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Exposed max chunk size to the PythonAPI

This commit is contained in:
Marc Garcia Puig 2020-04-09 15:42:18 +02:00 committed by bernat
parent 5ddb97a58e
commit e2c0349ef6
10 changed files with 58 additions and 63 deletions
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30
LibCarla/source/carla/geom/MeshFactory.cpp
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@ -214,10 +214,10 @@ namespace geom {
}
std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateWithMaxLen(
const road::Road &road, const double max_len) const {
const road::Road &road) const {
std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
for (auto &&lane_section : road.GetLaneSections()) {
auto section_uptr_list = GenerateWithMaxLen(lane_section, max_len);
auto section_uptr_list = GenerateWithMaxLen(lane_section);
mesh_uptr_list.insert(
mesh_uptr_list.end(),
std::make_move_iterator(section_uptr_list.begin()),
@ -227,15 +227,15 @@ namespace geom {
}
std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateWithMaxLen(
const road::LaneSection &lane_section, const double max_len) const {
const road::LaneSection &lane_section) const {
std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
if (lane_section.GetLength() < max_len) {
if (lane_section.GetLength() < road_param.max_road_len) {
mesh_uptr_list.emplace_back(Generate(lane_section));
} else {
double s_current = lane_section.GetDistance() + EPSILON;
const double s_end = lane_section.GetDistance() + lane_section.GetLength() - EPSILON;
while(s_current + max_len < s_end) {
const auto s_until = s_current + max_len;
while(s_current + road_param.max_road_len < s_end) {
const auto s_until = s_current + road_param.max_road_len;
Mesh lane_section_mesh;
for (auto &&lane_pair : lane_section.GetLanes()) {
lane_section_mesh += *Generate(lane_pair.second, s_current, s_until);
@ -255,10 +255,10 @@ namespace geom {
}
std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateWallsWithMaxLen(
const road::Road &road, const double max_len) const {
const road::Road &road) const {
std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
for (auto &&lane_section : road.GetLaneSections()) {
auto section_uptr_list = GenerateWallsWithMaxLen(lane_section, max_len);
auto section_uptr_list = GenerateWallsWithMaxLen(lane_section);
mesh_uptr_list.insert(
mesh_uptr_list.end(),
std::make_move_iterator(section_uptr_list.begin()),
@ -268,7 +268,7 @@ namespace geom {
}
std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateWallsWithMaxLen(
const road::LaneSection &lane_section, const double max_len) const {
const road::LaneSection &lane_section) const {
std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
const auto min_lane = lane_section.GetLanes().begin()->first == 0 ?
@ -276,13 +276,13 @@ namespace geom {
const auto max_lane = lane_section.GetLanes().rbegin()->first == 0 ?
-1 : lane_section.GetLanes().rbegin()->first;
if (lane_section.GetLength() < max_len) {
if (lane_section.GetLength() < road_param.max_road_len) {
mesh_uptr_list.emplace_back(GenerateWalls(lane_section));
} else {
double s_current = lane_section.GetDistance() + EPSILON;
const double s_end = lane_section.GetDistance() + lane_section.GetLength() - EPSILON;
while(s_current + max_len < s_end) {
const auto s_until = s_current + max_len;
while(s_current + road_param.max_road_len < s_end) {
const auto s_until = s_current + road_param.max_road_len;
Mesh lane_section_mesh;
for (auto &&lane_pair : lane_section.GetLanes()) {
const auto &lane = lane_pair.second;
@ -314,11 +314,11 @@ namespace geom {
}
std::vector<std::unique_ptr<Mesh>> MeshFactory::GenerateAllWithMaxLen(
const road::Road &road, const double max_len) const {
const road::Road &road) const {
std::vector<std::unique_ptr<Mesh>> mesh_uptr_list;
// Get road meshes
auto roads = GenerateWithMaxLen(road, max_len);
auto roads = GenerateWithMaxLen(road);
mesh_uptr_list.insert(
mesh_uptr_list.end(),
std::make_move_iterator(roads.begin()),
@ -326,7 +326,7 @@ namespace geom {
// Get wall meshes only if is not a junction
if (!road.IsJunction()) {
auto walls = GenerateWallsWithMaxLen(road, max_len);
auto walls = GenerateWallsWithMaxLen(road);
if (roads.size() == walls.size()) {
for (size_t i = 0; i < walls.size(); ++i) {

11
LibCarla/source/carla/geom/MeshFactory.h
View File

@ -60,23 +60,23 @@ namespace geom {
/// Generates list of meshes that defines a single road with a maximum length
std::vector<std::unique_ptr<Mesh>> GenerateWithMaxLen(
const road::Road &road, const double max_len) const;
const road::Road &road) const;
/// Generates list of meshes that defines a single lane_section with a maximum length
std::vector<std::unique_ptr<Mesh>> GenerateWithMaxLen(
const road::LaneSection &lane_section, const double max_len) const;
const road::LaneSection &lane_section) const;
std::vector<std::unique_ptr<Mesh>> GenerateWallsWithMaxLen(
const road::Road &road, const double max_len) const;
const road::Road &road) const;
std::vector<std::unique_ptr<Mesh>> GenerateWallsWithMaxLen(
const road::LaneSection &lane_section, const double max_len) const;
const road::LaneSection &lane_section) const;
// -- Util --
/// Generates a chunked road with all the features needed for simulation
std::vector<std::unique_ptr<Mesh>> GenerateAllWithMaxLen(
const road::Road &road, const double max_len) const;
const road::Road &road) const;
// =========================================================================
// -- Generation parameters ------------------------------------------------
@ -85,6 +85,7 @@ namespace geom {
/// Parameters for the road generation
struct RoadParameters {
float resolution = 2.0f;
float max_road_len = 50.0f;
float extra_lane_width = 1.0f;
float wall_height = 0.6f;
};

3
LibCarla/source/carla/road/Map.cpp
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@ -955,6 +955,7 @@ namespace road {
RELEASE_ASSERT(max_road_len > 0.0);
geom::MeshFactory mesh_factory;
mesh_factory.road_param.resolution = static_cast<float>(distance);
mesh_factory.road_param.max_road_len = max_road_len;
mesh_factory.road_param.extra_lane_width = extra_width;
std::vector<std::unique_ptr<geom::Mesh>> out_mesh_list;
@ -962,7 +963,7 @@ namespace road {
for (auto &&pair : _data.GetRoads()) {
const auto &road = pair.second;
std::vector<std::unique_ptr<geom::Mesh>> road_mesh_list =
mesh_factory.GenerateAllWithMaxLen(road, max_road_len);
mesh_factory.GenerateAllWithMaxLen(road);
// If the road in in a junction, add the road to the junction mesh instead of
// doing it separately, this is needed for the road mesh smooth algorithm

4
LibCarla/source/carla/road/Map.h
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@ -150,10 +150,10 @@ namespace road {
ComputeJunctionConflicts(JuncId id) const;
/// Buids a mesh based on the OpenDRIVE
geom::Mesh GenerateMesh(const double distance, const float extra_width = 0.f) const;
geom::Mesh GenerateMesh(const double distance, const float extra_width = 0.6f) const;
std::vector<std::unique_ptr<geom::Mesh>> GenerateChunkedMesh(
const double distance, const float max_road_len, const float extra_width = 0.f) const;
const double distance, const float max_road_len = 50.0f, const float extra_width = 0.6f) const;
/// Buids a mesh of all crosswalks based on the OpenDRIVE
geom::Mesh GetAllCrosswalkMesh() const;

18
LibCarla/source/carla/rpc/OpendriveGenerationParameters.h
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@ -14,22 +14,30 @@ namespace rpc {
OpendriveGenerationParameters(){}
OpendriveGenerationParameters(
double v_distance,
double max_road_len,
double w_height,
double a_width,
bool e_visibility)
: vertex_distance(v_distance),
max_road_length(max_road_len),
wall_height(w_height),
additional_width(a_width),
enable_mesh_visibility(e_visibility)
{}
double vertex_distance = 2.f;
double wall_height = 1.f;
double additional_width = 0.6f;
double vertex_distance = 2.0;
double max_road_length = 50.0;
double wall_height = 1.0;
double additional_width = 0.6;
bool enable_mesh_visibility = true;
MSGPACK_DEFINE_ARRAY(vertex_distance, wall_height, additional_width, enable_mesh_visibility);
MSGPACK_DEFINE_ARRAY(
vertex_distance,
max_road_length,
wall_height,
additional_width,
enable_mesh_visibility);
};
}
}
}

3
PythonAPI/carla/source/libcarla/Client.cpp
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@ -166,8 +166,9 @@ void export_client() {
namespace rpc = carla::rpc;
class_<rpc::OpendriveGenerationParameters>("OpendriveGenerationParameters",
init<double, double, double, bool>((arg("vertex_distance")=2.0, arg("wall_height")=1.0, arg("additional_width")=0.6, arg("enable_mesh_visibility")=true)))
init<double, double, double, double, bool>((arg("vertex_distance")=2.0, arg("max_road_length")=50.0, arg("wall_height")=1.0, arg("additional_width")=0.6, arg("enable_mesh_visibility")=true)))
.def_readwrite("vertex_distance", &rpc::OpendriveGenerationParameters::vertex_distance)
.def_readwrite("max_road_length", &rpc::OpendriveGenerationParameters::max_road_length)
.def_readwrite("wall_height", &rpc::OpendriveGenerationParameters::wall_height)
.def_readwrite("additional_width", &rpc::OpendriveGenerationParameters::additional_width)
.def_readwrite("enable_mesh_visibility", &rpc::OpendriveGenerationParameters::enable_mesh_visibility)

16
PythonAPI/util/config.py
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@ -210,15 +210,17 @@ def main():
print('file could not be readed.')
sys.exit()
print('load opendrive map %r.' % os.path.basename(args.xodr_path))
vertex_distance = 2.0 # in meters
wall_height = 1.0 # in meters
extra_width = 0.6 # in meters
vertex_distance = 2.0 # in meters
max_road_length = 50.0 # in meters
wall_height = 1.0 # in meters
extra_width = 0.6 # in meters
world = client.generate_opendrive_world(
data, carla.OpendriveGenerationParameters(
vertex_distance,
wall_height,
extra_width,
True))
vertex_distance=vertex_distance,
max_road_length=max_road_length,
wall_height=wall_height,
additional_width=extra_width,
enable_mesh_visibility=True))
else:
print('file not found.')

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
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@ -128,16 +128,6 @@ static FString BuildRecastBuilderFile()
return AbsoluteRecastBuilderPath;
}
bool UCarlaEpisode::LoadNewOpendriveEpisode(
const FString &OpenDriveString,
float VertexDistance,
float WallHeight,
float AdditionalWidth)
{
return LoadNewOpendriveEpisode(OpenDriveString,
carla::rpc::OpendriveGenerationParameters(VertexDistance, WallHeight, AdditionalWidth, true));
}
bool UCarlaEpisode::LoadNewOpendriveEpisode(
const FString &OpenDriveString,
const carla::rpc::OpendriveGenerationParameters &Params)
@ -204,8 +194,9 @@ bool UCarlaEpisode::LoadNewOpendriveEpisode(
}
// Build the mesh generation config file
const FString ConfigData = FString::Printf(
TEXT("resolution=%s\nwall_height=%s\nadditional_width=%s\nmesh_visibility=%s"),
TEXT("resolution=%s\nmax_road_length=%s\nwall_height=%s\nadditional_width=%s\nmesh_visibility=%s\n"),
*FString::SanitizeFloat(Params.vertex_distance),
*FString::SanitizeFloat(Params.max_road_length),
*FString::SanitizeFloat(Params.wall_height),
*FString::SanitizeFloat(Params.additional_width),
*MeshVisibilityStr);

11
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
View File

@ -55,17 +55,6 @@ public:
UFUNCTION(BlueprintCallable)
bool LoadNewEpisode(const FString &MapString);
/// Load a new map generating the mesh from OpenDRIVE data and
/// start a new episode.
///
/// If @a MapString is empty, it fails.
UFUNCTION(BlueprintCallable)
bool LoadNewOpendriveEpisode(
const FString &OpenDriveString,
float VertexDistance,
float WallHeight,
float AdditionalWidth);
/// Load a new map generating the mesh from OpenDRIVE data and
/// start a new episode.
///

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveGenerator.cpp
View File

@ -68,6 +68,7 @@ void AOpenDriveGenerator::GenerateRoadMesh()
static const FString ConfigFilePath =
FPaths::ProjectContentDir() + "Carla/Maps/OpenDrive/OpenDriveMap.conf";
float Resolution = 2.f;
float MaxRoadLength = 50.0f;
float WallHeight = 1.f;
float AdditionalWidth = .6f;
bool MeshVisibility = true;
@ -87,6 +88,10 @@ void AOpenDriveGenerator::GenerateRoadMesh()
{
WallHeight = FCString::Atof(*Value);
}
else if (Key == "max_road_length")
{
MaxRoadLength = FCString::Atof(*Value);
}
else if (Key == "additional_width")
{
AdditionalWidth = FCString::Atof(*Value);
@ -98,11 +103,8 @@ void AOpenDriveGenerator::GenerateRoadMesh()
}
}
// const FProceduralCustomMesh MeshData =
// CarlaMap->GenerateMesh(Resolution, AdditionalWidth) +
// CarlaMap->GenerateWalls(Resolution, WallHeight);
const auto Meshes = CarlaMap->GenerateChunkedMesh(Resolution, 50.0f, AdditionalWidth);
const auto Meshes = CarlaMap->GenerateChunkedMesh(
Resolution, MaxRoadLength, AdditionalWidth);
for (const auto &Mesh : Meshes) {
AActor *TempActor = GetWorld()->SpawnActor<AActor>();
UProceduralMeshComponent *TempPMC = NewObject<UProceduralMeshComponent>(TempActor);