374 lines
16 KiB
Markdown
374 lines
16 KiB
Markdown
## CARLA 0.9.0
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* Upgraded to Unreal Engine 4.19
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* Redesign of the networking architecture
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- Allows any number of clients to connect simultaneously
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- Now is possible to add and remove at any time any vehicle or camera
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- Now is possible to control any vehicle or camera
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- Now is possible to place cameras anywhere
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- Reduced to two ports instead of three
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- First port uses an RPC protocol based on [rpclib](http://rpclib.net/)
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- Second port is for the streaming of the sensor data
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* Redesign of the Python API
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- Actors and sensors are now exposed in the API and can be independently controlled
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- The Python module is built in C++, with significant performance gain in some operations
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- Many functionality haven't been ported yet, so expect a lot of things missing
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* Redesign of the build system to accommodate the changes in dependencies
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- Everything can be done now with the Makefile
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- For the moment only Linux is supported, sorry
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* Massive clean up of all unused assets
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* Some aesthetic fixes to the vehicles
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## CARLA 0.8.4
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* Community contribution: ROS bridge by @laurent-george
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* New vehicle: Tesla Model 3
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* Added an option to _"CarlaSettings.ini"_ to disable bikes and motorbikes
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* Fixed missing collision of vehicles introduced in 0.8.3
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* Improved stability of bikes and motorbikes
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* Improved autopilot turning behaviour at intersections, now using front wheels positions as reference
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* Temporarily removed Kawasaki Ninja motorbikes because the model was having some stability issues
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## CARLA 0.8.3
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* Added two-wheeled vehicles, 3 bicycles and 4 motorbikes
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* Several art optimizations (CARLA is now about 10% faster)
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- Improved the performance of vegetation assets, adjusted LOD and culling distance, set billboards where possible
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- Drastically reduced the number of polygons of the landscape while keeping the original shape
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- Removed some high-cost unnecessary assets
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- Remodelled Mustang and NissanMicra, now with less polygons and materials, better textures and LOD
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- Remodelled building SM_TerracedHouse_01, now with more polygons but less materials and better textures
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* CARLA releases include now a Dockerfile for building docker images
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* Change in HUD: replace "FPS" by "Simulation Step"
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* The current map name is now included in the scene description message sent to the client
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* Adapted "manual_control.py" and "view_start_positions.py" to use the map name sent by the simulator
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* Improved the vehicle spawning algorithm, now it tries to spawn as much cars as possible even if there are not enough spawn points
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* "Setup.sh" is now faster and accepts an argument to run multiple jobs in parallel
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* Fixed foliage distance culling using wrong distance in "Low Mode"
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* Fixed NissanMicra slightly turning left when driving straight
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## CARLA 0.8.2
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* Revamped driving benchmark
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- Changed name from benchmark to driving benchmark
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- Fully Redesigned the architecture of the module
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- Added a lot more documentation
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- Now you can stop and resume the benchmarks you run
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* Rolled back vehicle's location to the pivot of the mesh instead of the center of the bounding box
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* Added relative transform of the vehicle's bounding box to the measurements, player and non-players
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* Added "frame number" to each sensor measurement so it is possible to sync all the measurements based on the frame they are produced
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* Improved vehicle spawner to better handle spawning failures
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* Walkers use now a closer angle to detect vehicles, so they don't stop moving if a car passes nearby
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* Fixed lighting artefact causing the road to change its brightness depending on the distance to the camera
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* Fixed captured images overexposed in Low mode
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* Fixed illegal character in asset name
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* Fixed editing sun azimuth angle in CarlaWeadther.ini had no effect
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* Fixed crash when using a non-standard image size in DirectX (Windows)
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* Fixed issue with using multiple "SceneCaptureToDiskCamera"
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## CARLA 0.8.1
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* New Python example for visualizing the player start positions
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* Fixed box extent of non-player agents was sent in centimeters instead of meters
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* Fixed speed limits were sent in km/h instead of m/s
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* Fixed issue in Volkswagen T2 wheels causing it to overturn
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## CARLA 0.8.0
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* Upgraded to Unreal Engine 4.18
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* Created our own pedestrian 3D models free to use and distribute
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* Removed Epic's Automotive Materials dependencies
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* 360 Lidars support (similar to Velodyne HDL-32E or VLP-16) thanks to Anton Pechenko (Yandex)
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- Ray-cast based
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- Configurable settings
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- Added methods to save points to disk as PLY file
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* Added quality level settings
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- Low: low quality graphics, about 3 times faster with one camera
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- Epic: best quality (as before)
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* Measurements now use SI units
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- Locations: m
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- Speed: m/s
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- Acceleration: m/s^2
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- Collisions: kg*m/s
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- Angles: degrees
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* Added API methods to convert depth images to a point cloud
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- New method "image_converter.depth_to_local_point_cloud"
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- A supplementary image can be passed to attach colors to the points
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- New client example generates a point cloud in world coordinates
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- Added Transform class to Python API
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* Performance optimizations
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- Significant speed improvements in both Epic and Low modes
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- Fixed materials and improved shaders for roads, architecture, sidewalks, foliage, landscapes, cars, walkers, reflections, water
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- Execution of a set of Project and Engine parameters to improve performance (quality, vsync, AO, occlusion)
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- Generation of the road pieces using static meshes and actors instead of a single actor with instanced meshes
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- Improved performance since now is able to apply occlusion and draw distance
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- Images are captured asynchronously in the render thread
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- In asynchronous mode, images may arrive up to two frames later
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- In synchronous mode, game thread is blocked until images are ready
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- Blueprint code optimizations for vehicles, walkers, and splines
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- Added a way to configure different quality levels with culling distance and materials configuration
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* Refactored sensor related code to ease adding new sensors in the future
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* Added vehicle box extent to player measurements
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* Removed the player from the list of non-player agents
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* Adjusted bounding boxes to vehicles' height
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* Changed vehicles' center to match bounding box
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* Added autopilot mode to manual_control.py
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* Added quality level options to manual_control.py and client_example.py
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* Replaced background landscape and trees by a matte painting
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* Fixed road map generated some meshes twice
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* Small improvements to Windows support
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- Fixed issues with the Makefile
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- Fixed asset names too long or containing special characters
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## CARLA 0.7.1
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* New Python API module: Benchmark
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- Defines a set of tasks and conditions to test a certain agent
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- Contains a starting benchmark, CoRL2017
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- Contains Agent Class: Interface for benchmarking AIs
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* New Python API module: Basic Planner (Temporary Hack)
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- Provide routes for the agent
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- Contains AStar module to find the shortest route
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* Other Python API improvements
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- Converter class to convert between Unreal world and map units
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- Metrics module to summarize benchmark results
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* Send vehicle's roll, pitch, and yaw to client (orientation is now deprecated)
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* New RoutePlanner class for assigning fixed routes to autopilot (IntersectionEntrance has been removed)
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* Create a random engine for each vehicle, which greatly improves repeatability
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* Add option to skip content download in Setup.sh
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* Few small fixes to the city assets
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## CARLA 0.7.0
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* New Python client API
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- Cleaner and more robust
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- Compatible with Python 2 and 3
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- Improved exception handling
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- Improved examples
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- Included methods for parsing the images
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- Better documentation
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- Protocol: renamed "ai_control" to "autopilot_control"
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- Merged testing client
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- Added the maps for both cities, the client can now access the car position within the lane
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* Make CARLA start without client by default
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* Added wind effect to some trees and plants
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* Improvements to the existing weather presets
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* Build script: skip content download if up-to-date
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## CARLA 0.6.0
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* Included Unreal project and reorganised folders
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* Enabled semantic segmentation by default
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* Added Felipe's Python client
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* New build system (Linux only)
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* Few fixes to city assets
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## CARLA 0.5.4
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* Added command-line parameter -carla-no-hud
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* Remove override gamma from weather settings
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* Fixed issue road map generation hangs cooking command
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* Organise Python client and make sample script
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* Rename maps
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- CARLA_ORIGIN_0 --> Town02
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- CARLA_ORIGIN_1 --> Town01
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* Fixed Carla-Cola machine falling at begin play
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## CARLA 0.5.3
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* Fixed issues with weather
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* Fixed missing building
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## CARLA 0.5.2
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* Autopilot mode has been removed, now server sends AI control together with measurements every frame
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* State and position of traffic lights and signs are now included in the measurements too
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* Added a python console client
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* Fixed crash when client sends an invalid player start
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* Fixed some issues with the dynamic weather not looking as it used to do
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* Fixed some collision boxes missing
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## CARLA 0.5.1
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* Fixed issue server was destroyed on every reset, closing the connection
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* Fixed issue agent servers connect too late
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* Improvements to the python client
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* Added python client test suite for testing the release
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* Added image converter
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* Fixed missing floor on CARLA_ORIGIN_0
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* Changed sidewalk texture
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* Improvements on the physics of some vehicles
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* More props and decals added to the cities
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## CARLA 0.5.0
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* Upgraded to Unreal Engine 4.17
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- Fixes memory leaks
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- Fixes crashes with C++ std classes
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* Redesigned CarlaServer
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- Faster, avoids unnecessary copies
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- Sends images as raw data (no compression)
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- Supports synchronous and asynchronous mode
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- Networking operation have a time-out
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- Synchronous methods have a time-out
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- Pure C interface for better compatibility
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- Unit tests with GoogleTest
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* New server-client protocol
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- Upgraded to proto3
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- Supports repeated fields
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- Optionally send information about all dynamic agents in the scene
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- Now sends transforms instead of locations only
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- Autopilot mode added to control
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* New build system to avoid linkage issues
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* Added autopilot mode
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* Added an on-board camera to the car
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* Added traffic lights and speed limit to player state
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* Added player pawn selection to config file
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* Improved blueprint interface of the C++ classes
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* Some performance improvements to vehicle controllers
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* Fix issues with depth material in Windows
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* Fix issues with random engine not being available for vehicles
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* Fixed issue that compiling a release hang when saving the road map
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* Added more content; 7 vehicles, 30 pedestrians, many decals and props
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* Randomized pedestrian clothing
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* Many improvements and fixes to the city levels and assets
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* Added sub-surface scattering to vegetation
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* Added key binding to change weather during play
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* Added key binding to toggle autopilot mode
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* Added a second camera to the player
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## CARLA 0.4.6
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* Add weather presets specific for each level
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* Some map fixes, adjust weather presets specific for each level
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* Fixed regression that some walkers may go at extremely slow and fast speeds
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## CARLA 0.4.5
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* Add random seeds to config file
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* Improve logging
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* Removed rotation of map CARLA_ORIGIN_1
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## CARLA 0.4.4
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* Fixed regression walkers despawning when stopping after seeing a car
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* Changed, collision is only registered if player moves faster than 1 km/h
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* Fixed issue walkers resume movement after sensing nothing, but the car is still there sometimes
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* Few improvements to the city assets
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## CARLA 0.4.3
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* Fixed issue with reward, intersect other lane wasn't sent to the client
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* Improvements to the AI of other vehicles, and how they detect pedestrians
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* Improvements to the AI of the pedestrians, trying to avoid slightly better the cars
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* Made roads collision channel WorldStatic
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* Tune several vehicles' physics and engine
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* Fixed issue with vehicles bouncing back after hitting a pedestrian
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* Add bigger box to pedestrians to avoid accidents
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* Make vehicles spawn in order instead of randomly
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## CARLA 0.4.2
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* Fixed issues with the server-client protocol
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* More improvements to the AI of other vehicles, now they barely crash
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* Improved the physics of some vehicles
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* Tweak the city for better AI of other vehicles
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## CARLA 0.4.1
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* Improved AI of other vehicles, still needs some adjustment, but now they crash much less
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* Fixed wrong semantic segmentation label of the poles of traffic lights and signs
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* Added randomized vehicle license plates
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* Few improvements to the city assets
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## CARLA 0.4.0
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* Made vehicle input more realistic, now reverse and brake use different input
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* Changed server-client protocol
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- CarlaSettings.ini is sent for every new episode
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- Control is extended with brake, reverse and handbrake
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* Set a clearer hierarchy for loading settings files
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* Made camera post-process settings able to change depending on the weather
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* Added basic functionality for NPC vehicles
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* Some improvements to the walker spawner
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* Generate road map metadata on save
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* Added command-line switch -carla-no-networking
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* Improved verbosity control of CarlaServer
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* Fixed issue with server that two threads used 100% CPU
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* Fixed issue with the attachment of the main camera to the player
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* Fixed issues with CarlaServer interface with Unreal, does not use STL containers anymore
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* Fixed issue with server not running below 30 fps at fixed frame rate, added physics sub-stepping
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* Fixed issues with some weather settings
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* Added randomized pedestrians with their AI and animations
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* Added other vehicles with their AI and physics
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* Added traffic lights and signs
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* Tweaked capture image to look similar to main camera
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* Changed car input to match settings in plugin
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* General improvements to levels and assets
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## CARLA 0.3.0
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* Added basic dynamic weather functionality
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- Weather and sun light can be changed during game
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- Presets stored in config file CarlaWeather.ini
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- Added some presets for dynamic weather
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* Add basic functionality to spawn pedestrians
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* Split road meshes for intersections and turns for better precission of the road map
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* Better debug for road map
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* Implemented collision count for other cars and pedestrians
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* Command line argument -carla-settings now accepts relative paths
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* Improved performance when semantic segmentation is disabled
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* Improved tagger system
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* Implemented nav-mesh and spawn points for pedestrians
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* Added new cars
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* Added dynamic street lights
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* General improvements to levels and assets
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* Make the car jump
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## CARLA 0.2.4
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* Fixed serialization of road map resulting in a huge map size
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* Some optimizations in the vegetation
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* Implemented more LODS
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## CARLA 0.2.3
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* Fixed rounding errors in HUD (100% was shown as 99%, 30 FPS as 29 FPS)
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* Fixed crash when player goes out of road map
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* Fixed several issues related to the transform of the road map (wasn't working in CARLA_ORIGIN_1)
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* Make custom depth pass disable by default (semantic segmentation won't work by default)
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* Fixed road width in T-intersections
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* Implement road LOD
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* Fixed missing assets
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## CARLA 0.2.2
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* Implemented signals for off-road and opposite lane invasion
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* Fixed linking issues (use Unreal's libpng)
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* Fixed memory leak in PNG compression
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* Added boundaries to the map
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* Several fixes in the map content
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## CARLA 0.2.1
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* Fixed the memory leak related to protobuf issues
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* Fixed color shift in semantic segmentation and depth
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* Added in-game timestamp (now sending both OS and in-game)
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## CARLA 0.2.0
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* Fixed Depth issues
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* Fixed random crash due to an invalid player start position
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* Added semantic segmentation
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* Changed codification to PNG
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* Camera configuration through config INI file
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## CARLA 0.1.1
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* Added build system for Windows and Linux
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* Added more content
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## CARLA 0.1.0
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* Added basic functionality
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