529 lines
27 KiB
Markdown
529 lines
27 KiB
Markdown
## Latest changes
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* Upgraded to Unreal Engine 4.21
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* Upgraded Boost to 1.69.0
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* Added point transformation functionality for LibCarla and PythonAPI
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* Added "sensor_tick" attribute to sensors (cameras and lidars) to specify the capture rate in seconds
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* Added "get_forward_vector()" to rotation and transform, retrieves the unit vector on the rotation's X-axis
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* Added support for Deepin in PythonAPI's setup.py
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* Added support for spawning and controlling walkers (pedestrians)
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* Renamed vehicle.get_vehicle_control() to vehicle.get_control() to be consistent with walkers
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* Added a few methods to manage an actor:
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- set_velocity: for setting the linear velocity
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- set_angular_velocity: for setting the angular velocity
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- get_angular_velocity: for getting the angular velocity
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- add_impulse: for applying an impulse (in world axis)
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* Added support for gnss_sensor
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* Fix TCP accept error, too many open files while creating and destroying a lot of sensors
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* OpenDriveActor has been rewritten using the Waypoint API, this has fixed some bugs
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## CARLA 0.9.2
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* Updated ROS bridge for CARLA 0.9.X (moved to its own repository)
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* Added Python API "agents" extension, includes
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- Global route planner based on the Waypoints API (compatible with OpenDrive)
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- BasicAgent: new client agent that can drive to a given coordinate of the map using the waypoint API and PID controllers, attending to other vehicles and traffic lights
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- RoamingAgent: new client agent that can drive at different speeds following waypoints based on PID controllers, attending to other vehicles and traffic lights
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- LocalPlanner functionality to navigate waypoints using PID controllers
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- LateralControl and LongitudinalControl PIDs
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* Added support for manual gear shifting
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* Added "role_name" attribute to actors to easily identify the "hero" vehicle
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* Changed traffic lights in Town03 to American style
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* Added new junction types with only stop signs
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* Updates to documentation and tutorials
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* Simulator now starts by default in windowed mode
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* CMake version required downgraded to 3.5 for better compatibility
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* Fixed waypoints height were all placed at zero height
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* Fixed actors in world.get_actors() missing parent actor
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* Fixed some vehicles losing their wheels after calling set_simulate_physics
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* Fixed bounding box of Lincoln MkZ
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* Several fixes and improvements to OpenDriveActor
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## CARLA 0.9.1
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* New town: Town03
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- Created with Vector Zero's RoadRunner (including OpenDrive information of the road layout)
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- Bigger and more diverse
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- More road variety: multiple lanes and lane markings, curves at different angles, roundabout, elevation, tunnel
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* Lots of improvements to the Python API
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- Support for Python 3
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- Support for retrieving and changing lighting and weather conditions
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- Migrated Lidar sensor
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- Migrated image converter methods: Depth, LogarithmicDepth, and CityScapesPalette
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- Migrated IO methods for sensor data, "save_to_disk" available for PNG, JPEG, TIFF, and PLY
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- Added support for requesting the list of all the actors alive in the current world, `world.get_actors()`
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- `world.get_actors()` returns an `ActorList` object with `filter` functionality and lazy initialization of actors
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- Added collision event sensor, "sensor.other.collision", that triggers a callback on each collision to the actor it is attached to
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- Added lane detector sensor, "sensor.other.lane_detector", that detects lane invasion events
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- Added `carla.Map` and `carla.Waypoint` classes for querying info about the road layout
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- Added methods for converting and saving the map as OpenDrive format
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- Added `map.get_spawn_points()` to retrieve the recommended spawn points for vehicles
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- Added `map.get_waypoint(location)` to query the nearest waypoint
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- Added `map.generate_waypoints(distance)` to generate waypoints all over the map at an approximated distance
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- Added `map.get_topology()` for getting a list the tuples of waypoints that define the edges of the road graph
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- Added `waypoint.next(distance)` to retrieve the list of the waypoints at a distance that can be driven from this waypoint
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- Added `parent` attributes to actors, not None if the actor is attached to another actor
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- Added `semantic_tags` to actors containing the list of tags of all of its components
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- Added methods for retrieving velocity and acceleration of actors
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- Added function to enable/disable simulating physics on an actor, `actor.set_simulate_physics(enabled=True)`
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- Added bounding boxes to vehicles, `vehicle.bounding_box` property
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- Exposed last control applied to vehicles, `vehicle.get_vehicle_control()`
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- Added a "tick" message containing info of all the actors in the scene
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- Executed in the background and cached
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- Added `world.wait_for_tick()` for blocking the current thread until a "tick" message is received
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- Added `world.on_tick(callback)` for executing a callback asynchronously each time a "tick" message is received
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- These methods return/pass a `carla.Timestamp` object containing, frame count, delta time of last tick, global simulation time, and OS timestamp
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- Methods retrieving actor's info, e.g. `actor.get_transform()`, don't need to connect with the simulator, which makes these calls quite cheap
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- Allow drawing debug shapes from Python: points, lines, arrows, boxes, and strings (`world.debug.draw_*`)
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- Added id (id of current episode) and map name to `carla.World`
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- Exposed traffic lights and signs as actors. Traffic lights have a specialized actor class that has the traffic light state (red, green, yellow) as property
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- Added methods for accessing and modifying individual items in `carla.Image` (pixels) and `carla.LidarMeasurement` (locations)
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- Added `carla.Vector3D` for (x, y, z) objects that are not a `carla.Location`
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- Removed `client.ping()`, `client.get_server_version()` accomplishes the same
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- Renamed `contains_X()` methods to `has_X()`
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- Changed `client.set_timeout(seconds)` to use seconds (float) instead of milliseconds
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- Allow iterating attributes of an Actor's Blueprint
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- Fixed wildcard filtering issues, now "vehicle.*" or "*bmw*" patterns work too
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- Fixed `actor.set_transform()` broken for attached actors
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* More Python example scripts and improved the present ones
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- Now all the scripts use the list of recommended spawn points for each map
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- Renamed "example.py" to "tutorial.py", and updated it with latest changes in API
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- Added timeout to the examples
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- "manual_control.py" performance has been improved while having more measurements
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- "manual_control.py" now has options to change camera type and position
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- "manual_control.py" now has options to iterate weather presets
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- "manual_control.py" now has a fancier HUD with lots of info, and F1 key binding to remove it
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- Added "dynamic_weather.py" to change the weather in real-time (the one used in the video)
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- Added "spawn_npc.py" to quickly add a lot of NPC vehicles to the simulator
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- Added "spawn_npc.py --safe" to only add non-problematic vehicles
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- "vehicle_gallery.py" also got some small fixes
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* Asset and content improvements
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- New vehicle: Lincoln MKZ 2017
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- Refactored weather system, parametrized to make it easier to use
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- Improved control of bikes and motorbikes, still not perfect but causes less accidents
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- Added building block generator system
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- Misc city assets: New building, tunnel columns, rail-road bridges, new textures, new urban props
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- Adjusted vehicle physics and center of mass
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- Adjusted the maximum distance culling for foliage
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- Adjusted pedestrian animations and scale issues (not yet available with new API though)
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- Improved map building blueprints, spline based asset repeaters, and wall building tools
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- Replaced uses of Unreal's Foliage system with standard static meshes to work around a visual bug in Linux systems
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- Fixed filenames too long when packing the project on Windows
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- Fixed "SplineMeshRepeater" loses its collider mesh from time to time
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- Standardized asset nomenclature
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* New system for road information based on OpenDrive format
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- Added new map classes for querying info about the road layout and topology
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- Added methods for finding closest point on the road
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- Added methods for generating and iterating waypoints based on the road layout
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- Added OpenDrive parser to convert OpenDrive files to our map data structures
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* Other miscellaneous improvements and fixes
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- Fixed single channel Lidar crash (by @cwecht)
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- Fixed command-line argument `-carla-settings` fails to load absolute paths (by @harlowja)
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- Added an option to command-line to change quality level when launching the simulator, `-quality-level=Low`
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- Added ROS bridge odometry message (by @ShepelIlya)
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- New lens distortion shader, sadly not yet integrated with our cameras :(
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- New Docker tutorial
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- Disabled texture streaming to avoid issue of textures not loading in scene captures
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- Adjusted scene capture camera gamma to 2.4
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- Fixed leaking objects in simulation when despawning a vehicle. Now Pawn's controller is destroyed too if necessary when destroying an Actor
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- Fixed overflow on platform time-stamp, now it uses `double`
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- Upgraded @rpclib to fix crash when client exits too fast (rpclib/PR#167)
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- Moved "PythonClient" inside deprecated folder to avoid confusion
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- Refactored sensor related code
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- New plugin system for sensors that simplifies adding sensors, mini-tutorial at #830
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- Compile-time dispatcher for sensors and serializers
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* Improvements to the streaming library
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- Added multi-streams for streaming simultaneously to multiple clients (used by the "tick" message)
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- Messages re-use allocated memory when possible
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- Allows unsubscribing from a stream
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- Fixed client receives interleaved sensor messages, some messages can be discarded if connection is too slow though
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- Fixed streaming client fails to connect in Windows
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- Fixed streaming client keeps trying to reconnect after destroying a sensor
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* Refactored client C++ API
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- Python GIL is released whenever possible to avoid blocking
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- Fixed deadlock when closing the simulator while a client is connected
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- Fixed crash on simulator shutdown if a client has connected at some point
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- Set methods are now sent async which greatly improves performance in the client-side
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- Vehicle control is cached and not sent if haven't changed
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- Suppressed exceptions in destructors
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* Other development improvements
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- Improved Linux Makefile, fine-grained targets to reduce compilation times in development
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- Workaround for "setup.py" to link against "libcarla_client.a" again (Linux only)
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- Added support for ".gtest" file, each line of this file is passed to GTest executables as arguments when running `make check` targets
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- Python eggs are also archived on Jenkins to easily get them without downloading the full package
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- Added uncrustify config file for formatting UE4 C++ code
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## 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
|
|
* 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
|