353 lines
15 KiB
Markdown
353 lines
15 KiB
Markdown
## CARLA 0.8.4
|
|
|
|
* Community contribution: ROS bridge by @laurent-george
|
|
* New vehicle: Tesla Model 3
|
|
* Added an option to _"CarlaSettings.ini"_ to disable bikes and motorbikes
|
|
* Fixed missing collision of vehicles introduced in 0.8.3
|
|
* Improved stability of bikes and motorbikes
|
|
* Improved autopilot turning behaviour at intersections, now using front wheels positions as reference
|
|
* Temporarily removed Kawasaki Ninja motorbikes because the model was having some stability issues
|
|
|
|
## CARLA 0.8.3
|
|
|
|
* Added two-wheeled vehicles, 3 bicycles and 4 motorbikes
|
|
* Several art optimizations (CARLA is now about 10% faster)
|
|
- Improved the performance of vegetation assets, adjusted LOD and culling distance, set billboards where possible
|
|
- Drastically reduced the number of polygons of the landscape while keeping the original shape
|
|
- Removed some high-cost unnecessary assets
|
|
- Remodelled Mustang and NissanMicra, now with less polygons and materials, better textures and LOD
|
|
- Remodelled building SM_TerracedHouse_01, now with more polygons but less materials and better textures
|
|
* CARLA releases include now a Dockerfile for building docker images
|
|
* Change in HUD: replace "FPS" by "Simulation Step"
|
|
* The current map name is now included in the scene description message sent to the client
|
|
* Adapted "manual_control.py" and "view_start_positions.py" to use the map name sent by the simulator
|
|
* Improved the vehicle spawning algorithm, now it tries to spawn as much cars as possible even if there are not enough spawn points
|
|
* "Setup.sh" is now faster and accepts an argument to run multiple jobs in parallel
|
|
* Fixed foliage distance culling using wrong distance in "Low Mode"
|
|
* Fixed NissanMicra slightly turning left when driving straight
|
|
|
|
## CARLA 0.8.2
|
|
|
|
* Revamped driving benchmark
|
|
- Changed name from benchmark to driving benchmark
|
|
- Fully Redesigned the architecture of the module
|
|
- Added a lot more documentation
|
|
- Now you can stop and resume the benchmarks you run
|
|
* Rolled back vehicle's location to the pivot of the mesh instead of the center of the bounding box
|
|
* Added relative transform of the vehicle's bounding box to the measurements, player and non-players
|
|
* Added "frame number" to each sensor measurement so it is possible to sync all the measurements based on the frame they are produced
|
|
* Improved vehicle spawner to better handle spawning failures
|
|
* Walkers use now a closer angle to detect vehicles, so they don't stop moving if a car passes nearby
|
|
* Fixed lighting artefact causing the road to change its brightness depending on the distance to the camera
|
|
* Fixed captured images overexposed in Low mode
|
|
* Fixed illegal character in asset name
|
|
* Fixed editing sun azimuth angle in CarlaWeadther.ini had no effect
|
|
* Fixed crash when using a non-standard image size in DirectX (Windows)
|
|
* Fixed issue with using multiple "SceneCaptureToDiskCamera"
|
|
|
|
## CARLA 0.8.1
|
|
|
|
* New Python example for visualizing the player start positions
|
|
* Fixed box extent of non-player agents was sent in centimeters instead of meters
|
|
* Fixed speed limits were sent in km/h instead of m/s
|
|
* Fixed issue in Volkswagen T2 wheels causing it to overturn
|
|
|
|
## 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
|