Retrieve BBs of all the elements of the level (#3301)
* Added new function to calculate BBs on SKM and SM * Added BB calculation for an array of actors * Added BB folliage calculation * Added a call on the GM to get all the BBs of the level * Fixed Folliage BB calculation. * GM::GetAllBBsOfLevel now returns the array of BBs * Added call on the server side to retrieve the BBs * Removed debug draw calls * Added call to the PythonAPI * Added check for empty folliage actors * Added missing EOF * Added new RotateVector function * Added rotation to the BBs * Update changelog * Split BB calculation on more functions * Add tag query and simplified Folliage actor BB calculation * Look for ISM instead of HISM * Cleaning comments * Fixed BB duplication on BP_Procedural_Buildings * Fixed BB duplication on vehicles BPs * Added pedestrians case * Added CityObjectLabel enum on PythonAPI * Splitted logic in small functions * Fixed uint8_t * Merged BB of the lights in a TL * Splitted work into more functions * Added missing BB and rotation to TL * Cleaned comments * Added missing include * Changed None to Any in PythonAPI * Fixed Any enum * Added check for empty folliage actors * Added missing EOF * Added new RotateVector function * Added rotation to the BBs * Update changelog * Split BB calculation on more functions * Add tag query and simplified Folliage actor BB calculation * Look for ISM instead of HISM * Cleaning comments * Fixed BB duplication on BP_Procedural_Buildings * Fixed BB duplication on vehicles BPs * Added pedestrians case * Added CityObjectLabel enum on PythonAPI * Splitted logic in small functions * Fixed uint8_t * Merged BB of the lights in a TL * Splitted work into more functions * Added missing BB and rotation to TL * Cleaned comments * Changed None to Any in PythonAPI * Fixed Any enum * Fixed rebase
This commit is contained in:
doterop
GitHub
parent
9586cd24d5
commit
cc7b1ea910
|
|
@ -60,6 +60,7 @@
|
|||
* Fixed minor typo in the introduction section of documentation.
|
||||
* Fixed a bug at the local planner when changing the route, causing it to maintain the first part of the previous one. This was only relevant when using very large buffer sizes.
|
||||
* Added automatic calculation of vehicle's BB
|
||||
* Retrieve BBs of all the elements of the level
|
||||
|
||||
|
||||
## CARLA 0.9.9
|
||||
|
|
|
|||
|
|
@ -158,8 +158,8 @@ namespace client {
|
|||
_episode.Lock()->FreezeAllTrafficLights(frozen);
|
||||
}
|
||||
|
||||
std::vector<geom::BoundingBox> World::GetLevelBBs() const {
|
||||
return _episode.Lock()->GetLevelBBs();
|
||||
std::vector<geom::BoundingBox> World::GetLevelBBs(uint8_t queried_tag) const {
|
||||
return _episode.Lock()->GetLevelBBs(queried_tag);
|
||||
}
|
||||
|
||||
} // namespace client
|
||||
|
|
|
|||
|
|
@ -151,7 +151,7 @@ namespace client {
|
|||
void FreezeAllTrafficLights(bool frozen);
|
||||
|
||||
/// Returns all the BBs of all the elements of the level
|
||||
std::vector<geom::BoundingBox> GetLevelBBs() const;
|
||||
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
|
||||
|
||||
private:
|
||||
|
||||
|
|
|
|||
|
|
@ -413,9 +413,9 @@ namespace detail {
|
|||
_pimpl->AsyncCall("update_lights_state", _pimpl->endpoint, std::move(lights), discard_client);
|
||||
}
|
||||
|
||||
std::vector<geom::BoundingBox> Client::GetLevelBBs() const {
|
||||
std::vector<geom::BoundingBox> Client::GetLevelBBs(uint8_t queried_tag) const {
|
||||
using return_t = std::vector<geom::BoundingBox>;
|
||||
return _pimpl->CallAndWait<return_t>("get_all_level_BBs");
|
||||
return _pimpl->CallAndWait<return_t>("get_all_level_BBs", queried_tag);
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
|
|
|
|||
|
|
@ -257,7 +257,7 @@ namespace detail {
|
|||
bool discard_client = false) const;
|
||||
|
||||
/// Returns all the BBs of all the elements of the level
|
||||
std::vector<geom::BoundingBox> GetLevelBBs() const;
|
||||
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
|
||||
|
||||
private:
|
||||
|
||||
|
|
|
|||
|
|
@ -227,8 +227,8 @@ namespace detail {
|
|||
}
|
||||
|
||||
/// Returns all the BBs of all the elements of the level
|
||||
std::vector<geom::BoundingBox> GetLevelBBs() const {
|
||||
return _client.GetLevelBBs();
|
||||
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const {
|
||||
return _client.GetLevelBBs(queried_tag);
|
||||
}
|
||||
|
||||
/// @}
|
||||
|
|
|
|||
|
|
@ -30,6 +30,11 @@ namespace geom {
|
|||
// -- Constructors ---------------------------------------------------------
|
||||
// =========================================================================
|
||||
|
||||
explicit BoundingBox(const Location &in_location, const Vector3D &in_extent, const Rotation &in_rotation)
|
||||
: location(in_location),
|
||||
extent(in_extent),
|
||||
rotation(in_rotation) {}
|
||||
|
||||
explicit BoundingBox(const Location &in_location, const Vector3D &in_extent)
|
||||
: location(in_location),
|
||||
extent(in_extent) {}
|
||||
|
|
@ -38,7 +43,8 @@ namespace geom {
|
|||
: extent(in_extent) {}
|
||||
|
||||
Location location; ///< Center of the BoundingBox in local space
|
||||
Vector3D extent; ///< Half the size of the BoundingBox in local space
|
||||
Vector3D extent; ///< Half the size of the BoundingBox in local space
|
||||
Rotation rotation; ///< Rotation of the BoundingBox in local space
|
||||
|
||||
// =========================================================================
|
||||
// -- Other methods --------------------------------------------------------
|
||||
|
|
@ -63,15 +69,16 @@ namespace geom {
|
|||
* Returns the positions of the 8 vertices of this BoundingBox in local space.
|
||||
*/
|
||||
std::array<Location, 8> GetLocalVertices() const {
|
||||
|
||||
return {{
|
||||
location + Location(-extent.x,-extent.y,-extent.z),
|
||||
location + Location(-extent.x,-extent.y, extent.z),
|
||||
location + Location(-extent.x, extent.y,-extent.z),
|
||||
location + Location(-extent.x, extent.y, extent.z),
|
||||
location + Location( extent.x,-extent.y,-extent.z),
|
||||
location + Location( extent.x,-extent.y, extent.z),
|
||||
location + Location( extent.x, extent.y,-extent.z),
|
||||
location + Location( extent.x, extent.y, extent.z)
|
||||
location + Location(rotation.RotateVector({-extent.x,-extent.y,-extent.z})),
|
||||
location + Location(rotation.RotateVector({-extent.x,-extent.y, extent.z})),
|
||||
location + Location(rotation.RotateVector({-extent.x, extent.y,-extent.z})),
|
||||
location + Location(rotation.RotateVector({-extent.x, extent.y, extent.z})),
|
||||
location + Location(rotation.RotateVector({ extent.x,-extent.y,-extent.z})),
|
||||
location + Location(rotation.RotateVector({ extent.x,-extent.y, extent.z})),
|
||||
location + Location(rotation.RotateVector({ extent.x, extent.y,-extent.z})),
|
||||
location + Location(rotation.RotateVector({ extent.x, extent.y, extent.z}))
|
||||
}};
|
||||
}
|
||||
|
||||
|
|
@ -92,7 +99,7 @@ namespace geom {
|
|||
// =========================================================================
|
||||
|
||||
bool operator==(const BoundingBox &rhs) const {
|
||||
return (location == rhs.location) && (extent == rhs.extent);
|
||||
return (location == rhs.location) && (extent == rhs.extent) && (rotation == rhs.rotation);
|
||||
}
|
||||
|
||||
bool operator!=(const BoundingBox &rhs) const {
|
||||
|
|
@ -107,11 +114,12 @@ namespace geom {
|
|||
|
||||
BoundingBox(const FBoundingBox &Box)
|
||||
: location(Box.Origin),
|
||||
extent(1e-2f * Box.Extent.X, 1e-2f * Box.Extent.Y, 1e-2f * Box.Extent.Z) {}
|
||||
extent(1e-2f * Box.Extent.X, 1e-2f * Box.Extent.Y, 1e-2f * Box.Extent.Z),
|
||||
rotation(Box.Rotation) {}
|
||||
|
||||
#endif // LIBCARLA_INCLUDED_FROM_UE4
|
||||
|
||||
MSGPACK_DEFINE_ARRAY(location, extent);
|
||||
MSGPACK_DEFINE_ARRAY(location, extent, rotation);
|
||||
};
|
||||
|
||||
} // namespace geom
|
||||
|
|
|
|||
|
|
@ -87,6 +87,34 @@ namespace geom {
|
|||
in_point = out_point;
|
||||
}
|
||||
|
||||
Vector3D RotateVector(const Vector3D& in_point) const {
|
||||
// Rotates Rz(yaw) * Ry(pitch) * Rx(roll) = first x, then y, then z.
|
||||
const float cy = std::cos(Math::ToRadians(yaw));
|
||||
const float sy = std::sin(Math::ToRadians(yaw));
|
||||
const float cr = std::cos(Math::ToRadians(roll));
|
||||
const float sr = std::sin(Math::ToRadians(roll));
|
||||
const float cp = std::cos(Math::ToRadians(pitch));
|
||||
const float sp = std::sin(Math::ToRadians(pitch));
|
||||
|
||||
Vector3D out_point;
|
||||
out_point.x =
|
||||
in_point.x * (cp * cy) +
|
||||
in_point.y * (cy * sp * sr - sy * cr) +
|
||||
in_point.z * (-cy * sp * cr - sy * sr);
|
||||
|
||||
out_point.y =
|
||||
in_point.x * (cp * sy) +
|
||||
in_point.y * (sy * sp * sr + cy * cr) +
|
||||
in_point.z * (-sy * sp * cr + cy * sr);
|
||||
|
||||
out_point.z =
|
||||
in_point.x * (sp) +
|
||||
in_point.y * (-cp * sr) +
|
||||
in_point.z * (cp * cr);
|
||||
|
||||
return out_point;
|
||||
}
|
||||
|
||||
void InverseRotateVector(Vector3D &in_point) const {
|
||||
// Applies the transposed of the matrix used in RotateVector function,
|
||||
// which is the rotation inverse.
|
||||
|
|
|
|||
|
|
@ -0,0 +1,45 @@
|
|||
// Copyright (c) 2020 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/MsgPack.h"
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace carla {
|
||||
namespace rpc {
|
||||
|
||||
enum class CityObjectLabel : uint8_t {
|
||||
None = 0u,
|
||||
Buildings = 1u,
|
||||
Fences = 2u,
|
||||
Other = 3u,
|
||||
Pedestrians = 4u,
|
||||
Poles = 5u,
|
||||
RoadLines = 6u,
|
||||
Roads = 7u,
|
||||
Sidewalks = 8u,
|
||||
TrafficSigns = 12u,
|
||||
Vegetation = 9u,
|
||||
Vehicles = 10u,
|
||||
Walls = 11u,
|
||||
Sky = 13u,
|
||||
Ground = 14u,
|
||||
Bridge = 15u,
|
||||
RailTrack = 16u,
|
||||
GuardRail = 17u,
|
||||
TrafficLight = 18u,
|
||||
Static = 19u,
|
||||
Dynamic = 20u,
|
||||
Water = 21u,
|
||||
Terrain = 22u,
|
||||
};
|
||||
|
||||
} // namespace rpc
|
||||
} // namespace carla
|
||||
|
||||
MSGPACK_ADD_ENUM(carla::rpc::CityObjectLabel);
|
||||
|
|
@ -205,9 +205,10 @@ void export_geom() {
|
|||
|
||||
class_<cg::BoundingBox>("BoundingBox")
|
||||
.def(init<cg::Location, cg::Vector3D>(
|
||||
(arg("location")=cg::Location(), arg("extent")=cg::Vector3D())))
|
||||
(arg("location")=cg::Location(), arg("extent")=cg::Vector3D(), arg("rotation")=cg::Rotation())))
|
||||
.def_readwrite("location", &cg::BoundingBox::location)
|
||||
.def_readwrite("extent", &cg::BoundingBox::extent)
|
||||
.def_readwrite("rotation", &cg::BoundingBox::rotation)
|
||||
.def("contains", &cg::BoundingBox::Contains, arg("point"), arg("bbox_transform"))
|
||||
.def("get_local_vertices", CALL_RETURNING_LIST(cg::BoundingBox, GetLocalVertices))
|
||||
.def("get_world_vertices", CALL_RETURNING_LIST_1(cg::BoundingBox, GetWorldVertices, const cg::Transform&), arg("bbox_transform"))
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@
|
|||
#include <carla/client/Actor.h>
|
||||
#include <carla/client/ActorList.h>
|
||||
#include <carla/client/World.h>
|
||||
#include <carla/rpc/ObjectLabel.h>
|
||||
|
||||
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
|
||||
|
||||
|
|
@ -70,10 +71,10 @@ static auto GetVehiclesLightStates(carla::client::World &self) {
|
|||
return dict;
|
||||
}
|
||||
|
||||
static auto GetLevelBBs(const carla::client::World &self) {
|
||||
static auto GetLevelBBs(const carla::client::World &self, uint8_t queried_tag) {
|
||||
carla::PythonUtil::ReleaseGIL unlock;
|
||||
boost::python::list result;
|
||||
for (const auto &bb : self.GetLevelBBs()) {
|
||||
for (const auto &bb : self.GetLevelBBs(queried_tag)) {
|
||||
result.append(bb);
|
||||
}
|
||||
return result;
|
||||
|
|
@ -135,6 +136,32 @@ void export_world() {
|
|||
.value("SpringArm", cr::AttachmentType::SpringArm)
|
||||
;
|
||||
|
||||
enum_<cr::CityObjectLabel>("CityObjectLabel")
|
||||
.value("Any", cr::CityObjectLabel::None)
|
||||
.value("Buildings", cr::CityObjectLabel::Buildings)
|
||||
.value("Fences", cr::CityObjectLabel::Fences)
|
||||
.value("Other", cr::CityObjectLabel::Other)
|
||||
.value("Pedestrians", cr::CityObjectLabel::Pedestrians)
|
||||
.value("Poles", cr::CityObjectLabel::Poles)
|
||||
.value("RoadLines", cr::CityObjectLabel::RoadLines)
|
||||
.value("Roads", cr::CityObjectLabel::Roads)
|
||||
.value("Sidewalks", cr::CityObjectLabel::Sidewalks)
|
||||
.value("TrafficSigns", cr::CityObjectLabel::TrafficSigns)
|
||||
.value("Vegetation", cr::CityObjectLabel::Vegetation)
|
||||
.value("Vehicles", cr::CityObjectLabel::Vehicles)
|
||||
.value("Walls", cr::CityObjectLabel::Walls)
|
||||
.value("Sky", cr::CityObjectLabel::Sky)
|
||||
.value("Ground", cr::CityObjectLabel::Ground)
|
||||
.value("Bridge", cr::CityObjectLabel::Bridge)
|
||||
.value("RailTrack", cr::CityObjectLabel::RailTrack)
|
||||
.value("GuardRail", cr::CityObjectLabel::GuardRail)
|
||||
.value("TrafficLight", cr::CityObjectLabel::TrafficLight)
|
||||
.value("Static", cr::CityObjectLabel::Static)
|
||||
.value("Dynamic", cr::CityObjectLabel::Dynamic)
|
||||
.value("Water", cr::CityObjectLabel::Water)
|
||||
.value("Terrain", cr::CityObjectLabel::Terrain)
|
||||
;
|
||||
|
||||
#define SPAWN_ACTOR_WITHOUT_GIL(fn) +[]( \
|
||||
cc::World &self, \
|
||||
const cc::ActorBlueprint &blueprint, \
|
||||
|
|
@ -177,7 +204,7 @@ void export_world() {
|
|||
.def("get_traffic_light", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficLight, cc::Landmark), arg("landmark"))
|
||||
.def("get_lightmanager", CONST_CALL_WITHOUT_GIL(cc::World, GetLightManager))
|
||||
.def("freeze_all_traffic_lights", &cc::World::FreezeAllTrafficLights, (arg("frozen")))
|
||||
.def("get_level_bbs", &GetLevelBBs)
|
||||
.def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
|
||||
.def(self_ns::str(self_ns::self))
|
||||
;
|
||||
|
||||
|
|
|
|||
|
|
@ -11,8 +11,11 @@
|
|||
|
||||
#include <compiler/disable-ue4-macros.h>
|
||||
#include <carla/rpc/Actor.h>
|
||||
#include <carla/rpc/ObjectLabel.h>
|
||||
#include <compiler/enable-ue4-macros.h>
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
/// A view over an actor and its properties.
|
||||
struct FActorInfo
|
||||
{
|
||||
|
|
@ -20,11 +23,11 @@ public:
|
|||
|
||||
FActorDescription Description;
|
||||
|
||||
TSet<ECityObjectLabel> SemanticTags;
|
||||
TSet<crp::CityObjectLabel> SemanticTags;
|
||||
|
||||
FBoundingBox BoundingBox;
|
||||
|
||||
carla::rpc::Actor SerializedData;
|
||||
crp::Actor SerializedData;
|
||||
|
||||
/// @todo To be used solely by the FWorldObserver.
|
||||
mutable FVector Velocity = {0.0f, 0.0f, 0.0f};
|
||||
|
|
|
|||
|
|
@ -13,6 +13,8 @@
|
|||
#include "Carla/Traffic/TrafficLightBase.h"
|
||||
#include "Carla/Util/BoundingBoxCalculator.h"
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
static FActorView::ActorType FActorRegistry_GetActorType(const FActorView &View)
|
||||
{
|
||||
if (!View.IsValid())
|
||||
|
|
@ -41,11 +43,11 @@ static FActorView::ActorType FActorRegistry_GetActorType(const FActorView &View)
|
|||
}
|
||||
}
|
||||
|
||||
static FString GetRelevantTagAsString(const TSet<ECityObjectLabel> &SemanticTags)
|
||||
static FString GetRelevantTagAsString(const TSet<crp::CityObjectLabel> &SemanticTags)
|
||||
{
|
||||
for (auto &&Tag : SemanticTags)
|
||||
{
|
||||
if ((Tag != ECityObjectLabel::None) && (Tag != ECityObjectLabel::Other))
|
||||
if ((Tag != crp::CityObjectLabel::None) && (Tag != crp::CityObjectLabel::Other))
|
||||
{
|
||||
auto Str = ATagger::GetTagAsString(Tag).ToLower();
|
||||
return (Str.EndsWith(TEXT("s")) ? Str.LeftChop(1) : Str);
|
||||
|
|
|
|||
|
|
@ -22,6 +22,8 @@
|
|||
#include <sstream>
|
||||
#endif // CARLA_ROAD_GENERATOR_EXTRA_LOG
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
// =============================================================================
|
||||
// -- Private types ------------------------------------------------------------
|
||||
// =============================================================================
|
||||
|
|
@ -248,7 +250,7 @@ static bool LineTrace(
|
|||
|
||||
if (Success) {
|
||||
for (FHitResult &Item : OutHits) {
|
||||
if (ATagger::MatchComponent(*Item.Component, ECityObjectLabel::Roads)) {
|
||||
if (ATagger::MatchComponent(*Item.Component, crp::CityObjectLabel::Roads)) {
|
||||
HitResult = Item;
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -332,7 +332,7 @@ void ACarlaGameModeBase::DebugShowSignals(bool enable)
|
|||
|
||||
}
|
||||
|
||||
TArray<FBoundingBox> ACarlaGameModeBase::GetAllBBsOfLevel()
|
||||
TArray<FBoundingBox> ACarlaGameModeBase::GetAllBBsOfLevel(uint8 TagQueried)
|
||||
{
|
||||
UWorld* World = GetWorld();
|
||||
|
||||
|
|
@ -341,7 +341,7 @@ TArray<FBoundingBox> ACarlaGameModeBase::GetAllBBsOfLevel()
|
|||
UGameplayStatics::GetAllActorsOfClass(World, AActor::StaticClass(), FoundActors);
|
||||
|
||||
TArray<FBoundingBox> BoundingBoxes;
|
||||
BoundingBoxes = UBoundingBoxCalculator::GetBoundingBoxOfActors(FoundActors);
|
||||
BoundingBoxes = UBoundingBoxCalculator::GetBoundingBoxOfActors(FoundActors, TagQueried);
|
||||
|
||||
return BoundingBoxes;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -53,7 +53,7 @@ public:
|
|||
ATrafficLightManager* GetTrafficLightManager();
|
||||
|
||||
UFUNCTION(Category = "Carla Game Mode", BlueprintCallable, CallInEditor, Exec)
|
||||
TArray<FBoundingBox> GetAllBBsOfLevel();
|
||||
TArray<FBoundingBox> GetAllBBsOfLevel(uint8 TagQueried = 0);
|
||||
|
||||
protected:
|
||||
|
||||
|
|
|
|||
|
|
@ -14,46 +14,48 @@
|
|||
#include "EngineUtils.h"
|
||||
#include "PhysicsEngine/PhysicsAsset.h"
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
template <typename T>
|
||||
static auto CastEnum(T label)
|
||||
{
|
||||
return static_cast<typename std::underlying_type<T>::type>(label);
|
||||
}
|
||||
|
||||
ECityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
|
||||
if (String == "Building") return ECityObjectLabel::Buildings;
|
||||
else if (String == "Fence") return ECityObjectLabel::Fences;
|
||||
else if (String == "Pedestrian") return ECityObjectLabel::Pedestrians;
|
||||
else if (String == "Pole") return ECityObjectLabel::Poles;
|
||||
else if (String == "Other") return ECityObjectLabel::Other;
|
||||
else if (String == "Road") return ECityObjectLabel::Roads;
|
||||
else if (String == "RoadLine") return ECityObjectLabel::RoadLines;
|
||||
else if (String == "SideWalk") return ECityObjectLabel::Sidewalks;
|
||||
else if (String == "TrafficSign") return ECityObjectLabel::TrafficSigns;
|
||||
else if (String == "Vegetation") return ECityObjectLabel::Vegetation;
|
||||
else if (String == "Vehicles") return ECityObjectLabel::Vehicles;
|
||||
else if (String == "Wall") return ECityObjectLabel::Walls;
|
||||
else if (String == "Sky") return ECityObjectLabel::Sky;
|
||||
else if (String == "Ground") return ECityObjectLabel::Ground;
|
||||
else if (String == "Bridge") return ECityObjectLabel::Bridge;
|
||||
else if (String == "RailTrack") return ECityObjectLabel::RailTrack;
|
||||
else if (String == "GuardRail") return ECityObjectLabel::GuardRail;
|
||||
else if (String == "TrafficLight") return ECityObjectLabel::TrafficLight;
|
||||
else if (String == "Static") return ECityObjectLabel::Static;
|
||||
else if (String == "Dynamic") return ECityObjectLabel::Dynamic;
|
||||
else if (String == "Water") return ECityObjectLabel::Water;
|
||||
else if (String == "Terrain") return ECityObjectLabel::Terrain;
|
||||
else return ECityObjectLabel::None;
|
||||
crp::CityObjectLabel ATagger::GetLabelByFolderName(const FString &String) {
|
||||
if (String == "Building") return crp::CityObjectLabel::Buildings;
|
||||
else if (String == "Fence") return crp::CityObjectLabel::Fences;
|
||||
else if (String == "Pedestrian") return crp::CityObjectLabel::Pedestrians;
|
||||
else if (String == "Pole") return crp::CityObjectLabel::Poles;
|
||||
else if (String == "Other") return crp::CityObjectLabel::Other;
|
||||
else if (String == "Road") return crp::CityObjectLabel::Roads;
|
||||
else if (String == "RoadLine") return crp::CityObjectLabel::RoadLines;
|
||||
else if (String == "SideWalk") return crp::CityObjectLabel::Sidewalks;
|
||||
else if (String == "TrafficSign") return crp::CityObjectLabel::TrafficSigns;
|
||||
else if (String == "Vegetation") return crp::CityObjectLabel::Vegetation;
|
||||
else if (String == "Vehicles") return crp::CityObjectLabel::Vehicles;
|
||||
else if (String == "Wall") return crp::CityObjectLabel::Walls;
|
||||
else if (String == "Sky") return crp::CityObjectLabel::Sky;
|
||||
else if (String == "Ground") return crp::CityObjectLabel::Ground;
|
||||
else if (String == "Bridge") return crp::CityObjectLabel::Bridge;
|
||||
else if (String == "RailTrack") return crp::CityObjectLabel::RailTrack;
|
||||
else if (String == "GuardRail") return crp::CityObjectLabel::GuardRail;
|
||||
else if (String == "TrafficLight") return crp::CityObjectLabel::TrafficLight;
|
||||
else if (String == "Static") return crp::CityObjectLabel::Static;
|
||||
else if (String == "Dynamic") return crp::CityObjectLabel::Dynamic;
|
||||
else if (String == "Water") return crp::CityObjectLabel::Water;
|
||||
else if (String == "Terrain") return crp::CityObjectLabel::Terrain;
|
||||
else return crp::CityObjectLabel::None;
|
||||
}
|
||||
|
||||
void ATagger::SetStencilValue(
|
||||
UPrimitiveComponent &Component,
|
||||
const ECityObjectLabel &Label,
|
||||
const crp::CityObjectLabel &Label,
|
||||
const bool bSetRenderCustomDepth) {
|
||||
Component.SetCustomDepthStencilValue(CastEnum(Label));
|
||||
Component.SetRenderCustomDepth(
|
||||
bSetRenderCustomDepth &&
|
||||
(Label != ECityObjectLabel::None));
|
||||
(Label != crp::CityObjectLabel::None));
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
|
|
@ -98,24 +100,24 @@ void ATagger::TagActorsInLevel(UWorld &World, bool bTagForSemanticSegmentation)
|
|||
}
|
||||
}
|
||||
|
||||
void ATagger::GetTagsOfTaggedActor(const AActor &Actor, TSet<ECityObjectLabel> &Tags)
|
||||
void ATagger::GetTagsOfTaggedActor(const AActor &Actor, TSet<crp::CityObjectLabel> &Tags)
|
||||
{
|
||||
TArray<UPrimitiveComponent *> Components;
|
||||
Actor.GetComponents<UPrimitiveComponent>(Components);
|
||||
for (auto *Component : Components) {
|
||||
if (Component != nullptr) {
|
||||
const auto Tag = GetTagOfTaggedComponent(*Component);
|
||||
if (Tag != ECityObjectLabel::None) {
|
||||
if (Tag != crp::CityObjectLabel::None) {
|
||||
Tags.Add(Tag);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FString ATagger::GetTagAsString(const ECityObjectLabel Label)
|
||||
FString ATagger::GetTagAsString(const crp::CityObjectLabel Label)
|
||||
{
|
||||
switch (Label) {
|
||||
#define CARLA_GET_LABEL_STR(lbl) case ECityObjectLabel:: lbl : return TEXT(#lbl);
|
||||
#define CARLA_GET_LABEL_STR(lbl) case crp::CityObjectLabel:: lbl : return TEXT(#lbl);
|
||||
default:
|
||||
CARLA_GET_LABEL_STR(None)
|
||||
CARLA_GET_LABEL_STR(Buildings)
|
||||
|
|
|
|||
|
|
@ -8,34 +8,14 @@
|
|||
|
||||
#include "GameFramework/Actor.h"
|
||||
#include "Components/PrimitiveComponent.h"
|
||||
|
||||
#include <compiler/disable-ue4-macros.h>
|
||||
#include <carla/rpc/ObjectLabel.h>
|
||||
#include <compiler/enable-ue4-macros.h>
|
||||
|
||||
#include "Tagger.generated.h"
|
||||
|
||||
enum class ECityObjectLabel : uint8
|
||||
{
|
||||
None = 0u,
|
||||
Buildings = 1u,
|
||||
Fences = 2u,
|
||||
Other = 3u,
|
||||
Pedestrians = 4u,
|
||||
Poles = 5u,
|
||||
RoadLines = 6u,
|
||||
Roads = 7u,
|
||||
Sidewalks = 8u,
|
||||
TrafficSigns = 12u,
|
||||
Vegetation = 9u,
|
||||
Vehicles = 10u,
|
||||
Walls = 11u,
|
||||
Sky = 13u,
|
||||
Ground = 14u,
|
||||
Bridge = 15u,
|
||||
RailTrack = 16u,
|
||||
GuardRail = 17u,
|
||||
TrafficLight = 18u,
|
||||
Static = 19u,
|
||||
Dynamic = 20u,
|
||||
Water = 21u,
|
||||
Terrain = 22u,
|
||||
};
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
/// Sets actors' custom depth stencil value for semantic segmentation according
|
||||
/// to their meshes.
|
||||
|
|
@ -67,40 +47,40 @@ public:
|
|||
static void TagActorsInLevel(UWorld &World, bool bTagForSemanticSegmentation);
|
||||
|
||||
/// Retrieve the tag of an already tagged component.
|
||||
static ECityObjectLabel GetTagOfTaggedComponent(const UPrimitiveComponent &Component)
|
||||
static crp::CityObjectLabel GetTagOfTaggedComponent(const UPrimitiveComponent &Component)
|
||||
{
|
||||
return static_cast<ECityObjectLabel>(Component.CustomDepthStencilValue);
|
||||
return static_cast<crp::CityObjectLabel>(Component.CustomDepthStencilValue);
|
||||
}
|
||||
|
||||
/// Retrieve the tags of an already tagged actor. ECityObjectLabel::None is
|
||||
/// Retrieve the tags of an already tagged actor. CityObjectLabel::None is
|
||||
/// not added to the array.
|
||||
static void GetTagsOfTaggedActor(const AActor &Actor, TSet<ECityObjectLabel> &Tags);
|
||||
static void GetTagsOfTaggedActor(const AActor &Actor, TSet<crp::CityObjectLabel> &Tags);
|
||||
|
||||
/// Return true if @a Component has been tagged with the given @a Tag.
|
||||
static bool MatchComponent(const UPrimitiveComponent &Component, ECityObjectLabel Tag)
|
||||
static bool MatchComponent(const UPrimitiveComponent &Component, crp::CityObjectLabel Tag)
|
||||
{
|
||||
return (Tag == GetTagOfTaggedComponent(Component));
|
||||
}
|
||||
|
||||
/// Retrieve the tags of an already tagged actor. ECityObjectLabel::None is
|
||||
/// Retrieve the tags of an already tagged actor. CityObjectLabel::None is
|
||||
/// not added to the array.
|
||||
static FString GetTagAsString(ECityObjectLabel Tag);
|
||||
static FString GetTagAsString(crp::CityObjectLabel Tag);
|
||||
|
||||
/// Method that computes the label corresponding to a folder path
|
||||
static ECityObjectLabel GetLabelByFolderName(const FString &String);
|
||||
static crp::CityObjectLabel GetLabelByFolderName(const FString &String);
|
||||
|
||||
/// Method that computes the label corresponding to an specific object
|
||||
/// using the folder path in which it is stored
|
||||
template <typename T>
|
||||
static ECityObjectLabel GetLabelByPath(const T *Object) {
|
||||
static crp::CityObjectLabel GetLabelByPath(const T *Object) {
|
||||
const FString Path = Object->GetPathName();
|
||||
TArray<FString> StringArray;
|
||||
Path.ParseIntoArray(StringArray, TEXT("/"), false);
|
||||
return (StringArray.Num() > 4 ? GetLabelByFolderName(StringArray[4]) : ECityObjectLabel::None);
|
||||
return (StringArray.Num() > 4 ? GetLabelByFolderName(StringArray[4]) : crp::CityObjectLabel::None);
|
||||
}
|
||||
|
||||
static void SetStencilValue(UPrimitiveComponent &Component,
|
||||
const ECityObjectLabel &Label, const bool bSetRenderCustomDepth);
|
||||
const crp::CityObjectLabel &Label, const bool bSetRenderCustomDepth);
|
||||
|
||||
ATagger();
|
||||
|
||||
|
|
|
|||
|
|
@ -19,6 +19,8 @@
|
|||
#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
|
||||
#include "Runtime/Core/Public/Async/ParallelFor.h"
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
FActorDefinition ARayCastSemanticLidar::GetSensorDefinition()
|
||||
{
|
||||
return UActorBlueprintFunctionLibrary::MakeLidarDefinition(TEXT("ray_cast_semantic"));
|
||||
|
|
@ -160,7 +162,7 @@ void ARayCastSemanticLidar::ComputeRawDetection(const FHitResult& HitInfo, const
|
|||
|
||||
AActor* actor = HitInfo.Actor.Get();
|
||||
Detection.object_idx = 0;
|
||||
Detection.object_tag = static_cast<uint32_t>(ECityObjectLabel::None);
|
||||
Detection.object_tag = static_cast<uint32_t>(crp::CityObjectLabel::None);
|
||||
if (actor != nullptr) {
|
||||
|
||||
FActorView view = Registry.Find(actor);
|
||||
|
|
|
|||
|
|
@ -306,7 +306,7 @@ void FCarlaServer::FPimpl::BindActions()
|
|||
return Episode->SerializeActor(ActorView);
|
||||
};
|
||||
|
||||
BIND_SYNC(get_all_level_BBs) << [this]() -> R<std::vector<cg::BoundingBox>>
|
||||
BIND_SYNC(get_all_level_BBs) << [this](uint8 QueriedTag) -> R<std::vector<cg::BoundingBox>>
|
||||
{
|
||||
REQUIRE_CARLA_EPISODE();
|
||||
TArray<FBoundingBox> Result;
|
||||
|
|
@ -315,7 +315,7 @@ void FCarlaServer::FPimpl::BindActions()
|
|||
{
|
||||
RESPOND_ERROR("unable to find CARLA game mode");
|
||||
}
|
||||
Result = GameMode->GetAllBBsOfLevel();
|
||||
Result = GameMode->GetAllBBsOfLevel(QueriedTag);
|
||||
return MakeVectorFromTArray<cg::BoundingBox>(Result);
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -15,7 +15,61 @@
|
|||
|
||||
#include "Rendering/SkeletalMeshRenderData.h"
|
||||
|
||||
FBoundingBox UBoundingBoxCalculator::GetActorBoundingBox(const AActor *Actor)
|
||||
|
||||
namespace crp = carla::rpc;
|
||||
|
||||
static FBoundingBox ApplyTransformToBB(
|
||||
const FBoundingBox& InBoundingBox,
|
||||
const FTransform& Transform)
|
||||
{
|
||||
const FRotator Rotation = Transform.GetRotation().Rotator();
|
||||
const FVector Translation = Transform.GetLocation();
|
||||
const FVector Scale = Transform.GetScale3D();
|
||||
|
||||
FBoundingBox BoundingBox = InBoundingBox;
|
||||
BoundingBox.Origin *= Scale;
|
||||
BoundingBox.Origin = Rotation.RotateVector(BoundingBox.Origin) + Translation;
|
||||
BoundingBox.Extent *= Scale;
|
||||
BoundingBox.Rotation = Rotation;
|
||||
|
||||
return BoundingBox;
|
||||
}
|
||||
|
||||
static FBoundingBox CombineBBs(const TArray<FBoundingBox>& BBsToCombine)
|
||||
{
|
||||
FVector MaxVertex(TNumericLimits<float>::Lowest());
|
||||
FVector MinVertex(TNumericLimits<float>::Max());
|
||||
|
||||
for(const FBoundingBox& BB : BBsToCombine) {
|
||||
FVector MaxVertexOfBB = BB.Origin + BB.Extent;
|
||||
FVector MinVertexOfBB = BB.Origin - BB.Extent;
|
||||
|
||||
MaxVertex.X = (MaxVertexOfBB.X > MaxVertex.X) ? MaxVertexOfBB.X : MaxVertex.X;
|
||||
MaxVertex.Y = (MaxVertexOfBB.Y > MaxVertex.Y) ? MaxVertexOfBB.Y : MaxVertex.Y;
|
||||
MaxVertex.Z = (MaxVertexOfBB.Z > MaxVertex.Z) ? MaxVertexOfBB.Z : MaxVertex.Z;
|
||||
MinVertex.X = (MinVertexOfBB.X < MinVertex.X) ? MinVertexOfBB.X : MinVertex.X;
|
||||
MinVertex.Y = (MinVertexOfBB.Y < MinVertex.Y) ? MinVertexOfBB.Y : MinVertex.Y;
|
||||
MinVertex.Z = (MinVertexOfBB.Z < MinVertex.Z) ? MinVertexOfBB.Z : MinVertex.Z;
|
||||
}
|
||||
|
||||
// Calculate box extent
|
||||
FVector Extent (
|
||||
(MaxVertex.X - MinVertex.X) * 0.5f,
|
||||
(MaxVertex.Y - MinVertex.Y) * 0.5f,
|
||||
(MaxVertex.Z - MinVertex.Z) * 0.5f
|
||||
);
|
||||
|
||||
// Calculate middle point
|
||||
FVector Origin (
|
||||
(MinVertex.X + Extent.X),
|
||||
(MinVertex.Y + Extent.Y),
|
||||
(MinVertex.Z + Extent.Z)
|
||||
);
|
||||
|
||||
return {Origin, Extent};
|
||||
}
|
||||
|
||||
FBoundingBox UBoundingBoxCalculator::GetActorBoundingBox(const AActor *Actor, uint8 InTagQueried)
|
||||
{
|
||||
if (Actor != nullptr)
|
||||
{
|
||||
|
|
@ -59,10 +113,132 @@ FBoundingBox UBoundingBoxCalculator::GetActorBoundingBox(const AActor *Actor)
|
|||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
return {};
|
||||
}
|
||||
|
||||
FBoundingBox UBoundingBoxCalculator::GetVehicleBoundingBox(
|
||||
const ACarlaWheeledVehicle* Vehicle,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
check(Vehicle);
|
||||
|
||||
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
|
||||
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
|
||||
|
||||
UActorComponent *ActorComp = Vehicle->GetComponentByClass(USkeletalMeshComponent::StaticClass());
|
||||
USkeletalMeshComponent* Comp = Cast<USkeletalMeshComponent>(ActorComp);
|
||||
|
||||
// Filter by tag
|
||||
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
|
||||
if(FilterByTagEnabled && Tag != TagQueried) return {};
|
||||
|
||||
USkeletalMesh* SkeletalMesh = Comp->SkeletalMesh;
|
||||
FBoundingBox BoundingBox = GetSkeletalMeshBoundingBox(SkeletalMesh);
|
||||
if(BoundingBox.Extent.IsZero())
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("%s has no SKM assigned"), *Vehicle->GetName());
|
||||
return {};
|
||||
}
|
||||
|
||||
// Component-to-world transform for this component
|
||||
const FTransform& CompToWorldTransform = Comp->GetComponentTransform();
|
||||
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
|
||||
|
||||
return BoundingBox;
|
||||
}
|
||||
|
||||
FBoundingBox UBoundingBoxCalculator::GetCharacterBoundingBox(
|
||||
const ACharacter* Character,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
check(Character);
|
||||
|
||||
UCapsuleComponent* Capsule = Character->GetCapsuleComponent();
|
||||
if (Capsule)
|
||||
{
|
||||
const float Radius = Capsule->GetScaledCapsuleRadius();
|
||||
const float HalfHeight = Capsule->GetScaledCapsuleHalfHeight();
|
||||
FBoundingBox BoundingBox;
|
||||
// Characters have the pivot point centered.
|
||||
BoundingBox.Origin = {0.0f, 0.0f, 0.0f};
|
||||
BoundingBox.Extent = {Radius, Radius, HalfHeight};
|
||||
// Component-to-world transform for this component
|
||||
const FTransform& CompToWorldTransform = Capsule->GetComponentTransform();
|
||||
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
|
||||
|
||||
return BoundingBox;
|
||||
}
|
||||
|
||||
return {};
|
||||
}
|
||||
|
||||
void UBoundingBoxCalculator::GetTrafficLightBoundingBox(
|
||||
const ATrafficLightBase* TrafficLight,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
check(TrafficLight);
|
||||
|
||||
TArray<FBoundingBox> BBsOfTL;
|
||||
TArray<UStaticMeshComponent*> StaticMeshComps;
|
||||
TrafficLight->GetComponents<UStaticMeshComponent>(StaticMeshComps);
|
||||
GetBBsOfStaticMeshComponents(StaticMeshComps, BBsOfTL, InTagQueried);
|
||||
|
||||
// This kind of a magic number relying that the lights of a TL are not bigger than 100.
|
||||
// and we are gonna compare against a squared distance
|
||||
const float DistanceThreshold = 100.0f * 100.0f;
|
||||
|
||||
// The BBs of the TL are calculated per light, so we need to merge the full-box
|
||||
TSet<int> IndicesDiscarded;
|
||||
for(int i = 0; i < BBsOfTL.Num(); i++)
|
||||
{
|
||||
// Check if the index was used to merge a previous BB
|
||||
if(IndicesDiscarded.Contains(i)) continue;
|
||||
|
||||
TArray<FBoundingBox> BBsToCombine;
|
||||
FBoundingBox& BB1 = BBsOfTL[i];
|
||||
|
||||
for(int j = i + 1; j < BBsOfTL.Num(); j++)
|
||||
{
|
||||
// Check if the index was used to merge a previous BB
|
||||
if(IndicesDiscarded.Contains(j)) continue;
|
||||
|
||||
FBoundingBox& BB2 = BBsOfTL[j];
|
||||
|
||||
float Distance = FVector::DistSquared(BB1.Origin, BB2.Origin);
|
||||
|
||||
// If the lights are close enough, we merge it
|
||||
if(Distance <= DistanceThreshold)
|
||||
{
|
||||
BBsToCombine.Emplace(BB2);
|
||||
IndicesDiscarded.Emplace(j);
|
||||
}
|
||||
}
|
||||
if(BBsToCombine.Num() > 0)
|
||||
{
|
||||
BBsToCombine.Emplace(BB1);
|
||||
IndicesDiscarded.Emplace(i);
|
||||
FBoundingBox MergedBB = CombineBBs(BBsToCombine);
|
||||
MergedBB.Rotation = BB1.Rotation;
|
||||
OutBB.Add(MergedBB);
|
||||
}
|
||||
}
|
||||
|
||||
// Add the BB of the meshes that didn't need to combine (ie: poles)
|
||||
for(int i = 0; i < BBsOfTL.Num(); i++)
|
||||
{
|
||||
// Check if the index was used to merge a previous BB
|
||||
if(IndicesDiscarded.Contains(i)) continue;
|
||||
FBoundingBox& BB = BBsOfTL[i];
|
||||
OutBB.Add(BB);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
// TODO: update to calculate current animation pose
|
||||
FBoundingBox UBoundingBoxCalculator::GetSkeletalMeshBoundingBox(const USkeletalMesh* SkeletalMesh)
|
||||
{
|
||||
|
|
@ -80,7 +256,7 @@ FBoundingBox UBoundingBoxCalculator::GetSkeletalMeshBoundingBox(const USkeletalM
|
|||
uint32 NumVertices = FPositionVertexBuffer.GetNumVertices();
|
||||
|
||||
// Look for Skeletal Mesh bounds (vertex perfect)
|
||||
FVector MaxVertex(TNumericLimits<float>::Min());
|
||||
FVector MaxVertex(TNumericLimits<float>::Lowest());
|
||||
FVector MinVertex(TNumericLimits<float>::Max());
|
||||
for(uint32 i = 0; i < NumVertices; i++)
|
||||
{
|
||||
|
|
@ -93,13 +269,6 @@ FBoundingBox UBoundingBoxCalculator::GetSkeletalMeshBoundingBox(const USkeletalM
|
|||
MinVertex.Z = (Pos.Z < MinVertex.Z) ? Pos.Z : MinVertex.Z;
|
||||
}
|
||||
|
||||
// Calculate middle point
|
||||
FVector Origin (
|
||||
(MaxVertex.X + MinVertex.X) * 0.5f,
|
||||
(MaxVertex.Y + MinVertex.Y) * 0.5f,
|
||||
(MaxVertex.Z + MinVertex.Z) * 0.5f
|
||||
);
|
||||
|
||||
// Calculate box extent
|
||||
FVector Extent (
|
||||
(MaxVertex.X - MinVertex.X) * 0.5f,
|
||||
|
|
@ -107,6 +276,13 @@ FBoundingBox UBoundingBoxCalculator::GetSkeletalMeshBoundingBox(const USkeletalM
|
|||
(MaxVertex.Z - MinVertex.Z) * 0.5f
|
||||
);
|
||||
|
||||
// Calculate middle point
|
||||
FVector Origin (
|
||||
(MinVertex.X + Extent.X),
|
||||
(MinVertex.Y + Extent.Y),
|
||||
(MinVertex.Z + Extent.Z)
|
||||
);
|
||||
|
||||
return {Origin, Extent};
|
||||
}
|
||||
|
||||
|
|
@ -119,115 +295,175 @@ FBoundingBox UBoundingBoxCalculator::GetStaticMeshBoundingBox(const UStaticMesh*
|
|||
}
|
||||
|
||||
FBox Box = StaticMesh->GetBoundingBox();
|
||||
|
||||
return {Box.GetCenter(), Box.GetExtent()};
|
||||
|
||||
}
|
||||
|
||||
// TODO: Dynamic vehicle, avoid SM of collision
|
||||
TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(const TArray<AActor*>& Actors)
|
||||
void UBoundingBoxCalculator::GetISMBoundingBox(
|
||||
UInstancedStaticMeshComponent* ISMComp,
|
||||
TArray<FBoundingBox>& OutBoundingBox)
|
||||
{
|
||||
TArray<FBoundingBox> Result;
|
||||
|
||||
int ActorIndex = 0;
|
||||
for(AActor* Actor : Actors)
|
||||
if(!ISMComp)
|
||||
{
|
||||
//UE_LOG(LogCarla, Warning, TEXT(" %d / %d"), ActorIndex, Actors.Num());
|
||||
ActorIndex++;
|
||||
UE_LOG(LogCarla, Error, TEXT("GetISMBoundingBox no ISMComp"));
|
||||
return;
|
||||
}
|
||||
|
||||
AInstancedFoliageActor* InstancedFolliageActor = Cast<AInstancedFoliageActor>(Actor);
|
||||
if(InstancedFolliageActor != nullptr)
|
||||
const UStaticMesh *Mesh = ISMComp->GetStaticMesh();
|
||||
const FBoundingBox SMBoundingBox = GetStaticMeshBoundingBox(Mesh);
|
||||
|
||||
if(SMBoundingBox.Extent.IsZero())
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("%s has no SM assigned to the ISM"), *ISMComp->GetOwner()->GetName());
|
||||
return;
|
||||
}
|
||||
|
||||
const TArray<FInstancedStaticMeshInstanceData>& PerInstanceSMData = ISMComp->PerInstanceSMData;
|
||||
|
||||
for(auto& InstSMIData : PerInstanceSMData)
|
||||
{
|
||||
const FTransform Transform = FTransform(InstSMIData.Transform);
|
||||
FBoundingBox BoundingBox = ApplyTransformToBB(SMBoundingBox, Transform);
|
||||
OutBoundingBox.Add(BoundingBox);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void UBoundingBoxCalculator::GetBBsOfStaticMeshComponents(
|
||||
const TArray<UStaticMeshComponent*>& StaticMeshComps,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
|
||||
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
|
||||
|
||||
for(UStaticMeshComponent* Comp : StaticMeshComps)
|
||||
{
|
||||
// Filter by tag
|
||||
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
|
||||
if(FilterByTagEnabled && Tag != TagQueried) continue;
|
||||
|
||||
UStaticMesh* StaticMesh = Comp->GetStaticMesh();
|
||||
FBoundingBox BoundingBox = GetStaticMeshBoundingBox(StaticMesh);
|
||||
|
||||
if(BoundingBox.Extent.IsZero())
|
||||
{
|
||||
TMap<UFoliageType*, TUniqueObj<FFoliageInfo>>& FoliageInstancesMap = InstancedFolliageActor->FoliageInfos;
|
||||
|
||||
|
||||
UE_LOG(LogCarla, Warning, TEXT("FolliageActor with %d FoliageTypes"), FoliageInstancesMap.Num());
|
||||
|
||||
int FoliageIndex = 0;
|
||||
for(auto& FoliagePair: FoliageInstancesMap)
|
||||
{
|
||||
const UFoliageType* FoliageType = FoliagePair.Key;
|
||||
const FFoliageInfo& FoliageInfo = FoliagePair.Value.Get();
|
||||
const UFoliageType_InstancedStaticMesh* FoliageType_ISM = Cast<UFoliageType_InstancedStaticMesh>(FoliageType);
|
||||
|
||||
UHierarchicalInstancedStaticMeshComponent* HISMComp = FoliageInfo.GetComponent();
|
||||
|
||||
UStaticMesh *Mesh = FoliageType_ISM->GetStaticMesh();
|
||||
FBoundingBox SMBoundingBox = GetStaticMeshBoundingBox(Mesh);
|
||||
|
||||
int32 NumHISMInstances = HISMComp->GetNumRenderInstances();
|
||||
|
||||
UE_LOG(LogCarla, Warning, TEXT(" %d/%d : NumHISMInstances = %d"),
|
||||
FoliageIndex, FoliageInstancesMap.Num(), NumHISMInstances);
|
||||
FoliageIndex++;
|
||||
|
||||
const TArray<FInstancedStaticMeshInstanceData>& PerInstanceSMData = HISMComp->PerInstanceSMData;
|
||||
|
||||
for(auto& InstSMIData : PerInstanceSMData)
|
||||
{
|
||||
FTransform Transform = FTransform(InstSMIData.Transform);
|
||||
FRotator Rotation = Transform.GetRotation().Rotator();
|
||||
FVector Translation = Transform.GetLocation();
|
||||
FVector Scale = Transform.GetScale3D();
|
||||
|
||||
FBoundingBox BoundingBox = SMBoundingBox;
|
||||
BoundingBox.Origin *= Scale;
|
||||
BoundingBox.Origin = Rotation.RotateVector(BoundingBox.Origin) + Translation;
|
||||
BoundingBox.Extent *= Scale;
|
||||
BoundingBox.Rotation = Rotation;
|
||||
Result.Add(BoundingBox);
|
||||
}
|
||||
}
|
||||
|
||||
UE_LOG(LogCarla, Error, TEXT("%s has no SM assigned"), *Comp->GetOwner()->GetName());
|
||||
}
|
||||
else
|
||||
{
|
||||
TArray<UMeshComponent*> MeshComps;
|
||||
Actor->GetComponents<UMeshComponent>(MeshComps);
|
||||
// Component-to-world transform for this component
|
||||
const FTransform& CompToWorldTransform = Comp->GetComponentTransform();
|
||||
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
|
||||
OutBB.Add(BoundingBox);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FVector WorldLocation = Actor->GetActorLocation();
|
||||
FVector WorldScale = Actor->GetActorScale();
|
||||
FRotator WorldRotation = Actor->GetActorRotation();
|
||||
void UBoundingBoxCalculator::GetBBsOfSkeletalMeshComponents(
|
||||
const TArray<USkeletalMeshComponent*>& SkeletalMeshComps,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
|
||||
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
|
||||
|
||||
// Find if there is some geometry component
|
||||
TArray<UStaticMeshComponent*> StaticMeshComps;
|
||||
TArray<USkeletalMeshComponent*> SkeletalMeshComps;
|
||||
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
|
||||
Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
|
||||
for(USkeletalMeshComponent* Comp : SkeletalMeshComps)
|
||||
{
|
||||
// Filter by tag
|
||||
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
|
||||
if(FilterByTagEnabled && Tag != TagQueried) continue;
|
||||
|
||||
// Calculate FBoundingBox of SM
|
||||
for(UStaticMeshComponent* StaticMeshComp : StaticMeshComps)
|
||||
USkeletalMesh* SkeletalMesh = Comp->SkeletalMesh;
|
||||
FBoundingBox BoundingBox = GetSkeletalMeshBoundingBox(SkeletalMesh);
|
||||
if(BoundingBox.Extent.IsZero())
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("%s has no SKM assigned"), *Comp->GetOwner()->GetName());
|
||||
}
|
||||
else
|
||||
{
|
||||
// Component-to-world transform for this component
|
||||
const FTransform& CompToWorldTransform = Comp->GetComponentTransform();
|
||||
BoundingBox = ApplyTransformToBB(BoundingBox, CompToWorldTransform);
|
||||
OutBB.Add(BoundingBox);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TArray<FBoundingBox> UBoundingBoxCalculator::GetBoundingBoxOfActors(
|
||||
const TArray<AActor*>& Actors,
|
||||
uint8 InTagQueried)
|
||||
{
|
||||
TArray<FBoundingBox> Result;
|
||||
crp::CityObjectLabel TagQueried = (crp::CityObjectLabel)InTagQueried;
|
||||
bool FilterByTagEnabled = (TagQueried != crp::CityObjectLabel::None);
|
||||
|
||||
for(AActor* Actor : Actors)
|
||||
{
|
||||
FString ClassName = Actor->GetClass()->GetName();
|
||||
|
||||
// Avoid the BP_Procedural_Building to avoid duplication with their child actors
|
||||
// When improved the BP_Procedural_Building this maybe should be removed
|
||||
// Note: We don't use casting here because the base class is a BP and is easier to do it this way,
|
||||
// than getting the UClass of the BP to cast the actor.
|
||||
if(ClassName.Contains("BP_Procedural_Bulding")) continue;
|
||||
|
||||
// The vehicle's BP has a low-polystatic mesh for collisions, we should avoid it
|
||||
ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
|
||||
if (Vehicle)
|
||||
{
|
||||
FBoundingBox BoundingBox = GetVehicleBoundingBox(Vehicle, InTagQueried);
|
||||
if(!BoundingBox.Extent.IsZero())
|
||||
{
|
||||
UStaticMesh* StaticMesh = StaticMeshComp->GetStaticMesh();
|
||||
FBoundingBox BoundingBox = GetStaticMeshBoundingBox(StaticMesh);
|
||||
|
||||
if(BoundingBox.Extent.IsZero())
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("%s has no SM assigned"), *Actor->GetName());
|
||||
}
|
||||
else
|
||||
{
|
||||
BoundingBox.Origin *= WorldScale;
|
||||
BoundingBox.Origin = WorldRotation.RotateVector(BoundingBox.Origin) + WorldLocation;
|
||||
BoundingBox.Extent *= WorldScale;
|
||||
BoundingBox.Rotation = WorldRotation;
|
||||
Result.Add(BoundingBox);
|
||||
}
|
||||
}
|
||||
|
||||
// Calculate FBoundingBox of SK_M
|
||||
for(USkeletalMeshComponent* SkeletalMeshComp : SkeletalMeshComps)
|
||||
{
|
||||
USkeletalMesh* SkeletalMesh = SkeletalMeshComp->SkeletalMesh;
|
||||
FBoundingBox BoundingBox = GetSkeletalMeshBoundingBox(SkeletalMesh);
|
||||
BoundingBox.Origin *= WorldScale;
|
||||
BoundingBox.Origin = WorldRotation.RotateVector(BoundingBox.Origin) + WorldLocation;
|
||||
BoundingBox.Extent *= WorldScale;
|
||||
BoundingBox.Rotation = WorldRotation;
|
||||
Result.Add(BoundingBox);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
// Pedestrians, we just use the capsule component at the moment.
|
||||
ACharacter* Character = Cast<ACharacter>(Actor);
|
||||
if (Character)
|
||||
{
|
||||
FBoundingBox BoundingBox = GetCharacterBoundingBox(Character, InTagQueried);
|
||||
if(!BoundingBox.Extent.IsZero())
|
||||
{
|
||||
Result.Add(BoundingBox);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
// TrafficLight, we need to join all the BB of the lights in one
|
||||
ATrafficLightBase* TrafficLight = Cast<ATrafficLightBase>(Actor);
|
||||
if(TrafficLight)
|
||||
{
|
||||
GetTrafficLightBoundingBox(TrafficLight, Result, InTagQueried);
|
||||
continue;
|
||||
}
|
||||
|
||||
// Calculate FBoundingBox of SM
|
||||
TArray<UStaticMeshComponent*> StaticMeshComps;
|
||||
Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
|
||||
GetBBsOfStaticMeshComponents(StaticMeshComps, Result, InTagQueried);
|
||||
|
||||
// Calculate FBoundingBox of SK_M
|
||||
TArray<USkeletalMeshComponent*> SkeletalMeshComps;
|
||||
Actor->GetComponents<USkeletalMeshComponent>(SkeletalMeshComps);
|
||||
GetBBsOfSkeletalMeshComponents(SkeletalMeshComps, Result, InTagQueried);
|
||||
|
||||
// Calculate FBoundingBox of ISM
|
||||
TArray<UInstancedStaticMeshComponent *> ISMComps;
|
||||
Actor->GetComponents<UInstancedStaticMeshComponent>(ISMComps);
|
||||
for(UInstancedStaticMeshComponent* Comp: ISMComps)
|
||||
{
|
||||
// Filter by tag
|
||||
crp::CityObjectLabel Tag = ATagger::GetTagOfTaggedComponent(*Comp);
|
||||
if(FilterByTagEnabled && Tag != TagQueried) continue;
|
||||
|
||||
GetISMBoundingBox(Comp, Result);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return Result;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -28,15 +28,52 @@ public:
|
|||
///
|
||||
/// @warning Traffic signs return its trigger box instead.
|
||||
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
|
||||
static FBoundingBox GetActorBoundingBox(const AActor *Actor);
|
||||
static FBoundingBox GetActorBoundingBox(
|
||||
const AActor *Actor,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable, CallInEditor)
|
||||
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
|
||||
static FBoundingBox GetVehicleBoundingBox(
|
||||
const ACarlaWheeledVehicle* Vehicle,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
|
||||
static FBoundingBox GetCharacterBoundingBox(
|
||||
const ACharacter* Character,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
|
||||
static void GetTrafficLightBoundingBox(
|
||||
const ATrafficLightBase* TrafficLight,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static FBoundingBox GetSkeletalMeshBoundingBox(const USkeletalMesh* SkeletalMesh);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable, CallInEditor)
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static FBoundingBox GetStaticMeshBoundingBox(const UStaticMesh* StaticMesh);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable, CallInEditor)
|
||||
static TArray<FBoundingBox> GetBoundingBoxOfActors(const TArray<AActor*>& Actors);
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static void GetISMBoundingBox(
|
||||
UInstancedStaticMeshComponent* HISMComp,
|
||||
TArray<FBoundingBox>& OutBoundingBox);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static void GetBBsOfStaticMeshComponents(
|
||||
const TArray<UStaticMeshComponent*>& StaticMeshComps,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static void GetBBsOfSkeletalMeshComponents(
|
||||
const TArray<USkeletalMeshComponent*>& SkeletalMeshComps,
|
||||
TArray<FBoundingBox>& OutBB,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
UFUNCTION(Category = "Carla Util", BlueprintCallable)
|
||||
static TArray<FBoundingBox> GetBoundingBoxOfActors(
|
||||
const TArray<AActor*>& Actors,
|
||||
uint8 InTagQueried = 0);
|
||||
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue