-Snippet for carla.World.unload_map_layer -
-
-
-```py
-
-# This recipe toggles off several layers in our "_Opt" maps
-
-# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
-# as well as buildings and parked vehicles
-world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
-
-# Toggle all buildings off
-world.unload_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all parked vehicles off
-world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-
-
-```
-
- -
-
-- -
-
-
-Snippet for carla.DebugHelper.draw_string -
-
-
-```py
-
-
-# This recipe is a modification of lane_explorer.py example.
-# It draws the path of an actor through the world, printing information at each waypoint.
-
-# ...
-current_w = map.get_waypoint(vehicle.get_location())
-while True:
-
- next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
- # Check if the vehicle is moving
- if next_w.id != current_w.id:
- vector = vehicle.get_velocity()
- # Check if the vehicle is on a sidewalk
- if current_w.lane_type == carla.LaneType.Sidewalk:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
- else:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
- debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
- draw_transform(debug, current_w.transform, white, 60)
-
- # Update the current waypoint and sleep for some time
- current_w = next_w
- time.sleep(args.tick_time)
-# ...
-
-
-```
-
- -
-
- -
Snippet for carla.ActorBlueprint.set_attribute @@ -4293,247 +4260,6 @@ camera_bp.set_attribute('image_size_y', 600)
-
-Snippet for carla.World.get_spectator -
-
-
-```py
-
-
-# This recipe spawns an actor and the spectator camera at the actor's location.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Sensor.listen -
-
-
-```py
-
-
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
-
-# ...
-camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
-# ...
-cc = carla.ColorConverter.CityScapesPalette
-camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.World.load_map_layer -
-
-
-```py
-
-# This recipe toggles on several layers in our "_Opt" maps
-
-# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
-world = client.load_world('Town01_Opt', carla.MapLayer.None)
-
-# Toggle all buildings on
-world.load_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all foliage on
-world.load_map_layer(carla.MapLayer.Foliage)
-
-# Toggle all parked vehicles on
-world.load_map_layer(carla.MapLayer.ParkedVehicles)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Map.get_waypoint -
-
-
-```py
-
-
-# This recipe shows the current traffic rules affecting the vehicle.
-# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
-
-# ...
-waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
-print("Current lane type: " + str(waypoint.lane_type))
-# Check current lane change allowed
-print("Current Lane change: " + str(waypoint.lane_change))
-# Left and Right lane markings
-print("L lane marking type: " + str(waypoint.left_lane_marking.type))
-print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
-print("R lane marking type: " + str(waypoint.right_lane_marking.type))
-print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
-# ...
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.TrafficLight.set_state -
-
-
-```py
-
-
-# This recipe changes from red to green the traffic light that affects the vehicle.
-# This is done by detecting if the vehicle actor is at a traffic light.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...# ...
-if vehicle_actor.is_at_traffic_light():
- traffic_light = vehicle_actor.get_traffic_light()
- if traffic_light.get_state() == carla.TrafficLightState.Red:
- # world.hud.notification("Traffic light changed! Good to go!")
- traffic_light.set_state(carla.TrafficLightState.Green)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.Vehicle.set_wheel_steer_direction -
-
-
-```py
-
-# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
-
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.DebugHelper.draw_box -
-
-
-```py
-
-
-# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
-
-# ....
-debug = world.debug
-world_snapshot = world.get_snapshot()
-
-for actor_snapshot in world_snapshot:
- actual_actor = world.get_actor(actor_snapshot.id)
- if actual_actor.type_id == 'traffic.traffic_light':
- debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-
-Snippet for carla.WalkerAIController.stop -
-
-
-```py
-
-
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-
-# stop pedestrians (list is [controller, actor, controller, actor ...])
-for i in range(0, len(all_id), 2):
- all_actors[i].stop()
-
-# destroy pedestrian (actor and controller)
-client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
-
-
-```
-
- -
-
- -
Snippet for carla.Client.apply_batch_sync @@ -4607,36 +4333,6 @@ for i in range(0, len(all_actors), 2):
-
+
-Snippet for carla.World.enable_environment_objects -
-
-
-```py
-
-# This recipe turn visibility off and on for two specifc buildings on the map
-
-# Get the buildings in the world
-world = client.get_world()
-env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-
-# Access individual building IDs and save in a set
-building_01 = env_objs[0]
-building_02 = env_objs[1]
-objects_to_toggle = {building_01.id, building_02.id}
-
-# Toggle buildings off
-world.enable_environment_objects(objects_to_toggle, False)
-# Toggle buildings on
-world.enable_environment_objects(objects_to_toggle, True)
-
-
-```
-
- -
-
- -
Snippet for carla.Client.__init__ @@ -4682,6 +4378,316 @@ Snippet for carla.Client.__init__
+
+Snippet for carla.DebugHelper.draw_box +
+
+
+```py
+
+
+# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
+
+# ....
+debug = world.debug
+world_snapshot = world.get_snapshot()
+
+for actor_snapshot in world_snapshot:
+ actual_actor = world.get_actor(actor_snapshot.id)
+ if actual_actor.type_id == 'traffic.traffic_light':
+ debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.DebugHelper.draw_string +
+
+
+```py
+
+
+# This recipe is a modification of lane_explorer.py example.
+# It draws the path of an actor through the world, printing information at each waypoint.
+
+# ...
+current_w = map.get_waypoint(vehicle.get_location())
+while True:
+
+ next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
+ # Check if the vehicle is moving
+ if next_w.id != current_w.id:
+ vector = vehicle.get_velocity()
+ # Check if the vehicle is on a sidewalk
+ if current_w.lane_type == carla.LaneType.Sidewalk:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
+ else:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
+ debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
+ draw_transform(debug, current_w.transform, white, 60)
+
+ # Update the current waypoint and sleep for some time
+ current_w = next_w
+ time.sleep(args.tick_time)
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Map.get_waypoint +
+
+
+```py
+
+
+# This recipe shows the current traffic rules affecting the vehicle.
+# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
+
+# ...
+waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
+print("Current lane type: " + str(waypoint.lane_type))
+# Check current lane change allowed
+print("Current Lane change: " + str(waypoint.lane_change))
+# Left and Right lane markings
+print("L lane marking type: " + str(waypoint.left_lane_marking.type))
+print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
+print("R lane marking type: " + str(waypoint.right_lane_marking.type))
+print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
+# ...
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.Sensor.listen +
+
+
+```py
+
+
+# This recipe applies a color conversion to the image taken by a camera sensor,
+# so it is converted to a semantic segmentation image.
+
+# ...
+camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
+# ...
+cc = carla.ColorConverter.CityScapesPalette
+camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.TrafficLight.set_state +
+
+
+```py
+
+
+# This recipe changes from red to green the traffic light that affects the vehicle.
+# This is done by detecting if the vehicle actor is at a traffic light.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...# ...
+if vehicle_actor.is_at_traffic_light():
+ traffic_light = vehicle_actor.get_traffic_light()
+ if traffic_light.get_state() == carla.TrafficLightState.Red:
+ # world.hud.notification("Traffic light changed! Good to go!")
+ traffic_light.set_state(carla.TrafficLightState.Green)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
+Snippet for carla.Vehicle.set_wheel_steer_direction +
+
+
+```py
+
+# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
+
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.WalkerAIController.stop +
+
+
+```py
+
+
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
+
+# stop pedestrians (list is [controller, actor, controller, actor ...])
+for i in range(0, len(all_id), 2):
+ all_actors[i].stop()
+
+# destroy pedestrian (actor and controller)
+client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.World.enable_environment_objects +
+
+
+```py
+
+# This recipe turn visibility off and on for two specifc buildings on the map
+
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
+
+# Access individual building IDs and save in a set
+building_01 = env_objs[0]
+building_02 = env_objs[1]
+objects_to_toggle = {building_01.id, building_02.id}
+
+# Toggle buildings off
+world.enable_environment_objects(objects_to_toggle, False)
+# Toggle buildings on
+world.enable_environment_objects(objects_to_toggle, True)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.World.get_spectator +
+
+
+```py
+
+
+# This recipe spawns an actor and the spectator camera at the actor's location.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...
+
+
+```
+
+ +
+
++ +
+
+ primitive;
+ boost::variant2::variant primitive;
Color color = {255u, 0u, 0u};
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index f980285ac..c465b412b 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -374,6 +374,12 @@ void export_world() {
arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
arg("life_time")=-1.0f,
arg("persistent_lines")=true))
+ .def("draw_hud_point", &cc::DebugHelper::DrawHUDPoint,
+ (arg("location"),
+ arg("size")=0.1f,
+ arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+ arg("life_time")=-1.0f,
+ arg("persistent_lines")=true))
.def("draw_line", &cc::DebugHelper::DrawLine,
(arg("begin"),
arg("end"),
@@ -381,6 +387,13 @@ void export_world() {
arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
arg("life_time")=-1.0f,
arg("persistent_lines")=true))
+ .def("draw_hud_line", &cc::DebugHelper::DrawHUDLine,
+ (arg("begin"),
+ arg("end"),
+ arg("thickness")=0.1f,
+ arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+ arg("life_time")=-1.0f,
+ arg("persistent_lines")=true))
.def("draw_arrow", &cc::DebugHelper::DrawArrow,
(arg("begin"),
arg("end"),
@@ -389,6 +402,14 @@ void export_world() {
arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
arg("life_time")=-1.0f,
arg("persistent_lines")=true))
+ .def("draw_hud_arrow", &cc::DebugHelper::DrawHUDArrow,
+ (arg("begin"),
+ arg("end"),
+ arg("thickness")=0.1f,
+ arg("arrow_size")=0.1f,
+ arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+ arg("life_time")=-1.0f,
+ arg("persistent_lines")=true))
.def("draw_box", &cc::DebugHelper::DrawBox,
(arg("box"),
arg("rotation"),
@@ -396,6 +417,13 @@ void export_world() {
arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
arg("life_time")=-1.0f,
arg("persistent_lines")=true))
+ .def("draw_hud_box", &cc::DebugHelper::DrawHUDBox,
+ (arg("box"),
+ arg("rotation"),
+ arg("thickness")=0.1f,
+ arg("color")=cc::DebugHelper::Color(255u, 0u, 0u),
+ arg("life_time")=-1.0f,
+ arg("persistent_lines")=true))
.def("draw_string", &cc::DebugHelper::DrawString,
(arg("location"),
arg("text"),
@@ -404,4 +432,6 @@ void export_world() {
arg("life_time")=-1.0f,
arg("persistent_lines")=true))
;
+ // scope HUD = class_(
+
}
diff --git a/PythonAPI/docs/world.yml b/PythonAPI/docs/world.yml
index 427940287..b5a6494c7 100644
--- a/PythonAPI/docs/world.yml
+++ b/PythonAPI/docs/world.yml
@@ -993,8 +993,140 @@
doc: >
Shape's lifespan. By default it only lasts one frame. Set this to StringList;
+ TArray LineList;
};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp
index 04909cad3..7d84fcce6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp
@@ -33,6 +33,17 @@ struct FShapeVisitor
World->PersistentLineBatcher->SetCollisionEnabled(ECollisionEnabled::NoCollision);
}
+ ACarlaHUD * GetHUD() const {
+ auto PlayerController = UGameplayStatics::GetPlayerController(World, 0);
+ if (PlayerController == nullptr)
+ {
+ UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
+ return nullptr;
+ }
+ ACarlaHUD *Hud = Cast(PlayerController->GetHUD());
+ return Hud;
+ }
+
void operator()(const Shape::Point &Point) const
{
FVector Location = FVector(Point.location);
@@ -49,6 +60,20 @@ struct FShapeVisitor
LifeTime);
}
+ void operator()(const Shape::HUDPoint &Point) const
+ {
+ auto Hud = GetHUD();
+ if (!Hud) return; // Don't draw if HUD is not available.
+
+ FVector Location = FVector(Point.location);
+ ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
+ if (LargeMap)
+ {
+ Location = LargeMap->GlobalToLocalLocation(Location);
+ }
+ Hud->AddHUDLine(Location, Location, Point.size, Color.Quantize(), LifeTime);
+ }
+
void operator()(const Shape::Line &Line) const
{
FVector Begin = FVector(Line.begin);
@@ -68,6 +93,20 @@ struct FShapeVisitor
LifeTime);
}
+ void operator()(const Shape::HUDLine &Line) const {
+ auto Hud = GetHUD();
+ if (!Hud) return; // Don't draw if HUD is not available.
+ FVector Begin = FVector(Line.begin);
+ FVector End = FVector(Line.end);
+ ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
+ if (LargeMap)
+ {
+ Begin = LargeMap->GlobalToLocalLocation(Begin);
+ End = LargeMap->GlobalToLocalLocation(End);
+ }
+ Hud->AddHUDLine(Begin, End, Line.thickness, Color.Quantize(), LifeTime);
+ }
+
void operator()(const Shape::Arrow &Arrow) const
{
FVector Begin = FVector(Arrow.line.begin);
@@ -90,40 +129,55 @@ struct FShapeVisitor
World->PersistentLineBatcher->DrawLines(TArray({
FBatchedLine(
- Begin,
- End,
- Color,
- LifeTime,
- Thickness,
- DepthPriority),
+ Begin, End, Color, LifeTime, Thickness, DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, +ArrowSize)),
- End,
- Color,
- LifeTime,
- Thickness,
- DepthPriority),
+ End, Color, LifeTime, Thickness, DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, -ArrowSize)),
- End,
- Color,
- LifeTime,
- Thickness,
- DepthPriority),
+ End, Color, LifeTime, Thickness, DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, +ArrowSize)),
- End,
- Color,
- LifeTime,
- Thickness,
- DepthPriority),
+ End, Color, LifeTime, Thickness, DepthPriority),
FBatchedLine(
Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, -ArrowSize)),
- End,
- Color,
- LifeTime,
- Thickness,
- DepthPriority)}));
+ End, Color, LifeTime, Thickness, DepthPriority)}));
+ }
+
+ void operator()(const Shape::HUDArrow &Arrow) const {
+ auto Hud = GetHUD();
+ if (!Hud) return; // Don't draw if HUD is not available.
+ FVector Begin = FVector(Arrow.line.begin);
+ FVector End = FVector(Arrow.line.end);
+ ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
+ if (LargeMap)
+ {
+ Begin = LargeMap->GlobalToLocalLocation(Begin);
+ End = LargeMap->GlobalToLocalLocation(End);
+ }
+ const auto Diff = End - Begin;
+ const FRotator LookAt = FRotationMatrix::MakeFromX(Diff).Rotator();
+ const FTransform Transform = {LookAt, Begin};
+
+ // Everything in centimeters
+ const auto Dist = Diff.Size();
+ const auto ArrowSize = Arrow.arrow_size;
+ const auto ArrowTipDist = Dist - ArrowSize;
+ const auto Thickness = Arrow.line.thickness;
+
+ Hud->AddHUDLine(Begin, End, Thickness, Color.Quantize(), LifeTime);
+ Hud->AddHUDLine(
+ Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, +ArrowSize)),
+ End, Thickness, Color.Quantize(), LifeTime);
+ Hud->AddHUDLine(
+ Transform.TransformPosition(FVector(ArrowTipDist, +ArrowSize, -ArrowSize)),
+ End, Thickness, Color.Quantize(), LifeTime);
+ Hud->AddHUDLine(
+ Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, +ArrowSize)),
+ End, Thickness, Color.Quantize(), LifeTime);
+ Hud->AddHUDLine(
+ Transform.TransformPosition(FVector(ArrowTipDist, -ArrowSize, -ArrowSize)),
+ End, Thickness, Color.Quantize(), LifeTime);
}
void operator()(const Shape::Box &Box) const
@@ -146,66 +200,79 @@ struct FShapeVisitor
{
for(int32 j = 0; j < 2; ++j)
{
- P.X=B[i].X;
- Q.X=B[i].X;
- P.Y=B[j].Y;
- Q.Y=B[j].Y;
- P.Z=B[0].Z;
- Q.Z=B[1].Z;
+ P.X=B[i].X; Q.X=B[i].X; P.Y=B[j].Y;
+ Q.Y=B[j].Y; P.Z=B[0].Z; Q.Z=B[1].Z;
World->PersistentLineBatcher->DrawLine(
- Transform.TransformPosition(P),
- Transform.TransformPosition(Q),
- Color,
- DepthPriority,
- Thickness,
- LifeTime);
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Color, DepthPriority, Thickness, LifeTime);
- P.Y=B[i].Y;
- Q.Y=B[i].Y;
- P.Z=B[j].Z;
- Q.Z=B[j].Z;
- P.X=B[0].X;
- Q.X=B[1].X;
+ P.Y=B[i].Y; Q.Y=B[i].Y; P.Z=B[j].Z;
+ Q.Z=B[j].Z; P.X=B[0].X; Q.X=B[1].X;
World->PersistentLineBatcher->DrawLine(
- Transform.TransformPosition(P),
- Transform.TransformPosition(Q),
- Color,
- DepthPriority,
- Thickness,
- LifeTime);
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Color, DepthPriority, Thickness, LifeTime);
- P.Z=B[i].Z;
- Q.Z=B[i].Z;
- P.X=B[j].X;
- Q.X=B[j].X;
- P.Y=B[0].Y;
- Q.Y=B[1].Y;
+ P.Z=B[i].Z; Q.Z=B[i].Z; P.X=B[j].X;
+ Q.X=B[j].X; P.Y=B[0].Y; Q.Y=B[1].Y;
World->PersistentLineBatcher->DrawLine(
- Transform.TransformPosition(P),
- Transform.TransformPosition(Q),
- Color,
- DepthPriority,
- Thickness,
- LifeTime);
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Color, DepthPriority, Thickness, LifeTime);
+ }
+ }
+ }
+
+ void operator()(const Shape::HUDBox &Box) const {
+ auto Hud = GetHUD();
+ if (!Hud) return; // Don't draw if HUD is not available.
+ const FVector Extent = 1e2f * FVector{Box.box.extent.x, Box.box.extent.y, Box.box.extent.z};
+ FTransform Transform = {FRotator(Box.rotation), Box.box.location};
+ const auto Thickness = Box.thickness;
+
+ ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
+ if (LargeMap)
+ {
+ Transform = LargeMap->GlobalToLocalTransform(Transform);
+ }
+
+ FVector B[2], P, Q;
+ B[0] = -Extent;
+ B[1] = Extent;
+
+ for(int32 i = 0; i < 2; ++i)
+ {
+ for(int32 j = 0; j < 2; ++j)
+ {
+ P.X=B[i].X; Q.X=B[i].X; P.Y=B[j].Y;
+ Q.Y=B[j].Y; P.Z=B[0].Z; Q.Z=B[1].Z;
+ Hud->AddHUDLine(
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Thickness, Color.Quantize(), LifeTime);
+
+ P.Y=B[i].Y; Q.Y=B[i].Y; P.Z=B[j].Z;
+ Q.Z=B[j].Z; P.X=B[0].X; Q.X=B[1].X;
+ Hud->AddHUDLine(
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Thickness, Color.Quantize(), LifeTime);
+
+ P.Z=B[i].Z; Q.Z=B[i].Z; P.X=B[j].X;
+ Q.X=B[j].X; P.Y=B[0].Y; Q.Y=B[1].Y;
+ Hud->AddHUDLine(
+ Transform.TransformPosition(P), Transform.TransformPosition(Q),
+ Thickness, Color.Quantize(), LifeTime);
}
}
}
void operator()(const Shape::String &Str) const
{
- auto PlayerController = UGameplayStatics::GetPlayerController(World, 0);
- if (PlayerController == nullptr)
- {
- UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
- return;
- }
+ auto Hud = GetHUD();
+ if (!Hud) return;
FVector Location = FVector(Str.location);
ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(World);
if (LargeMap)
{
Location = LargeMap->GlobalToLocalLocation(Location);
}
- ACarlaHUD *Hud = Cast(PlayerController->GetHUD());
Hud->AddHUDString(carla::rpc::ToFString(Str.text), Location, Color.Quantize(), LifeTime);
}
+Snippet for carla.World.load_map_layer +
+
+
+```py
+
+# This recipe toggles on several layers in our "_Opt" maps
+
+# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
+world = client.load_world('Town01_Opt', carla.MapLayer.None)
+
+# Toggle all buildings on
+world.load_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all foliage on
+world.load_map_layer(carla.MapLayer.Foliage)
+
+# Toggle all parked vehicles on
+world.load_map_layer(carla.MapLayer.ParkedVehicles)
+
+
+```
+
+ +
+
+ +
Snippet for carla.World.spawn_actor @@ -4707,6 +4713,32 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
+
diff --git a/LibCarla/source/carla/client/DebugHelper.cpp b/LibCarla/source/carla/client/DebugHelper.cpp
index 53a3868ce..c01c24b31 100644
--- a/LibCarla/source/carla/client/DebugHelper.cpp
+++ b/LibCarla/source/carla/client/DebugHelper.cpp
@@ -35,6 +35,16 @@ namespace client {
DrawShape(_episode, point, color, life_time, persistent_lines);
}
+ void DebugHelper::DrawHUDPoint(
+ const geom::Location &location,
+ float size,
+ sensor::data::Color color,
+ float life_time,
+ bool persistent_lines) {
+ Shape::HUDPoint point{location, size};
+ DrawShape(_episode, point, color, life_time, persistent_lines);
+ }
+
void DebugHelper::DrawLine(
const geom::Location &begin,
const geom::Location &end,
@@ -46,6 +56,17 @@ namespace client {
DrawShape(_episode, line, color, life_time, persistent_lines);
}
+ void DebugHelper::DrawHUDLine(
+ const geom::Location &begin,
+ const geom::Location &end,
+ float thickness,
+ Color color,
+ float life_time,
+ bool persistent_lines) {
+ Shape::HUDLine line{begin, end, thickness};
+ DrawShape(_episode, line, color, life_time, persistent_lines);
+ }
+
void DebugHelper::DrawArrow(
const geom::Location &begin,
const geom::Location &end,
@@ -59,6 +80,19 @@ namespace client {
DrawShape(_episode, arrow, color, life_time, persistent_lines);
}
+ void DebugHelper::DrawHUDArrow(
+ const geom::Location &begin,
+ const geom::Location &end,
+ float thickness,
+ float arrow_size,
+ sensor::data::Color color,
+ float life_time,
+ bool persistent_lines) {
+ Shape::HUDLine line{begin, end, thickness};
+ Shape::HUDArrow arrow{line, arrow_size};
+ DrawShape(_episode, arrow, color, life_time, persistent_lines);
+ }
+
void DebugHelper::DrawBox(
const geom::BoundingBox &box,
const geom::Rotation &rotation,
@@ -70,6 +104,17 @@ namespace client {
DrawShape(_episode, the_box, color, life_time, persistent_lines);
}
+ void DebugHelper::DrawHUDBox(
+ const geom::BoundingBox &box,
+ const geom::Rotation &rotation,
+ float thickness,
+ sensor::data::Color color,
+ float life_time,
+ bool persistent_lines) {
+ Shape::HUDBox the_box{box, rotation, thickness};
+ DrawShape(_episode, the_box, color, life_time, persistent_lines);
+ }
+
void DebugHelper::DrawString(
const geom::Location &location,
const std::string &text,
diff --git a/LibCarla/source/carla/client/DebugHelper.h b/LibCarla/source/carla/client/DebugHelper.h
index dbd3f0a6c..f28f19ab8 100644
--- a/LibCarla/source/carla/client/DebugHelper.h
+++ b/LibCarla/source/carla/client/DebugHelper.h
@@ -30,6 +30,13 @@ namespace client {
float life_time = -1.0f,
bool persistent_lines = true);
+ void DrawHUDPoint(
+ const geom::Location &location,
+ float size = 0.1f,
+ Color color = Color{255u, 0u, 0u},
+ float life_time = -1.0f,
+ bool persistent_lines = true);
+
void DrawLine(
const geom::Location &begin,
const geom::Location &end,
@@ -38,6 +45,14 @@ namespace client {
float life_time = -1.0f,
bool persistent_lines = true);
+ void DrawHUDLine(
+ const geom::Location &begin,
+ const geom::Location &end,
+ float thickness = 1.0f,
+ Color color = Color{225u, 0u, 0u},
+ float life_time = -1.0f,
+ bool presistent_lines = true);
+
void DrawArrow(
const geom::Location &begin,
const geom::Location &end,
@@ -47,6 +62,15 @@ namespace client {
float life_time = -1.0f,
bool persistent_lines = true);
+ void DrawHUDArrow(
+ const geom::Location &begin,
+ const geom::Location &end,
+ float thickness = 0.1f,
+ float arrow_size = 0.1f,
+ Color color = Color{255u, 0u, 0u},
+ float life_time = -1.0f,
+ bool persistent_lines = true);
+
void DrawBox(
const geom::BoundingBox &box,
const geom::Rotation &rotation,
@@ -55,6 +79,14 @@ namespace client {
float life_time = -1.0f,
bool persistent_lines = true);
+ void DrawHUDBox(
+ const geom::BoundingBox &box,
+ const geom::Rotation &rotation,
+ float thickness = 0.1f,
+ Color color = Color{255u, 0u, 0u},
+ float life_time = -1.0f,
+ bool persistent_lines = true);
+
void DrawString(
const geom::Location &location,
const std::string &text,
diff --git a/LibCarla/source/carla/rpc/DebugShape.h b/LibCarla/source/carla/rpc/DebugShape.h
index 0e5b281ec..9c2c006db 100644
--- a/LibCarla/source/carla/rpc/DebugShape.h
+++ b/LibCarla/source/carla/rpc/DebugShape.h
@@ -35,6 +35,12 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(location, size);
};
+ struct HUDPoint {
+ geom::Location location;
+ float size;
+ MSGPACK_DEFINE_ARRAY(location, size);
+ };
+
struct Line {
geom::Location begin;
geom::Location end;
@@ -42,12 +48,25 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(begin, end, thickness);
};
+ struct HUDLine {
+ geom::Location begin;
+ geom::Location end;
+ float thickness;
+ MSGPACK_DEFINE_ARRAY(begin, end, thickness);
+ };
+
struct Arrow {
Line line;
float arrow_size;
MSGPACK_DEFINE_ARRAY(line, arrow_size);
};
+ struct HUDArrow {
+ HUDLine line;
+ float arrow_size;
+ MSGPACK_DEFINE_ARRAY(line, arrow_size);
+ };
+
struct Box {
geom::BoundingBox box;
geom::Rotation rotation;
@@ -55,6 +74,13 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
};
+ struct HUDBox {
+ geom::BoundingBox box;
+ geom::Rotation rotation;
+ float thickness;
+ MSGPACK_DEFINE_ARRAY(box, rotation, thickness);
+ };
+
struct String {
geom::Location location;
std::string text;
@@ -62,7 +88,7 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(location, text, draw_shadow);
};
- boost::variant2::variant+Snippet for carla.World.unload_map_layer +
+
+
+```py
+
+# This recipe toggles off several layers in our "_Opt" maps
+
+# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
+# as well as buildings and parked vehicles
+world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
+
+# Toggle all buildings off
+world.unload_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all parked vehicles off
+world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+
+
+```
+
+ +
+
+ +
0 for permanent shapes.
doc: >
- Draws a box, ussually to act for object colliders.
-
+ Draws a box, usually to act for object colliders.
+
+ # --------------------------------------
+ - def_name: draw_hud_arrow
+ params:
+ - param_name: begin
+ type: carla.Location
+ param_units: meters
+ doc: >
+ Point in the coordinate system where the arrow starts.
+ - param_name: end
+ type: carla.Location
+ param_units: meters
+ doc: >
+ Point in the coordinate system where the arrow ends and points towards to.
+ - param_name: thickness
+ type: float
+ default: 0.1
+ param_units: meters
+ doc: >
+ Density of the line.
+ - param_name: arrow_size
+ type: float
+ default: 0.1
+ param_units: meters
+ doc: >
+ Size of the tip of the arrow.
+ - param_name: color
+ type: carla.Color
+ default: (255,0,0)
+ doc: >
+ RGB code to color the object. Red by default.
+ - param_name: life_time
+ type: float
+ default: -1.0
+ param_units: seconds
+ doc: >
+ Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes.
+ doc: >
+ Draws an arrow on the HUD from `begin` to `end` which can only be seen server-side.
+
+ # --------------------------------------
+ - def_name: draw_hud_box
+ params:
+ - param_name: box
+ type: carla.BoundingBox
+ doc: >
+ Object containing a location and the length of a box for every axis.
+ - param_name: rotation
+ type: carla.Rotation
+ param_units: degrees (pitch,yaw,roll)
+ doc: >
+ Orientation of the box according to Unreal Engine's axis system.
+ - param_name: thickness
+ type: float
+ default: 0.1
+ param_units: meters
+ doc: >
+ Density of the lines that define the box.
+ - param_name: color
+ type: carla.Color
+ default: (255,0,0)
+ doc: >
+ RGB code to color the object. Red by default.
+ - param_name: life_time
+ type: float
+ default: -1.0
+ param_units: seconds
+ doc: >
+ Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes.
+ doc: >
+ Draws a box on the HUD, usually to act for object colliders. The box can only be seen server-side.
+
+ # --------------------------------------
+ - def_name: draw_hud_line
+ params:
+ - param_name: begin
+ type: carla.Location
+ param_units: meters
+ doc: >
+ Point in the coordinate system where the line starts.
+ - param_name: end
+ type: carla.Location
+ param_units: meters
+ doc: >
+ Spot in the coordinate system where the line ends.
+ - param_name: thickness
+ type: float
+ default: 0.1
+ param_units: meters
+ doc: >
+ Density of the line.
+ - param_name: color
+ type: carla.Color
+ default: (255,0,0)
+ doc: >
+ RGB code to color the object. Red by default.
+ - param_name: life_time
+ type: float
+ default: -1.0
+ param_units: seconds
+ doc: >
+ Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes.
+ doc: >
+ Draws a line on the HUD in between `begin` and `end`. The line can only be seen server-side.
+
+ # --------------------------------------
+ - def_name: draw_hud_point
+ params:
+ - param_name: location
+ type: carla.Location
+ param_units: meters
+ doc: >
+ Spot in the coordinate system to center the object.
+ - param_name: size
+ type: float
+ default: 0.1
+ param_units: meters
+ doc: >
+ Density of the point.
+ - param_name: color
+ type: carla.Color
+ default: (255,0,0)
+ doc: >
+ RGB code to color the object. Red by default.
+ - param_name: life_time
+ type: float
+ default: -1.0
+ param_units: seconds
+ doc: >
+ Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes.
+ doc: >
+ Draws a point on the HUD at `location`. The point can only be seen server-side.
+
# --------------------------------------
- def_name: draw_line
params:
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
index a6b04c072..c1f041f67 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
@@ -33,7 +33,6 @@ void ACarlaHUD::DrawHUD()
FVector2D Screen;
if (Player->ProjectWorldLocationToScreen(StringList[i].Location, Screen, true))
{
- // draw text
DrawText(StringList[i].Str, StringList[i].Color, Screen.X, Screen.Y);
}
@@ -45,6 +44,25 @@ void ACarlaHUD::DrawHUD()
else
++i;
}
+
+ while (i < LineList.Num())
+ {
+ // project position from camera
+ FVector2D Begin, End;
+ if (Player->ProjectWorldLocationToScreen(LineList[i].Begin, Begin, true) &&
+ Player->ProjectWorldLocationToScreen(LineList[i].End, End, true))
+ {
+ DrawLine(Begin.X, Begin.Y, End.X, End.Y, LineList[i].Color, LineList[i].Thickness);
+ }
+
+ // check to remove the string
+ if (Now >= LineList[i].TimeToDie)
+ {
+ LineList.RemoveAt(i);
+ }
+ else
+ ++i;
+ }
}
void ACarlaHUD::AddHUDString(const FString Str, const FVector Location, const FColor Color, double LifeTime)
@@ -53,3 +71,10 @@ void ACarlaHUD::AddHUDString(const FString Str, const FVector Location, const FC
HUDString Obj { Str, Location, Color, Now + LifeTime };
StringList.Add(std::move(Obj));
}
+
+void ACarlaHUD::AddHUDLine(const FVector Begin, const FVector End, const float Thickness, const FColor Color, double LifeTime)
+{
+ double Now = FPlatformTime::Seconds();
+ HUDLine Obj { Begin, End, Thickness, Color, Now + LifeTime };
+ LineList.Add(std::move(Obj));
+}
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
index 79a3edc70..c76b5bc0e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h
@@ -35,6 +35,15 @@ struct HUDString
double TimeToDie;
};
+struct HUDLine
+{
+ FVector Begin;
+ FVector End;
+ float Thickness;
+ FColor Color;
+ double TimeToDie;
+};
+
/// Class to draw on HUD
UCLASS()
class CARLA_API ACarlaHUD : public AHUD
@@ -55,7 +64,9 @@ public:
void AddDebugVehicleForTelemetry(UWheeledVehicleMovementComponent* Veh) { DebugVehicle = Veh; }
void AddHUDString(const FString Str, const FVector Location, const FColor Color, double LifeTime);
+ void AddHUDLine(const FVector Begin, const FVector End, const float Thickness, const FColor Color, double LifeTime);
private:
TArray