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carla/CHANGELOG.md

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CARLA 0.8.0

  • Upgraded to Unreal Engine 4.18
  • Created our own pedestrian 3D models free to use and distribute
  • Removed Epic's Automotive Materials dependencies
  • 360 Lidars support (similar to Velodyne HDL-32E or VLP-16) thanks to Anton Pechenko (Yandex)
    • Ray-cast based
    • Configurable settings
    • Added methods to save points to disk as PLY file
  • Added quality level settings
    • Low: low quality graphics, about 3 times faster with one camera
    • Epic: best quality (as before)
  • Measurements now use SI units
    • Locations: m
    • Speed: m/s
    • Acceleration: m/s^2
    • Collisions: kg*m/s
    • Angles: degrees
  • Added API methods to convert depth images to a point cloud
    • New method "image_converter.depth_to_local_point_cloud"
    • A supplementary image can be passed to attach colors to the points
    • New client example generates a point cloud in world coordinates
    • Added Transform class to Python API
  • Performance optimizations
    • Significant speed improvements in both Epic and Low modes
    • Fixed materials and improved shaders for roads, architecture, sidewalks, foliage, landscapes, cars, walkers, reflections, water
    • Execution of a set of Project and Engine parameters to improve performance (quality, vsync, AO, occlusion)
    • Generation of the road pieces using static meshes and actors instead of a single actor with instanced meshes
      • Improved performance since now is able to apply occlusion and draw distance
    • Images are captured asynchronously in the render thread
      • In asynchronous mode, images may arrive up to two frames later
      • In synchronous mode, game thread is blocked until images are ready
    • Blueprint code optimizations for vehicles, walkers, and splines
    • Added a way to configure different quality levels with culling distance and materials configuration
  • Refactored sensor related code to ease adding new sensors in the future
  • Added vehicle box extent to player measurements
  • Removed the player from the list of non-player agents
  • Adjusted bounding boxes to vehicles' height
  • Changed vehicles' center to match bounding box
  • Added autopilot mode to manual_control.py
  • Added quality level options to manual_control.py and client_example.py
  • Replaced background landscape and trees by a matte painting
  • Fixed road map generated some meshes twice
  • Small improvements to Windows support
    • Fixed issues with the Makefile
    • Fixed asset names too long or containing special characters

CARLA 0.7.1

  • New Python API module: Benchmark
    • Defines a set of tasks and conditions to test a certain agent
    • Contains a starting benchmark, CoRL2017
    • Contains Agent Class: Interface for benchmarking AIs
  • New Python API module: Basic Planner (Temporary Hack)
    • Provide routes for the agent
    • Contains AStar module to find the shortest route
  • Other Python API improvements
    • Converter class to convert between Unreal world and map units
    • Metrics module to summarize benchmark results
  • Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated)
  • New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed)
  • Create a random engine for each vehicle, which greatly improves repeatability
  • Add option to skip content download in Setup.sh
  • Few small fixes to the city assets

CARLA 0.7.0

  • New Python client API
    • Cleaner and more robust
    • Compatible with Python 2 and 3
    • Improved exception handling
    • Improved examples
    • Included methods for parsing the images
    • Better documentation
    • Protocol: renamed "ai_control" to "autopilot_control"
    • Merged testing client
    • Added the maps for both cities, the client can now access the car position within the lane
  • Make CARLA start without client by default
  • Added wind effect to some trees and plants
  • Improvements to the existing weather presets
  • Build script: skip content download if up-to-date

CARLA 0.6.0

  • Included Unreal project and reorganised folders
  • Enabled semantic segmentation by default
  • Added Felipe's Python client
  • New build system (Linux only)
  • Few fixes to city assets

CARLA 0.5.4

  • Added command-line parameter -carla-no-hud
  • Remove override gamma from weather settings
  • Fixed issue road map generation hangs cooking command
  • Organise Python client and make sample script
  • Rename maps
    • CARLA_ORIGIN_0 --> Town02
    • CARLA_ORIGIN_1 --> Town01
  • Fixed Carla-Cola machine falling at begin play

CARLA 0.5.3

  • Fixed issues with weather
  • Fixed missing building

CARLA 0.5.2

  • Autopilot mode has been removed, now server sends AI control together with measurements every frame
  • State and position of traffic lights and signs are now included in the measurements too
  • Added a python console client
  • Fixed crash when client sends an invalid player start
  • Fixed some issues with the dynamic weather not looking as it used to do
  • Fixed some collision boxes missing

CARLA 0.5.1

  • Fixed issue server was destroyed on every reset, closing the connection
  • Fixed issue agent servers connect too late
  • Improvements to the python client
  • Added python client test suite for testing the release
  • Added image converter
  • Fixed missing floor on CARLA_ORIGIN_0
  • Changed sidewalk texture
  • Improvements on the physics of some vehicles
  • More props and decals added to the cities

CARLA 0.5.0

  • Upgraded to Unreal Engine 4.17
    • Fixes memory leaks
    • Fixes crashes with C++ std classes
  • Redesigned CarlaServer
    • Faster, avoids unnecessary copies
    • Sends images as raw data (no compression)
    • Supports synchronous and asynchronous mode
    • Networking operation have a time-out
    • Synchronous methods have a time-out
    • Pure C interface for better compatibility
    • Unit tests with GoogleTest
  • New server-client protocol
    • Upgraded to proto3
    • Supports repeated fields
    • Optionally send information about all dynamic agents in the scene
    • Now sends transforms instead of locations only
    • Autopilot mode added to control
  • New build system to avoid linkage issues
  • Added autopilot mode
  • Added an on-board camera to the car
  • Added traffic lights and speed limit to player state
  • Added player pawn selection to config file
  • Improved blueprint interface of the C++ classes
  • Some performance improvements to vehicle controllers
  • Fix issues with depth material in Windows
  • Fix issues with random engine not being available for vehicles
  • Fixed issue that compiling a release hang when saving the road map
  • Added more content; 7 vehicles, 30 pedestrians, many decals and props
  • Randomized pedestrian clothing
  • Many improvements and fixes to the city levels and assets
  • Added sub-surface scattering to vegetation
  • Added key binding to change weather during play
  • Added key binding to toggle autopilot mode
  • Added a second camera to the player

CARLA 0.4.6

  • Add weather presets specific for each level
  • Some map fixes, adjust weather presets specific for each level
  • Fixed regression that some walkers may go at extremely slow and fast speeds

CARLA 0.4.5

  • Add random seeds to config file
  • Improve logging
  • Removed rotation of map CARLA_ORIGIN_1

CARLA 0.4.4

  • Fixed regression walkers despawning when stopping after seeing a car
  • Changed, collision is only registered if player moves faster than 1 km/h
  • Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes
  • Few improvements to the city assets

CARLA 0.4.3

  • Fixed issue with reward, intersect other lane wasn't sent to the client
  • Improvements to the AI of other vehicles, and how they detect pedestrians
  • Improvements to the AI of the pedestrians, trying to avoid slightly better the cars
  • Made roads collision channel WorldStatic
  • Tune several vehicles' physics and engine
  • Fixed issue with vehicles bouncing back after hitting a pedestrian
  • Add bigger box to pedestrians to avoid accidents
  • Make vehicles spawn in order instead of randomly

CARLA 0.4.2

  • Fixed issues with the server-client protocol
  • More improvements to the AI of other vehicles, now they barely crash
  • Improved the physics of some vehicles
  • Tweak the city for better AI of other vehicles

CARLA 0.4.1

  • Improved AI of other vehicles, still needs some adjustment, but now they crash much less
  • Fixed wrong semantic segmentation label of the poles of traffic lights and signs
  • Added randomized vehicle license plates
  • Few improvements to the city assets

CARLA 0.4.0

  • Made vehicle input more realistic, now reverse and brake use different input
  • Changed server-client protocol
    • CarlaSettings.ini is sent for every new episode
    • Control is extended with brake, reverse and handbrake
  • Set a clearer hierarchy for loading settings files
  • Made camera post-process settings able to change depending on the weather
  • Added basic functionality for NPC vehicles
  • Some improvements to the walker spawner
  • Generate road map metadata on save
  • Added command-line switch -carla-no-networking
  • Improved verbosity control of CarlaServer
  • Fixed issue with server that two threads used 100% CPU
  • Fixed issue with the attachment of the main camera to the player
  • Fixed issues with CarlaServer interface with Unreal, does not use STL containers anymore
  • Fixed issue with server not running below 30 fps at fixed frame rate, added physics sub-stepping
  • Fixed issues with some weather settings
  • Added randomized pedestrians with their AI and animations
  • Added other vehicles with their AI and physics
  • Added traffic lights and signs
  • Tweaked capture image to look similar to main camera
  • Changed car input to match settings in plugin
  • General improvements to levels and assets

CARLA 0.3.0

  • Added basic dynamic weather functionality
    • Weather and sun light can be changed during game
    • Presets stored in config file CarlaWeather.ini
    • Added some presets for dynamic weather
  • Add basic functionality to spawn pedestrians
  • Split road meshes for intersections and turns for better precission of the road map
  • Better debug for road map
  • Implemented collision count for other cars and pedestrians
  • Command line argument -carla-settings now accepts relative paths
  • Improved performance when semantic segmentation is disabled
  • Improved tagger system
  • Implemented nav-mesh and spawn points for pedestrians
  • Added new cars
  • Added dynamic street lights
  • General improvements to levels and assets
  • Make the car jump

CARLA 0.2.4

  • Fixed serialization of road map resulting in a huge map size
  • Some optimizations in the vegetation
  • Implemented more LODS

CARLA 0.2.3

  • Fixed rounding errors in HUD (100% was shown as 99%, 30 FPS as 29 FPS)
  • Fixed crash when player goes out of road map
  • Fixed several issues related to the transform of the road map (wasn't working in CARLA_ORIGIN_1)
  • Make custom depth pass disable by default (semantic segmentation won't work by default)
  • Fixed road width in T-intersections
  • Implement road LOD
  • Fixed missing assets

CARLA 0.2.2

  • Implemented signals for off-road and opposite lane invasion
  • Fixed linking issues (use Unreal's libpng)
  • Fixed memory leak in PNG compression
  • Added boundaries to the map
  • Several fixes in the map content

CARLA 0.2.1

  • Fixed the memory leak related to protobuf issues
  • Fixed color shift in semantic segmentation and depth
  • Added in-game timestamp (now sending both OS and in-game)

CARLA 0.2.0

  • Fixed Depth issues
  • Fixed random crash due to an invalid player start position
  • Added semantic segmentation
  • Changed codification to PNG
  • Camera configuration through config INI file

CARLA 0.1.1

  • Added build system for Windows and Linux
  • Added more content

CARLA 0.1.0

  • Added basic functionality