositionX=170
Camera0PositionY=30
Camera0PositionZ=150
Camera1PositionX=170
Camera1PositionY=-30
Camera1PositionZ=150
; Rotation of the cameras relative to the car in degrees.
Camera0RotationPitch=0
Camera0RotationRoll=0
Camera0RotationYaw=0
Camera1RotationPitch=0
Camera1RotationRoll=0
Camera1RotationYaw=0
[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

2
Source/Carla/Carla.h
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@ -14,7 +14,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogCarlaServer, Log, All);
// Options to compile with extra debug options.
#ifdef WITH_EDITOR
// #define CARLA_ROAD_GENERATOR_PRINT_OUT /// @todo #1 Crashes in Linux.
// #define CARLA_SERVER_CHECK_IMAGES
// #define CARLA_SERVER_CHECK_IMAGES /// @todo #13 Uncomment and compile ;)
#endif // WITH_EDITOR
class FCarlaModule : public IModuleInterface

32
Source/Carla/Game/CameraDescription.h Normal file
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@ -0,0 +1,32 @@
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#pragma once
#include "PostProcessEffect.h"
#include "CameraDescription.generated.h"
USTRUCT()
struct FCameraDescription
{
GENERATED_BODY()
/** X size in pixels of the captured image. */
UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
uint32 ImageSizeX = 720u;
/** Y size in pixels of the captured image. */
UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
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;
};

27
Source/Carla/Game/CapturedImage.h Normal file
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@ -0,0 +1,27 @@
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#pragma once
#include "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_BODY()
UPROPERTY(VisibleAnywhere)
uint32 SizeX = 0u;
UPROPERTY(VisibleAnywhere)
uint32 SizeY = 0u;
UPROPERTY(VisibleAnywhere)
EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
UPROPERTY(VisibleAnywhere)
TArray<FColor> BitMap;
};

28
Source/Carla/Game/CarlaGameController.cpp
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@ -53,7 +53,7 @@ static void Set(std::vector<carla::Color> &cImage, const TArray<FColor> &BitMap)
static bool CheckImage(
const FString &Tag,
const ACarlaPlayerState::Image &Image,
const FCapturedImage &Image,
const std::vector<carla::Color> &ImageReward,
uint32 SizeX,
uint32 SizeY)
@ -82,7 +82,7 @@ static bool CheckImageValidity(const ACarlaPlayerState &Player, const carla::Rew
// Wait for the scene init to be sent, return false if we need to restart the
// server.
/// @todo At the moment we just ignored what it is sent.
static bool ReadSceneInit(carla::CarlaServer &Server, ESceneCaptureMode &CaptureMode)
static bool ReadSceneInit(carla::CarlaServer &Server)
{
carla::Mode Mode;
uint32 Scene;
@ -92,13 +92,6 @@ static bool ReadSceneInit(carla::CarlaServer &Server, ESceneCaptureMode &Capture
if (!Server.tryReadSceneInit(Mode, Scene, Success))
return false;
}
if (Mode == carla::Mode::MONO) {
CaptureMode = ESceneCaptureMode::Mono;
} else if (Mode == carla::Mode::STEREO) {
CaptureMode = ESceneCaptureMode::Stereo;
} else {
CaptureMode = ESceneCaptureMode::NoCapture;
}
return true;
}
@ -160,19 +153,8 @@ static bool SendReward(
Set(reward->collision_general, PlayerState.GetCollisionIntensityOther());
Set(reward->intersect_other_lane, PlayerState.GetOtherLaneIntersectionFactor());
Set(reward->intersect_offroad, PlayerState.GetOffRoadIntersectionFactor());
{ // Add images.
using CPS = ACarlaPlayerState;
auto &ImageRGB0 = PlayerState.GetImage(CPS::ImageRGB0);
if (ImageRGB0.BitMap.Num() > 0) {
// Do not add any camera if first is invalid, also assume all the images
// have the same size.
reward->image_width = ImageRGB0.SizeX;
reward->image_height = ImageRGB0.SizeY;
Set(reward->image_rgb_0, ImageRGB0.BitMap);
Set(reward->image_rgb_1, PlayerState.GetImage(CPS::ImageRGB1).BitMap);
Set(reward->image_depth_0, PlayerState.GetImage(CPS::ImageDepth0).BitMap);
Set(reward->image_depth_1, PlayerState.GetImage(CPS::ImageDepth1).BitMap);
}
for (const auto &Image : PlayerState.GetImages()) {
/// @todo #13 Add images to reward.
}
#ifdef CARLA_SERVER_CHECK_IMAGES
check(CheckImageValidity(PlayerState, *reward));
@ -212,7 +194,7 @@ void CarlaGameController::Initialize(UCarlaSettings &CarlaSettings)
{
if (bServerNeedsRestart) {
UE_LOG(LogCarlaServer, Log, TEXT("Initializing CarlaServer"));
if (Server->init(1u) && ReadSceneInit(*Server, CarlaSettings.SceneCaptureMode)) {
if (Server->init(1u) && ReadSceneInit(*Server)) {
bServerNeedsRestart = false;
} else {
UE_LOG(LogCarlaServer, Warning, TEXT("Failed to initialize, server needs restart"));

85
Source/Carla/Game/CarlaGameMode.cpp
View File

@ -7,8 +7,6 @@
#include "EngineUtils.h"
#include "GameFramework/PlayerStart.h"
#include "SceneCaptureCamera.h"
#include "CarlaGameInstance.h"
#include "CarlaGameState.h"
#include "CarlaHUD.h"
@ -89,85 +87,16 @@ void ACarlaGameMode::RegisterPlayer(AController &NewPlayer)
AttachCaptureCamerasToPlayer(*PlayerController);
}
void ACarlaGameMode::RegisterCaptureCamera(
ASceneCaptureCamera &CaptureCamera,
AController &Player)
{
AddTickPrerequisiteActor(&CaptureCamera);
ACarlaVehicleController *Vehicle = Cast<ACarlaVehicleController>(&Player);
if (Vehicle != nullptr) {
Vehicle->RegisterCaptureCamera(CaptureCamera);
} else {
UE_LOG(LogCarla, Warning, TEXT("Trying to register camera but player is not a ACarlaVehicleController"));
}
}
static ASceneCaptureCamera *SpawnAndAttachCamera(
AController &Player,
const FVector &RelativeLocation,
const FRotator &RelativeRotation,
uint32 ImageSizeX,
uint32 ImageSizeY,
EPostProcessEffect PostProcessEffect)
{
auto Camera = Player.GetWorld()->SpawnActor<ASceneCaptureCamera>(RelativeLocation, RelativeRotation);
Camera->SetImageSize(ImageSizeX, ImageSizeY);
Camera->SetPostProcessEffect(PostProcessEffect);
Camera->AttachToActor(Player.GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
Camera->SetOwner(Player.GetPawn());
return Camera;
}
void ACarlaGameMode::AttachCaptureCamerasToPlayer(AController &Player)
{
ACarlaVehicleController *Vehicle = Cast<ACarlaVehicleController>(&Player);
if (Vehicle == nullptr) {
UE_LOG(LogCarla, Warning, TEXT("Trying to add capture cameras but player is not a ACarlaVehicleController"));
return;
}
auto &Settings = GameInstance->GetCarlaSettings();
if (Settings.SceneCaptureMode == ESceneCaptureMode::Mono) {
auto TheCamera =
SpawnAndAttachCamera(
Player,
Settings.Mono_CameraPosition,
Settings.Mono_CameraRotation,
Settings.Mono_ImageSizeX,
Settings.Mono_ImageSizeY,
EPostProcessEffect::SceneFinal);
RegisterCaptureCamera(*TheCamera, Player);
} else if (Settings.SceneCaptureMode == ESceneCaptureMode::Stereo) {
auto RGBCamera0 =
SpawnAndAttachCamera(
Player,
Settings.Stereo_Camera0Position,
Settings.Stereo_Camera0Rotation,
Settings.Stereo_ImageSizeX,
Settings.Stereo_ImageSizeY,
EPostProcessEffect::SceneFinal);
auto DepthCamera0 =
SpawnAndAttachCamera(
Player,
Settings.Stereo_Camera0Position,
Settings.Stereo_Camera0Rotation,
Settings.Stereo_ImageSizeX,
Settings.Stereo_ImageSizeY,
EPostProcessEffect::Depth);
auto RGBCamera1 =
SpawnAndAttachCamera(
Player,
Settings.Stereo_Camera1Position,
Settings.Stereo_Camera1Rotation,
Settings.Stereo_ImageSizeX,
Settings.Stereo_ImageSizeY,
EPostProcessEffect::SceneFinal);
auto DepthCamera1 =
SpawnAndAttachCamera(
Player,
Settings.Stereo_Camera1Position,
Settings.Stereo_Camera1Rotation,
Settings.Stereo_ImageSizeX,
Settings.Stereo_ImageSizeY,
EPostProcessEffect::Depth);
RegisterCaptureCamera(*RGBCamera0, Player);
RegisterCaptureCamera(*DepthCamera0, Player);
RegisterCaptureCamera(*RGBCamera1, Player);
RegisterCaptureCamera(*DepthCamera1, Player);
for (const auto &Item : Settings.CameraDescriptions) {
Vehicle->AddSceneCaptureCamera(Item.Value);
}
}

2
Source/Carla/Game/CarlaGameMode.h
View File

@ -33,8 +33,6 @@ private:
void RegisterPlayer(AController &NewPlayer);
void RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera, AController &Player);
void AttachCaptureCamerasToPlayer(AController &Player);
/// Iterate all the APlayerStart present in the world and add the ones with

5
Source/Carla/Game/CarlaPlayerState.cpp
View File

@ -10,10 +10,7 @@ void ACarlaPlayerState::Reset()
CollisionIntensityCars = 0.0f;
CollisionIntensityPedestrians = 0.0f;
CollisionIntensityOther = 0.0f;
// Invalidate images.
for (auto &image : Images) {
image = Image(); // Reset.
}
Images.Empty();
}
void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)

45
Source/Carla/Game/CarlaPlayerState.h
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@ -2,8 +2,8 @@
#pragma once
#include <array>
#include "GameFramework/PlayerState.h"
#include "CapturedImage.h"
#include "CarlaPlayerState.generated.h"
/// Current state of the player, updated every frame by ACarlaVehicleController.
@ -20,19 +20,6 @@ class CARLA_API ACarlaPlayerState : public APlayerState
// ===========================================================================
public:
enum ImageTag {
ImageRGB0,
ImageRGB1,
ImageDepth0,
ImageDepth1,
NUMBER_OF_IMAGES
};
struct Image {
uint32 SizeX = 0u;
uint32 SizeY = 0u;
TArray<FColor> BitMap;
};
// ===========================================================================
// -- APlayerState -----------------------------------------------------------
@ -48,64 +35,76 @@ public:
// ===========================================================================
public:
UFUNCTION()
int32 GetTimeStamp() const
{
return TimeStamp;
}
UFUNCTION()
const FVector &GetLocation() const
{
return Location;
}
UFUNCTION()
const FVector &GetOrientation() const
{
return Orientation;
}
UFUNCTION()
const FVector &GetAcceleration() const
{
return Acceleration;
}
UFUNCTION()
float GetForwardSpeed() const
{
return ForwardSpeed;
}
UFUNCTION()
int32 GetCurrentGear() const
{
return CurrentGear;
}
UFUNCTION()
float GetCollisionIntensityCars() const
{
return CollisionIntensityCars;
}
UFUNCTION()
float GetCollisionIntensityPedestrians() const
{
return CollisionIntensityPedestrians;
}
UFUNCTION()
float GetCollisionIntensityOther() const
{
return CollisionIntensityOther;
}
UFUNCTION()
float GetOtherLaneIntersectionFactor() const
{
return OtherLaneIntersectionFactor;
}
UFUNCTION()
float GetOffRoadIntersectionFactor() const
{
return OffRoadIntersectionFactor;
}
const Image &GetImage(ImageTag Tag) const
UFUNCTION()
const TArray<FCapturedImage> &GetImages() const
{
return Images[Tag];
return Images;
}
// ===========================================================================
@ -127,27 +126,39 @@ private:
// If you add another variable here, don't forget to copy it inside
// CopyProperties if necessary.
UPROPERTY(VisibleAnywhere)
int32 TimeStamp;
UPROPERTY(VisibleAnywhere)
FVector Location;
UPROPERTY(VisibleAnywhere)
FVector Orientation;
UPROPERTY(VisibleAnywhere)
FVector Acceleration;
UPROPERTY(VisibleAnywhere)
int32 CurrentGear;
UPROPERTY(VisibleAnywhere)
float ForwardSpeed = 0.0f;
UPROPERTY(VisibleAnywhere)
float CollisionIntensityCars = 0.0f;
UPROPERTY(VisibleAnywhere)
float CollisionIntensityPedestrians = 0.0f;
UPROPERTY(VisibleAnywhere)
float CollisionIntensityOther = 0.0f;
UPROPERTY(VisibleAnywhere)
float OtherLaneIntersectionFactor = 0.0f;
UPROPERTY(VisibleAnywhere)
float OffRoadIntersectionFactor = 0.0f;
std::array<Image, NUMBER_OF_IMAGES> Images;
UPROPERTY(VisibleAnywhere)
TArray<FCapturedImage> Images;
};

115
Source/Carla/Game/CarlaSettings.cpp
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@ -11,8 +11,6 @@
// INI file sections.
#define S_CARLA_SERVER TEXT("CARLA/Server")
#define S_CARLA_SCENECAPTURE TEXT("CARLA/SceneCapture")
#define S_CARLA_SCENECAPTURE_MONO TEXT("CARLA/SceneCapture/Mono")
#define S_CARLA_SCENECAPTURE_STEREO TEXT("CARLA/SceneCapture/Stereo")
template <typename TARGET, typename SOURCE>
static void SafeCastTo(SOURCE source, TARGET &target)
@ -62,16 +60,19 @@ public:
}
}
void GetSceneCaptureMode(const TCHAR* Section, const TCHAR* Key, ESceneCaptureMode &Target) const
void GetPostProcessEffect(const TCHAR* Section, const TCHAR* Key, EPostProcessEffect &Target) const
{
FString ModeString;
if (ConfigFile.GetString(Section, Key, ModeString)) {
if (ModeString == "Stereo") {
Target = ESceneCaptureMode::Stereo;
} else if (ModeString == "Mono") {
Target = ESceneCaptureMode::Mono;
} else if (ModeString == "NoCapture") {
Target = ESceneCaptureMode::NoCapture;
FString ValueString;
if (ConfigFile.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 {
UE_LOG(LogCarla, Error, TEXT("Invalid post-processing \"%s\" in INI file"), *ValueString);
Target = EPostProcessEffect::INVALID;
}
}
}
@ -85,6 +86,22 @@ private:
// -- Other static methods -----------------------------------------------------
// =============================================================================
static void GetCameraDescription(
const INIFile &ConfigFile,
const TCHAR* Section,
FCameraDescription &Camera)
{
ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
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.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
}
static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settings)
{
UE_LOG(LogCarla, Log, TEXT("Loading settings from \"%s\""), *FileName);
@ -95,35 +112,24 @@ static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settin
ConfigFile.GetInt(S_CARLA_SERVER, TEXT("WritePort"), Settings.WritePort);
ConfigFile.GetInt(S_CARLA_SERVER, TEXT("ReadPort"), Settings.ReadPort);
// SceneCapture.
ConfigFile.GetSceneCaptureMode(S_CARLA_SCENECAPTURE, TEXT("Mode"), Settings.SceneCaptureMode);
// SceneCapture - Mono.
ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionX"), Settings.Mono_CameraPosition.X);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionY"), Settings.Mono_CameraPosition.Y);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionZ"), Settings.Mono_CameraPosition.Z);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationPitch"), Settings.Mono_CameraRotation.Pitch);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationRoll"), Settings.Mono_CameraRotation.Roll);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationYaw"), Settings.Mono_CameraRotation.Yaw);
// SceneCapture - Stereo.
ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionX"), Settings.Stereo_Camera0Position.X);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionY"), Settings.Stereo_Camera0Position.Y);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionZ"), Settings.Stereo_Camera0Position.Z);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionX"), Settings.Stereo_Camera1Position.X);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionY"), Settings.Stereo_Camera1Position.Y);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionZ"), Settings.Stereo_Camera1Position.Z);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationPitch"), Settings.Stereo_Camera0Rotation.Pitch);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationRoll"), Settings.Stereo_Camera0Rotation.Roll);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationYaw"), Settings.Stereo_Camera0Rotation.Yaw);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationPitch"), Settings.Stereo_Camera1Rotation.Pitch);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationRoll"), Settings.Stereo_Camera1Rotation.Roll);
ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationYaw"), Settings.Stereo_Camera1Rotation.Yaw);
FString Cameras;
ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Cameras"), Cameras);
TArray<FString> CameraNames;
Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
for (FString &Name : CameraNames) {
FCameraDescription &Camera = Settings.CameraDescriptions.FindOrAdd(Name);
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);
}
}
}
static bool GetSettingsFileName(FString &Value)
@ -167,14 +173,6 @@ void UCarlaSettings::LoadSettings()
void UCarlaSettings::LogSettings()
{
auto ModeAsString = [](ESceneCaptureMode Mode) {
switch (Mode) {
case ESceneCaptureMode::Mono: return TEXT("Mono");
case ESceneCaptureMode::Stereo: return TEXT("Stereo");
case ESceneCaptureMode::NoCapture: return TEXT("NoCapture");
default: return TEXT("INVALID");
};
};
UE_LOG(LogCarla, Log, TEXT("== CARLA Settings =============================================================="));
UE_LOG(LogCarla, Log, TEXT("Settings file: %s"), *CurrentFileName);
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SERVER);
@ -183,21 +181,16 @@ void UCarlaSettings::LogSettings()
UE_LOG(LogCarla, Log, TEXT("Write Port = %d"), WritePort);
UE_LOG(LogCarla, Log, TEXT("Read Port = %d"), ReadPort);
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
UE_LOG(LogCarla, Log, TEXT("Mode = %s"), ModeAsString(SceneCaptureMode));
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_MONO);
UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Mono_ImageSizeX, Mono_ImageSizeY);
UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Mono_CameraPosition.ToString());
UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Mono_CameraRotation.ToString());
UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_STEREO);
UE_LOG(LogCarla, Log, TEXT("ImageSize = %dx%d"), Stereo_ImageSizeX, Stereo_ImageSizeY);
UE_LOG(LogCarla, Log, TEXT("Camera0 Position = (%s)"), *Stereo_Camera0Position.ToString());
UE_LOG(LogCarla, Log, TEXT("Camera0 Rotation = (%s)"), *Stereo_Camera0Rotation.ToString());
UE_LOG(LogCarla, Log, TEXT("Camera1 Position = (%s)"), *Stereo_Camera1Position.ToString());
UE_LOG(LogCarla, Log, TEXT("Camera1 Rotation = (%s)"), *Stereo_Camera1Rotation.ToString());
UE_LOG(LogCarla, Log, TEXT("Added %d cameras."), CameraDescriptions.Num());
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("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("================================================================================"));
}
#undef S_CARLA_SERVER
#undef S_CARLA_SCENECAPTURE
#undef S_CARLA_SCENECAPTURE_MONO
#undef S_CARLA_SCENECAPTURE_STEREO

67
Source/Carla/Game/CarlaSettings.h
View File

@ -3,16 +3,9 @@
#pragma once
#include "UObject/NoExportTypes.h"
#include "CameraDescription.h"
#include "CarlaSettings.generated.h"
UENUM(BlueprintType)
enum class ESceneCaptureMode : uint8
{
Mono UMETA(DisplayName = "Mono: Single RGB capture"),
Stereo UMETA(DisplayName = "Stereo: Stereo RGB captures and Depth maps"),
NoCapture UMETA(DisplayName = "No capture")
};
/// Global settings for CARLA.
UCLASS()
class CARLA_API UCarlaSettings : public UObject
@ -62,63 +55,9 @@ public:
/// @{
public:
/** Controls the number and type of scene capture cameras that are added to the player. */
/** Descriptions of the cameras to be attached to the player. */
UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
ESceneCaptureMode SceneCaptureMode = ESceneCaptureMode::Mono;
/// @}
// ===========================================================================
/// @name Scene Capture - Mono
// ===========================================================================
/// @{
public:
/** X size in pixels of the captured image. */
UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
uint32 Mono_ImageSizeX = 720u;
/** Y size in pixels of the captured image. */
UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
uint32 Mono_ImageSizeY = 512u;
/** Camera position relative to the car. */
UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
FVector Mono_CameraPosition = {170.0f, 0.0f, 150.0f};
/** Camera rotation relative to the car. */
UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
FRotator Mono_CameraRotation = {0.0f, 0.0f, 0.0f};
/// @}
// ===========================================================================
/// @name Scene Capture - Stereo
// ===========================================================================
/// @{
public:
/** X size in pixels of the captured image. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
uint32 Stereo_ImageSizeX = 720u;
/** Y size in pixels of the captured image. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
uint32 Stereo_ImageSizeY = 512u;
/** Camera0 position relative to the car. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
FVector Stereo_Camera0Position = {170.0f, 30.0f, 150.0f};
/** Camera0 rotation relative to the car. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
FRotator Stereo_Camera0Rotation = {0.0f, 0.0f, 0.0f};
/** Camera1 position relative to the car. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
FVector Stereo_Camera1Position = {170.0f, -30.0f, 150.0f};
/** Camera1 rotation relative to the car. */
UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
FRotator Stereo_Camera1Rotation = {0.0f, 0.0f, 0.0f};
TMap<FString, FCameraDescription> CameraDescriptions;
/// @}
};

65
Source/Carla/Game/CarlaVehicleController.cpp
View File

@ -6,6 +6,7 @@
#include "Camera/CameraComponent.h"
#include "GameFramework/Pawn.h"
#include "GameFramework/SpringArmComponent.h"
#include "SceneCaptureCamera.h"
#include "WheeledVehicle.h"
#include "WheeledVehicleMovementComponent.h"
@ -93,16 +94,19 @@ void ACarlaVehicleController::Possess(APawn *aPawn)
}
}
static void ReadCameraPixels(
const ASceneCaptureCamera *Camera,
ACarlaPlayerState::Image &Image)
void ACarlaVehicleController::BeginPlay()
{
if (Camera != nullptr) {
if (Camera->ReadPixels(Image.BitMap)) {
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();
} else {
Image.BitMap.Empty(); // Clears the array.
Image.PostProcessEffect = Camera->GetPostProcessEffect();
}
}
}
@ -120,12 +124,15 @@ void ACarlaVehicleController::Tick(float DeltaTime)
const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
CarlaPlayerState->CurrentGear = GetVehicleCurrentGear();
/// @todo Set intersection factors.
using CPS = ACarlaPlayerState;
ReadCameraPixels(RGBCameras[0u], CarlaPlayerState->Images[CPS::ImageRGB0]);
ReadCameraPixels(RGBCameras[1u], CarlaPlayerState->Images[CPS::ImageRGB1]);
ReadCameraPixels(DepthCameras[0u], CarlaPlayerState->Images[CPS::ImageDepth0]);
ReadCameraPixels(DepthCameras[1u], CarlaPlayerState->Images[CPS::ImageDepth1]);
/// @todo #15 Set intersection factors.
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();
}
}
}
}
@ -166,30 +173,20 @@ int32 ACarlaVehicleController::GetVehicleCurrentGear() const
// -- Scene capture ------------------------------------------------------------
// =============================================================================
void ACarlaVehicleController::RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera)
void ACarlaVehicleController::AddSceneCaptureCamera(const FCameraDescription &Description)
{
AddTickPrerequisiteActor(&CaptureCamera);
const auto Effect = CaptureCamera.GetPostProcessEffect();
auto &Cameras = (Effect == EPostProcessEffect::Depth ? DepthCameras : RGBCameras);
for (auto i = 0u; i < Cameras.size(); ++i) {
if (Cameras[i] == nullptr) {
Cameras[i] = &CaptureCamera;
UE_LOG(
LogCarla,
Log,
TEXT("Registered capture camera %d with postprocess \"%s\""),
i,
*CaptureCamera.GetPostProcessEffectAsString());
return;
}
}
auto Camera = GetWorld()->SpawnActor<ASceneCaptureCamera>(Description.Position, Description.Rotation);
Camera->Set(Description);
Camera->AttachToActor(GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
Camera->SetOwner(GetPawn());
AddTickPrerequisiteActor(Camera);
SceneCaptureCameras.Add(Camera);
UE_LOG(
LogCarla,
Warning,
TEXT("Attempting to register a capture camera of type \"%d\" but already have %d, captures from this camera won't be sent"),
*CaptureCamera.GetPostProcessEffectAsString(),
Cameras.size());
Log,
TEXT("Created capture camera %d with postprocess \"%s\""),
SceneCaptureCameras.Num() - 1,
*PostProcessEffect::ToString(Camera->GetPostProcessEffect()));
}
// =============================================================================

14
Source/Carla/Game/CarlaVehicleController.h
View File

@ -11,6 +11,7 @@ class ASceneCaptureCamera;
class UCameraComponent;
class USpringArmComponent;
class UWheeledVehicleMovementComponent;
struct FCameraDescription;
/**
*
@ -41,6 +42,8 @@ public:
virtual void Possess(APawn *aPawn) override;
virtual void BeginPlay() override;
virtual void Tick(float DeltaTime) override;
virtual void CalcCamera(float DeltaTime, FMinimalViewInfo& OutResult) override;
@ -80,7 +83,7 @@ public:
/// @{
public:
void RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera);
void AddSceneCaptureCamera(const FCameraDescription &CameraDescription);
/// @}
// ===========================================================================
@ -175,6 +178,9 @@ private:
UPROPERTY()
UWheeledVehicleMovementComponent *MovementComponent;
UPROPERTY()
TArray<ASceneCaptureCamera *> SceneCaptureCameras;
// Cast for quick access to the custom player state.
UPROPERTY()
ACarlaPlayerState *CarlaPlayerState;
@ -182,10 +188,4 @@ private:
// Cast for quick access to the custom HUD.
UPROPERTY()
ACarlaHUD *CarlaHUD;
using CaptureCameraArray = std::array<const ASceneCaptureCamera *, 2u>;
CaptureCameraArray RGBCameras;
CaptureCameraArray DepthCameras;
};

13
Source/Carla/Game/PostProcessEffect.cpp Normal file
View File

@ -0,0 +1,13 @@
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#include "Carla.h"
#include "PostProcessEffect.h"
#include "Package.h"
FString PostProcessEffect::ToString(EPostProcessEffect PostProcessEffect)
{
const UEnum* ptr = FindObject<UEnum>(ANY_PACKAGE, TEXT("EPostProcessEffect"), true);
if(!ptr)
return FString("Invalid");
return ptr->GetEnumName(static_cast<int32>(PostProcessEffect));
}

23
Source/Carla/Game/PostProcessEffect.h Normal file
View File

@ -0,0 +1,23 @@
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#pragma once
#include "PostProcessEffect.generated.h"
UENUM(BlueprintType)
enum class EPostProcessEffect : uint8
{
None UMETA(DisplayName = "RGB without any post-processing"),
SceneFinal UMETA(DisplayName = "RGB with post-processing present at the scene"),
Depth UMETA(DisplayName = "Depth Map"),
SIZE UMETA(Hidden),
INVALID UMETA(Hidden),
};
/// Helper class for working with EPostProcessEffect.
class CARLA_API PostProcessEffect {
public:
static FString ToString(EPostProcessEffect PostProcessEffect);
};

10
Source/Carla/SceneCaptureCamera.cpp
View File

@ -1,4 +1,4 @@
// Fill out your copyright notice in the Description page of Project Settings.
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#include "Carla.h"
#include "SceneCaptureCamera.h"
@ -100,12 +100,10 @@ void ASceneCaptureCamera::SetPostProcessEffect(EPostProcessEffect otherPostProce
PostProcessEffect = otherPostProcessEffect;
}
FString ASceneCaptureCamera::GetPostProcessEffectAsString() const
void ASceneCaptureCamera::Set(const FCameraDescription &CameraDescription)
{
const UEnum* ptr = FindObject<UEnum>(ANY_PACKAGE, TEXT("EPostProcessEffect"), true);
if(!ptr)
return FString("Invalid");
return ptr->GetEnumName(static_cast<int32>(PostProcessEffect));
SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
SetPostProcessEffect(CameraDescription.PostProcessEffect);
}
bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const

22
Source/Carla/SceneCaptureCamera.h
View File

@ -1,14 +1,10 @@
// Fill out your copyright notice in the Description page of Project Settings.
/**
* Own SceneCapture, re-implementing some of the methods since ASceneCapture
* cannot be subclassed.
*/
// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
#pragma once
#include "GameFramework/Actor.h"
#include "StaticMeshResources.h"
#include "Game/CameraDescription.h"
#include "SceneCaptureCamera.generated.h"
class UDrawFrustumComponent;
@ -16,16 +12,8 @@ class USceneCaptureComponent2D;
class UStaticMeshComponent;
class UTextureRenderTarget2D;
UENUM(BlueprintType)
enum class EPostProcessEffect : uint8
{
None UMETA(DisplayName = "RGB without any post-processing"),
SceneFinal UMETA(DisplayName = "RGB with post-processing present at the scene"),
Depth UMETA(DisplayName = "Depth Map"),
SIZE UMETA(Hidden)
};
/// Own SceneCapture, re-implementing some of the methods since ASceneCapture
/// cannot be subclassed.
UCLASS(hidecategories=(Collision, Attachment, Actor))
class CARLA_API ASceneCaptureCamera : public AActor
{
@ -62,7 +50,7 @@ public:
void SetPostProcessEffect(EPostProcessEffect PostProcessEffect);
FString GetPostProcessEffectAsString() const;
void Set(const FCameraDescription &CameraDescription);
bool ReadPixels(TArray<FColor> &BitMap) const;