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Change units to SI

This commit is contained in:
nsubiron 2018-03-07 12:36:58 +01:00
parent 494102d1ea
commit e4f037cef1
27 changed files with 118 additions and 95 deletions
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12
Docs/Example.CarlaSettings.ini
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@ -70,10 +70,10 @@ ImageSizeX=800
ImageSizeY=600
; Camera (horizontal) field of view in degrees.
FOV=90
; Position of the camera relative to the car in centimeters.
PositionX=15
; Position of the camera relative to the car in meters.
PositionX=0.20
PositionY=0
PositionZ=123
PositionZ=1.30
; Rotation of the camera relative to the car in degrees.
RotationPitch=8
RotationRoll=0
@ -89,8 +89,8 @@ PostProcessing=Depth
SensorType=LIDAR_RAY_TRACE
; Number of lasers.
Channels=32
; Measure distance in centimeters.
Range=5000
; Measure distance in meters.
Range=50.0
; Points generated by all lasers per second.
PointsPerSecond=100000
; Lidar rotation frequency.
@ -101,7 +101,7 @@ LowerFOVLimit=-30
; Position and rotation relative to the vehicle.
PositionX=0
PositionY=0
PositionZ=140
PositionZ=1.40
RotationPitch=0
RotationYaw=0
RotationRoll=0

40
Docs/cameras_and_sensors.md
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@ -1,6 +1,10 @@
Cameras and sensors
===================
!!! important
Since version 0.8.0 the positions of the sensors are specified in meters
instead of centimeters. Always relative to the vehicle.
Cameras and sensors can be added to the player vehicle by defining them in the
settings sent by the client on every new episode. This can be done either by
filling a `CarlaSettings` Python class ([client_example.py][clientexamplelink])
@ -39,7 +43,7 @@ using the functions at `carla.image_converter` Python module.
Camera: Scene final
-------------------
![SceneFinal](img/capture_scenefinal.png)<br>
![SceneFinal](img/capture_scenefinal.png)
The "scene final" camera provides a view of the scene after applying some
post-processing effects to create a more realistic feel. These are actually
@ -61,7 +65,7 @@ in the Camera. We use the following post process effects:
camera = carla.sensor.Camera('MyCamera', PostProcessing='SceneFinal')
camera.set(FOV=90.0)
camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130)
camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera)
@ -76,9 +80,9 @@ PostProcessing=SceneFinal
ImageSizeX=800
ImageSizeY=600
FOV=90
PositionX=30
PositionX=0.30
PositionY=0
PositionZ=130
PositionZ=1.30
RotationPitch=0
RotationRoll=0
RotationYaw=0
@ -122,7 +126,7 @@ seen in "PythonClient/point_cloud_example.py".
camera = carla.sensor.Camera('MyCamera', PostProcessing='Depth')
camera.set(FOV=90.0)
camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130)
camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera)
@ -137,9 +141,9 @@ PostProcessing=Depth
ImageSizeX=800
ImageSizeY=600
FOV=90
PositionX=30
PositionX=0.30
PositionY=0
PositionZ=130
PositionZ=1.30
RotationPitch=0
RotationRoll=0
RotationYaw=0
@ -192,7 +196,7 @@ _"Unreal/CarlaUE4/Content/Static/Pedestrians"_ folder it's tagged as pedestrian.
camera = carla.sensor.Camera('MyCamera', PostProcessing='SemanticSegmentation')
camera.set(FOV=90.0)
camera.set_image_size(800, 600)
camera.set_position(x=30, y=0, z=130)
camera.set_position(x=0.30, y=0, z=1.30)
camera.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(camera)
@ -207,9 +211,9 @@ PostProcessing=SemanticSegmentation
ImageSizeX=800
ImageSizeY=600
FOV=90
PositionX=30
PositionX=0.30
PositionY=0
PositionZ=130
PositionZ=1.30
RotationPitch=0
RotationRoll=0
RotationYaw=0
@ -234,10 +238,10 @@ The received `LidarMeasurement` object contains the following information
Key | Type | Description
-------------------------- | ---------- | ------------
horizontal_angle | float | Angle in XY plane of the lidar this frame
channels | uint32 | Number of channels (lasers) of the lidar
point_count_by_channel | uint32 | Number of points per channel captured this frame
point_cloud | PointCloud | Captured points this frame
horizontal_angle | float | Angle in XY plane of the lidar this frame (in degrees).
channels | uint32 | Number of channels (lasers) of the lidar.
point_count_by_channel | uint32 | Number of points per channel captured this frame.
point_cloud | PointCloud | Captured points this frame.
###### Python
@ -245,12 +249,12 @@ point_cloud | PointCloud | Captured points this frame
lidar = carla.sensor.Lidar('MyLidar')
lidar.set(
Channels=32,
Range=5000,
Range=50,
PointsPerSecond=100000,
RotationFrequency=10,
UpperFovLimit=10,
LowerFovLimit=-30)
lidar.set_position(x=0, y=0, z=140)
lidar.set_position(x=0, y=0, z=1.40)
lidar.set_rotation(pitch=0, yaw=0, roll=0)
carla_settings.add_sensor(lidar)
@ -262,14 +266,14 @@ carla_settings.add_sensor(lidar)
[CARLA/Sensor/MyLidar]
SensorType=LIDAR_RAY_TRACE
Channels=32
Range=5000
Range=50
PointsPerSecond=100000
RotationFrequency=10
UpperFOVLimit=10
LowerFOVLimit=-30
PositionX=0
PositionY=0
PositionZ=140
PositionZ=1.40
RotationPitch=0
RotationYaw=0
RotationRoll=0

0
Docs/img/Road_Instructions_Example.png → Docs/img/road_instructions_example.png
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2
Docs/map_customization.md
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@ -22,7 +22,7 @@
- You can change the seed until you have a map you are satisfied with.
- After that you can place new PlayerStarts at the places you want the cars to be spawned.
- The AI already works, but the cars won't act randomly. Vehicles will follow the instructions given by the RoadMapGenerator. They will follow the road easily while in straight roads but wont so much when entering Intersections:
![Road_Instructions_Example.png](img/Road_Instructions_Example.png)
![road_instructions_example.png](img/road_instructions_example.png)
> (This is a debug view of the instructions the road gives to the Vehicle. They will always follow the green arrows, the white points are shared points between one or more routes, by default they order the vehicle to continue straight; Black points are off the road, the vehicle gets no instructions and drives to the left, trying to get back to the road)
- To get a random behavior, you have to place IntersectionEntrances, this will let you redefine the direction the vehicle will take overwriting the directions given by the road map (until they finish their given order).

47
Docs/measurements.md
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@ -1,6 +1,11 @@
Measurements
============
!!! important
Since version 0.8.0 the measurements received by the client are in SI
units. All locations have been converted to `meters` and speeds to
`meters/second`.
Every frame the server sends a package with the measurements and images gathered
to the client. This document describes the details of these measurements.
@ -10,10 +15,10 @@ Time-stamps
Since CARLA can be run at fixed-frame rate, we keep track of two different
time-stamps.
Key | Type | Description
-------------------------- | --------- | ------------
platform_timestamp | uint32 | Time-stamp of the current frame, in milliseconds as given by the OS.
game_timestamp | uint32 | In-game time-stamp, milliseconds elapsed since the beginning of the current level.
Key | Type | Units | Description
-------------------------- | --------- | ------------ | ------------
platform_timestamp | uint32 | milliseconds | Time-stamp of the current frame, as given by the OS.
game_timestamp | uint32 | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
In real-time mode, the elapsed time between two time steps should be similar
both platform and game time-stamps. When run in fixed-time step, the game
@ -23,27 +28,27 @@ time-stamp keeps the actual time elapsed.
Player measurements
-------------------
Key | Type | Description
-------------------------- | --------- | ------------
transform | Transform | World transform of the player.
acceleration | Vector3D | Current acceleration of the player.
forward_speed | float | Forward speed in km/h.
collision_vehicles | float | Collision intensity with other vehicles.
collision_pedestrians | float | Collision intensity with pedestrians.
collision_other | float | General collision intensity (everything else but pedestrians and vehicles).
intersection_otherlane | float | Percentage of the car invading other lanes.
intersection_offroad | float | Percentage of the car off-road.
autopilot_control | Control | Vehicle's autopilot control that would apply this frame.
Key | Type | Units | Description
-------------------------- | --------- | ------ | ------------
transform | Transform | | World transform of the player (contains a locations and a rotation).
acceleration | Vector3D | m/s^2 | Current acceleration of the player.
forward_speed | float | m/s | Forward speed of the player.
collision_vehicles | float | kg*m/s | Collision intensity with other vehicles.
collision_pedestrians | float | kg*m/s | Collision intensity with pedestrians.
collision_other | float | kg*m/s | General collision intensity (everything else but pedestrians and vehicles).
intersection_otherlane | float | | Percentage of the car invading other lanes.
intersection_offroad | float | | Percentage of the car off-road.
autopilot_control | Control | | Vehicle's autopilot control that would apply this frame.
###### Transform
The transform contains the location and rotation of the player.
Key | Type | Description
-------------------------- | ---------- | ------------
location | Vector3D | World location.
orientation *[deprecated]* | Vector3D | Orientation in Cartesian coordinates.
rotation | Rotation3D | Pitch, roll, and yaw.
Key | Type | Units | Description
-------------------------- | ---------- | ------- | ------------
location | Vector3D | m | World location.
orientation *[deprecated]* | Vector3D | | Orientation in Cartesian coordinates.
rotation | Rotation3D | degrees | Pitch, roll, and yaw.
###### Collision
@ -100,6 +105,8 @@ carla_client.send_control(control)
has a maximum steering angle of 70 degrees (this can be checked in the vehicle's
front wheel blueprint).
![Mustan Steering Angle](img/steering_angle_mustang.png)
Non-player agents info
----------------------

4
PythonClient/carla/benchmarks/benchmark.py
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@ -119,8 +119,8 @@ class Benchmark(object):
image.save_to_disk(self._image_filename_format.format(
episode_name, name, frame))
curr_x = measurements.player_measurements.transform.location.x
curr_y = measurements.player_measurements.transform.location.y
curr_x = 1e2 * measurements.player_measurements.transform.location.x
curr_y = 1e2 * measurements.player_measurements.transform.location.y
measurement_vec.append(measurements.player_measurements)

2
PythonClient/carla/benchmarks/corl_2017.py
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@ -142,7 +142,7 @@ class CoRL2017(Benchmark):
camera.set_image_size(800, 600)
camera.set_position(200, 0, 140)
camera.set_position(2.0, 0.0, 1.4)
camera.set_rotation(-15.0, 0, 0)
weathers = [1, 3, 6, 8, 4, 14]

2
PythonClient/carla/image_converter.py
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@ -114,7 +114,7 @@ def depth_to_local_point_cloud(image, color=None, max_depth=0.9):
RGB color of an array.
"max_depth" is used to omit the points that are far enough.
"""
far = 100000.0 # max depth in centimeters
far = 1000.0 # max depth in meters.
normalized_depth = depth_to_array(image)
# (Intrinsic) K Matrix

1
PythonClient/carla/planner/converter.py
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@ -137,6 +137,7 @@ class Converter(object):
"""
rotation = np.array([world[0], world[1], world[2]])
rotation *= 1e2 # meters to centimeters.
rotation = rotation.dot(self._worldrotation)
relative_location = [rotation[0] + self._worldoffset[0] - self._mapoffset[0],

4
PythonClient/carla/sensor.py
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@ -49,9 +49,9 @@ class Sensor(object):
def __init__(self, name, sensor_type):
self.SensorName = name
self.SensorType = sensor_type
self.PositionX = 140.0
self.PositionX = 0.2
self.PositionY = 0.0
self.PositionZ = 140.0
self.PositionZ = 1.3
self.RotationPitch = 0.0
self.RotationRoll = 0.0
self.RotationYaw = 0.0

16
PythonClient/client_example.py
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@ -60,19 +60,19 @@ def run_carla_client(args):
camera0 = Camera('CameraRGB')
# Set image resolution in pixels.
camera0.set_image_size(800, 600)
# Set its position relative to the car in centimeters.
camera0.set_position(30, 0, 130)
# Set its position relative to the car in meters.
camera0.set_position(0.30, 0, 1.30)
settings.add_sensor(camera0)
# Let's add another camera producing ground-truth depth.
camera1 = Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(800, 600)
camera1.set_position(30, 0, 130)
camera1.set_position(0.30, 0, 1.30)
settings.add_sensor(camera1)
if args.lidar:
lidar = Lidar('Lidar32')
lidar.set_position(0, 0, 250)
lidar.set_position(0, 0, 2.50)
lidar.set_rotation(0, 0, 0)
lidar.set(
Channels=32,
@ -158,14 +158,14 @@ def print_measurements(measurements):
number_of_agents = len(measurements.non_player_agents)
player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += '{speed:.2f} km/h, '
message += '{speed:.0f} km/h, '
message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
message += '({agents_num:d} non-player agents in the scene)'
message = message.format(
pos_x=player_measurements.transform.location.x / 100, # cm -> m
pos_y=player_measurements.transform.location.y / 100,
speed=player_measurements.forward_speed,
pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y,
speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
col_cars=player_measurements.collision_vehicles,
col_ped=player_measurements.collision_pedestrians,
col_other=player_measurements.collision_other,

12
PythonClient/manual_control.py
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@ -80,22 +80,22 @@ def make_carla_settings(enable_lidar):
settings.randomize_seeds()
camera0 = sensor.Camera('CameraRGB')
camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
camera0.set_position(200, 0, 140)
camera0.set_position(2.0, 0.0, 1.4)
camera0.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera0)
camera1 = sensor.Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
camera1.set_position(200, 0, 140)
camera1.set_position(2.0, 0.0, 1.4)
camera1.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera1)
camera2 = sensor.Camera('CameraSemSeg', PostProcessing='SemanticSegmentation')
camera2.set_image_size(MINI_WINDOW_WIDTH, MINI_WINDOW_HEIGHT)
camera2.set_position(200, 0, 140)
camera2.set_position(2.0, 0.0, 1.4)
camera2.set_rotation(0.0, 0.0, 0.0)
settings.add_sensor(camera2)
if enable_lidar:
lidar = sensor.Lidar('Lidar32')
lidar.set_position(0, 0, 250)
lidar.set_position(0, 0, 2.5)
lidar.set_rotation(0, 0, 0)
lidar.set(
Channels=32,
@ -273,7 +273,7 @@ class CarlaGame(object):
ori_y=lane_orientation[1],
step=self._timer.step,
fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed,
speed=player_measurements.forward_speed * 3.6,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message)
@ -285,7 +285,7 @@ class CarlaGame(object):
message = message.format(
step=self._timer.step,
fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed,
speed=player_measurements.forward_speed * 3.6,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message)

2
PythonClient/point_cloud_example.py
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@ -33,7 +33,7 @@ def run_carla_client(host, port, far):
frame_step = 100 # Save one image every 100 frames
output_folder = '_out'
image_size = [800, 600]
camera_local_pos = [30, 0, 130] # [X, Y, Z]
camera_local_pos = [0.3, 0.0, 1.3] # [X, Y, Z]
camera_local_rotation = [0, 0, 0] # [pitch(Y), yaw(Z), roll(X)]
fov = 70

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp
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@ -17,7 +17,7 @@ UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectIni
float UWalkerAgentComponent::GetForwardSpeed() const
{
/// @todo Is it necessary to compute this speed every tick?
return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector());
}
void UWalkerAgentComponent::BeginPlay()

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h
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@ -23,7 +23,7 @@ public:
UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
/// Return forward speed in km/h.
/// Return forward speed in cm/s.
float GetForwardSpeed() const;
FVector GetBoundingBoxExtent() const

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp
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@ -69,18 +69,21 @@ static FText GetHUDText(const ACarlaPlayerState &Vehicle)
HighPrecision.MinimumFractionalDigits = 2u;
HighPrecision.MaximumFractionalDigits = 2u;
constexpr float TO_METERS = 1e-2;
constexpr float TO_KMPH = 0.036f;
FFormatNamedArguments Args;
Args.Add("FPS", RoundedFloatAsText(Vehicle.GetFramesPerSecond()));
Args.Add("Location", GetVectorAsText(Vehicle.GetLocation()));
Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration(), HighPrecision));
Args.Add("Location", GetVectorAsText(Vehicle.GetLocation() * TO_METERS));
Args.Add("Acceleration", GetVectorAsText(Vehicle.GetAcceleration() * TO_METERS, HighPrecision));
Args.Add("Orientation", GetVectorAsText(Vehicle.GetOrientation(), HighPrecision));
Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed()));
Args.Add("Speed", RoundedFloatAsText(Vehicle.GetForwardSpeed() * TO_KMPH));
Args.Add("Gear", GetGearAsText(Vehicle.GetCurrentGear()));
Args.Add("SpeedLimit", RoundedFloatAsText(Vehicle.GetSpeedLimit()));
Args.Add("TrafficLightState", GetTrafficLightAsText(Vehicle.GetTrafficLightState()));
Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars()));
Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians()));
Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther()));
Args.Add("CollisionCars", RoundedFloatAsText(Vehicle.GetCollisionIntensityCars() * TO_METERS));
Args.Add("CollisionPedestrians", RoundedFloatAsText(Vehicle.GetCollisionIntensityPedestrians() * TO_METERS));
Args.Add("CollisionOther", RoundedFloatAsText(Vehicle.GetCollisionIntensityOther() * TO_METERS));
Args.Add("IntersectionOtherLane", RoundedFloatAsText(100.0f * Vehicle.GetOtherLaneIntersectionFactor()));
Args.Add("IntersectionOffRoad", RoundedFloatAsText(100.0f * Vehicle.GetOffRoadIntersectionFactor()));
return FText::Format(

21
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
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@ -17,6 +17,9 @@
#include <cstring>
// Conversion from centimeters to meters.
static constexpr float TO_METERS = 1e-2;
// =============================================================================
// -- Static local methods -----------------------------------------------------
// =============================================================================
@ -43,7 +46,7 @@ static void Encode(const FRotator &Rotator, carla_rotation3d &Data)
static void Encode(const FTransform &Transform, carla_transform &Data)
{
Encode(Transform.GetLocation(), Data.location);
Encode(Transform.GetLocation() * TO_METERS, Data.location);
Encode(Transform.GetRotation().GetForwardVector(), Data.orientation);
Encode(Transform.Rotator(), Data.rotation);
}
@ -103,12 +106,12 @@ void FCarlaEncoder::Encode(
Data.game_timestamp = PlayerState.GetGameTimeStamp();
auto &Player = Data.player_measurements;
::Encode(PlayerState.GetTransform(), Player.transform);
::Encode(PlayerState.GetBoundsExtent(), Player.box_extent);
::Encode(PlayerState.GetAcceleration(), Player.acceleration);
Player.forward_speed = PlayerState.GetForwardSpeed();
Player.collision_vehicles = PlayerState.GetCollisionIntensityCars();
Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians();
Player.collision_other = PlayerState.GetCollisionIntensityOther();
::Encode(PlayerState.GetBoundsExtent() * TO_METERS, Player.box_extent);
::Encode(PlayerState.GetAcceleration() * TO_METERS, Player.acceleration);
Player.forward_speed = PlayerState.GetForwardSpeed() * TO_METERS;
Player.collision_vehicles = PlayerState.GetCollisionIntensityCars() * TO_METERS;
Player.collision_pedestrians = PlayerState.GetCollisionIntensityPedestrians() * TO_METERS;
Player.collision_other = PlayerState.GetCollisionIntensityOther() * TO_METERS;
Player.intersection_otherlane = PlayerState.GetOtherLaneIntersectionFactor();
Player.intersection_offroad = PlayerState.GetOffRoadIntersectionFactor();
Player.autopilot_control.steer = PlayerState.GetSteer();
@ -199,7 +202,7 @@ void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
auto &Vehicle = Agent.GetVehicle();
::Encode(Vehicle.GetVehicleTransform(), Data.transform);
Data.type = CARLA_SERVER_AGENT_VEHICLE;
Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
Data.forward_speed = Vehicle.GetVehicleForwardSpeed() * TO_METERS;
::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
}
@ -207,6 +210,6 @@ void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
{
::Encode(Agent.GetComponentTransform(), Data.transform);
Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
Data.forward_speed = Agent.GetForwardSpeed();
Data.forward_speed = Agent.GetForwardSpeed() * TO_METERS;
::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.cpp
View File

@ -9,7 +9,7 @@ void ULidarDescription::Load(const FIniFile &Config, const FString &Section)
{
Super::Load(Config, Section);
Config.GetInt(*Section, TEXT("Channels"), Channels);
Config.GetFloat(*Section, TEXT("Range"), Range);
Config.GetFloat(*Section, TEXT("Range"), Range, 1e2);
Config.GetInt(*Section, TEXT("PointsPerSecond"), PointsPerSecond);
Config.GetFloat(*Section, TEXT("RotationFrequency"), RotationFrequency);
Config.GetFloat(*Section, TEXT("UpperFovLimit"), UpperFovLimit);

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/LidarDescription.h
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@ -28,7 +28,7 @@ public:
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
uint32 Channels = 32u;
/** Measure distance. */
/** Measure distance in centimeters. */
UPROPERTY(EditDefaultsOnly, Category = "Lidar Description")
float Range = 5000.0f;

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp
View File

@ -16,9 +16,10 @@ void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
void USensorDescription::Load(const FIniFile &Config, const FString &Section)
{
Config.GetFloat(*Section, TEXT("PositionX"), Position.X);
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y);
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z);
constexpr float TO_CENTIMETERS = 1e2;
Config.GetFloat(*Section, TEXT("PositionX"), Position.X, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("PositionY"), Position.Y, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("PositionZ"), Position.Z, TO_CENTIMETERS);
Config.GetFloat(*Section, TEXT("RotationPitch"), Rotation.Pitch);
Config.GetFloat(*Section, TEXT("RotationYaw"), Rotation.Yaw);
Config.GetFloat(*Section, TEXT("RotationRoll"), Rotation.Roll);

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/IniFile.h
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@ -112,11 +112,11 @@ public:
}
}
void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target) const
void GetFloat(const TCHAR* Section, const TCHAR* Key, float &Target, const float Factor = 1.0f) const
{
FString Value;
if (ConfigFile.GetString(Section, Key, Value)) {
Target = FCString::Atof(*Value);
Target = Factor * FCString::Atof(*Value);
}
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaVehicleController.cpp
View File

@ -94,7 +94,7 @@ void ACarlaVehicleController::OnCollisionEvent(
{
// Register collision only if we are moving faster than 1 km/h.
check(IsPossessingAVehicle());
if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed()) > 1.0f) {
if (FMath::Abs(GetPossessedVehicle()->GetVehicleForwardSpeed() * 0.036f) > 1.0f) {
CarlaPlayerState->RegisterCollision(Actor, OtherActor, NormalImpulse, Hit);
}
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -46,7 +46,7 @@ FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
{
return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f;
return GetVehicleMovementComponent()->GetForwardSpeed();
}
FVector ACarlaWheeledVehicle::GetVehicleOrientation() const

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -46,7 +46,7 @@ public:
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
FTransform GetVehicleTransform() const;
/// Forward speed in km/h. Might be negative if goes backwards.
/// Forward speed in cm/s. Might be negative if goes backwards.
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
float GetVehicleForwardSpeed() const;

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp
View File

@ -177,7 +177,8 @@ void AWheeledVehicleAIController::TickAutopilotController()
Steering = CalcStreeringValue(Direction);
}
const auto Speed = Vehicle->GetVehicleForwardSpeed();
// Speed in km/h.
const auto Speed = Vehicle->GetVehicleForwardSpeed() * 0.036f;
float Throttle;
if (TrafficLightState != ETrafficLightState::Green) {

5
Util/CarlaServer/include/carla/carla_server.h
View File

@ -35,8 +35,11 @@ extern "C" {
};
struct carla_transform {
/** Location in meters. */
struct carla_vector3d location;
/** Unit vector pointing "forward". */
struct carla_vector3d orientation;
/** Rotation angles in degrees. */
struct carla_rotation3d rotation;
};
@ -160,7 +163,7 @@ extern "C" {
struct carla_vector3d box_extent;
/** Current acceleration of the player. */
struct carla_vector3d acceleration;
/** Forward speed in km/h. */
/** Forward speed in m/s. */
float forward_speed;
/** Collision intensity with other vehicles. */
float collision_vehicles;