Debug drawing extension to allow drawing primitives on HUD layer (#7168)
* Extended debug draw functions to allow drawing primitives on HUD layer * Added documentation for new drawing features * Added debug draw changes to changelog --------- Co-authored-by: Olli <olli.koskelainen@tuni.fi>
This commit is contained in:
Olli Koskelainen
GitHub
parent
b6b4b4f138
commit
d5d3cf9edf
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@ -10,6 +10,7 @@
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* make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
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* Added function to get actor' sockets names
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* Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py)
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* Extended debug drawing functions to allow drawing primitives on HUD layer
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* Added possibility to change gravity variable in imui sensor for the accelerometer
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* Fixed ROS2 native extension build error when ROS2 is installed in the system.
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* ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
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@ -722,13 +722,45 @@ Draws an arrow from `begin` to `end` pointing in that direction.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)<button class="SnipetButton" id="carla.DebugHelper.draw_box-snipet_button">snippet →</button>
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Draws a box, ussually to act for object colliders.
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Draws a box, usually to act for object colliders.
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- **Parameters:**
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- `box` (_[carla.BoundingBox](#carla.BoundingBox)_) - Object containing a location and the length of a box for every axis.
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- `rotation` (_[carla.Rotation](#carla.Rotation)<small> - degrees (pitch,yaw,roll)</small>_) - Orientation of the box according to Unreal Engine's axis system.
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- `thickness` (_float<small> - meters</small>_) - Density of the lines that define the box.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_hud_arrow"></a>**<font color="#7fb800">draw_hud_arrow</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**arrow_size**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)
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Draws an arrow on the HUD from `begin` to `end` which can only be seen server-side.
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- **Parameters:**
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- `begin` (_[carla.Location](#carla.Location)<small> - meters</small>_) - Point in the coordinate system where the arrow starts.
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- `end` (_[carla.Location](#carla.Location)<small> - meters</small>_) - Point in the coordinate system where the arrow ends and points towards to.
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- `thickness` (_float<small> - meters</small>_) - Density of the line.
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- `arrow_size` (_float<small> - meters</small>_) - Size of the tip of the arrow.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_hud_box"></a>**<font color="#7fb800">draw_hud_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)
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Draws a box on the HUD, usually to act for object colliders. The box can only be seen server-side.
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- **Parameters:**
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- `box` (_[carla.BoundingBox](#carla.BoundingBox)_) - Object containing a location and the length of a box for every axis.
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- `rotation` (_[carla.Rotation](#carla.Rotation)<small> - degrees (pitch,yaw,roll)</small>_) - Orientation of the box according to Unreal Engine's axis system.
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- `thickness` (_float<small> - meters</small>_) - Density of the lines that define the box.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_hud_line"></a>**<font color="#7fb800">draw_hud_line</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)
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Draws a line on the HUD in between `begin` and `end`. The line can only be seen server-side.
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- **Parameters:**
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- `begin` (_[carla.Location](#carla.Location)<small> - meters</small>_) - Point in the coordinate system where the line starts.
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- `end` (_[carla.Location](#carla.Location)<small> - meters</small>_) - Spot in the coordinate system where the line ends.
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- `thickness` (_float<small> - meters</small>_) - Density of the line.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_hud_point"></a>**<font color="#7fb800">draw_hud_point</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**size**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)
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Draws a point on the HUD at `location`. The point can only be seen server-side.
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- **Parameters:**
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- `location` (_[carla.Location](#carla.Location)<small> - meters</small>_) - Spot in the coordinate system to center the object.
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- `size` (_float<small> - meters</small>_) - Density of the point.
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- `color` (_[carla.Color](#carla.Color)_) - RGB code to color the object. Red by default.
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- `life_time` (_float<small> - seconds</small>_) - Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
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- <a name="carla.DebugHelper.draw_line"></a>**<font color="#7fb800">draw_line</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)
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Draws a line in between `begin` and `end`.
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- **Parameters:**
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@ -4194,71 +4226,6 @@ document.getElementById("snipets-container").innerHTML = null;
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}
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</script>
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<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.unload_map_layer
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</p>
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<div id="carla.World.unload_map_layer-code" class="SnipetContent">
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```py
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# This recipe toggles off several layers in our "_Opt" maps
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# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
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# as well as buildings and parked vehicles
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world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
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# Toggle all buildings off
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world.unload_map_layer(carla.MapLayer.Buildings)
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# Toggle all parked vehicles off
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world.unload_map_layer(carla.MapLayer.ParkedVehicles)
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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</div>
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<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.DebugHelper.draw_string
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</p>
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<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
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```py
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# This recipe is a modification of lane_explorer.py example.
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# It draws the path of an actor through the world, printing information at each waypoint.
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# ...
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current_w = map.get_waypoint(vehicle.get_location())
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while True:
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next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
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# Check if the vehicle is moving
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if next_w.id != current_w.id:
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vector = vehicle.get_velocity()
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# Check if the vehicle is on a sidewalk
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if current_w.lane_type == carla.LaneType.Sidewalk:
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draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
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else:
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draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
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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)
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draw_transform(debug, current_w.transform, white, 60)
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# Update the current waypoint and sleep for some time
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current_w = next_w
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time.sleep(args.tick_time)
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# ...
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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</div>
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<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.ActorBlueprint.set_attribute
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@ -4293,247 +4260,6 @@ camera_bp.set_attribute('image_size_y', 600)
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</div>
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<div id ="carla.World.get_spectator-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.get_spectator
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</p>
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<div id="carla.World.get_spectator-code" class="SnipetContent">
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```py
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# This recipe spawns an actor and the spectator camera at the actor's location.
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# ...
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world = client.get_world()
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spectator = world.get_spectator()
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vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
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transform = random.choice(world.get_map().get_spawn_points())
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vehicle = world.try_spawn_actor(vehicle_bp, transform)
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# Wait for world to get the vehicle actor
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world.tick()
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world_snapshot = world.wait_for_tick()
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actor_snapshot = world_snapshot.find(vehicle.id)
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# Set spectator at given transform (vehicle transform)
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spectator.set_transform(actor_snapshot.get_transform())
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# ...
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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</div>
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<div id ="carla.Sensor.listen-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Sensor.listen
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</p>
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<div id="carla.Sensor.listen-code" class="SnipetContent">
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```py
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# This recipe applies a color conversion to the image taken by a camera sensor,
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# so it is converted to a semantic segmentation image.
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# ...
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camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
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# ...
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cc = carla.ColorConverter.CityScapesPalette
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camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
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# ...
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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</div>
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<div id ="carla.World.load_map_layer-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.load_map_layer
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</p>
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<div id="carla.World.load_map_layer-code" class="SnipetContent">
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```py
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# This recipe toggles on several layers in our "_Opt" maps
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# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
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world = client.load_world('Town01_Opt', carla.MapLayer.None)
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# Toggle all buildings on
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world.load_map_layer(carla.MapLayer.Buildings)
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# Toggle all foliage on
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world.load_map_layer(carla.MapLayer.Foliage)
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# Toggle all parked vehicles on
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world.load_map_layer(carla.MapLayer.ParkedVehicles)
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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</div>
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<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Map.get_waypoint
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</p>
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<div id="carla.Map.get_waypoint-code" class="SnipetContent">
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```py
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# This recipe shows the current traffic rules affecting the vehicle.
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# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
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# ...
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waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
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print("Current lane type: " + str(waypoint.lane_type))
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# Check current lane change allowed
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print("Current Lane change: " + str(waypoint.lane_change))
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# Left and Right lane markings
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print("L lane marking type: " + str(waypoint.left_lane_marking.type))
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print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
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print("R lane marking type: " + str(waypoint.right_lane_marking.type))
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print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
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# ...
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
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</div>
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<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.TrafficLight.set_state
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</p>
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<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
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```py
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# This recipe changes from red to green the traffic light that affects the vehicle.
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# This is done by detecting if the vehicle actor is at a traffic light.
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# ...
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world = client.get_world()
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spectator = world.get_spectator()
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vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
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transform = random.choice(world.get_map().get_spawn_points())
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vehicle = world.try_spawn_actor(vehicle_bp, transform)
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# Wait for world to get the vehicle actor
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world.tick()
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world_snapshot = world.wait_for_tick()
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actor_snapshot = world_snapshot.find(vehicle.id)
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# Set spectator at given transform (vehicle transform)
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spectator.set_transform(actor_snapshot.get_transform())
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# ...# ...
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if vehicle_actor.is_at_traffic_light():
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traffic_light = vehicle_actor.get_traffic_light()
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if traffic_light.get_state() == carla.TrafficLightState.Red:
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# world.hud.notification("Traffic light changed! Good to go!")
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traffic_light.set_state(carla.TrafficLightState.Green)
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# ...
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
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||||
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||||
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<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
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</div>
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<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.Vehicle.set_wheel_steer_direction
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</p>
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<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
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```py
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# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
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vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
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vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
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```
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<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
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<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.DebugHelper.draw_box
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</p>
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<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
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```py
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||||
|
||||
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# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
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# ....
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debug = world.debug
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world_snapshot = world.get_snapshot()
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for actor_snapshot in world_snapshot:
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actual_actor = world.get_actor(actor_snapshot.id)
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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)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</p>
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
|
||||
```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])
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.apply_batch_sync
|
||||
|
|
@ -4607,36 +4333,6 @@ for i in range(0, len(all_actors), 2):
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.enable_environment_objects
|
||||
</p>
|
||||
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
|
|
@ -4682,6 +4378,316 @@ Snippet for carla.Client.__init__
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_string
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Map.get_waypoint
|
||||
</p>
|
||||
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
|
||||
|
||||
```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))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```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))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.TrafficLight.set_state
|
||||
</p>
|
||||
<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Vehicle.set_wheel_steer_direction
|
||||
</p>
|
||||
<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</p>
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
|
||||
```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])
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.enable_environment_objects
|
||||
</p>
|
||||
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.get_spectator
|
||||
</p>
|
||||
<div id="carla.World.get_spectator-code" class="SnipetContent">
|
||||
|
||||
```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())
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.load_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.load_map_layer
|
||||
</p>
|
||||
<div id="carla.World.load_map_layer-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.spawn_actor
|
||||
|
|
@ -4707,6 +4713,32 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
</p>
|
||||
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
|
||||
|
||||
```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)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
|
|||
|
|
@ -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<Point, Line, Arrow, Box, String> primitive;
|
||||
boost::variant2::variant<Point, Line, Arrow, Box, String, HUDPoint, HUDLine, HUDArrow, HUDBox> primitive;
|
||||
|
||||
Color color = {255u, 0u, 0u};
|
||||
|
||||
|
|
|
|||
|
|
@ -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_<cc::DebugHelper>(
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -993,7 +993,139 @@
|
|||
doc: >
|
||||
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> 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 <code>0</code> 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 <code>0</code> 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 <code>0</code> 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 <code>0</code> for permanent shapes.
|
||||
doc: >
|
||||
Draws a point on the HUD at `location`. The point can only be seen server-side.
|
||||
|
||||
# --------------------------------------
|
||||
- def_name: draw_line
|
||||
|
|
|
|||
|
|
@ -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));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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<HUDString> StringList;
|
||||
TArray<HUDLine> LineList;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -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<ACarlaHUD>(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>({
|
||||
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<ACarlaHUD>(PlayerController->GetHUD());
|
||||
Hud->AddHUDString(carla::rpc::ToFString(Str.text), Location, Color.Quantize(), LifeTime);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue