Merge remote-tracking branch 'origin/sensor-interface#200' into Optim…

…izations

Walkers now detect vehicles properly
New sensors sends pixel buffers in render queue

.gitignore

@@ -26,4 +26,5 @@ Util/Build
 __pycache__
 _benchmarks_results
 _images*
+_out
 core

CARLA.sublime-project

@@ -76,7 +76,7 @@
 		{
 			"name": "CARLA - make CarlaUE4",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -86,7 +86,7 @@
 		{
 			"name": "CARLA - make CarlaUE4 ARGS=-clean",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -96,7 +96,7 @@
 		{
 			"name": "CARLA - make CarlaUE4Editor",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{
@@ -106,7 +106,7 @@
 		{
 			"name": "CARLA - make CarlaUE4Editor ARGS=-clean",
 			"working_dir": "${project_path}/Unreal/CarlaUE4",
-			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
 			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
 			"linux":
 			{

Docs/Example.CarlaSettings.ini

@@ -1,16 +1,20 @@
 ; Example of settings file for CARLA.
 ;
-; Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
+; This file can be loaded with the Python client to be sent to the server. It
+; defines the parameters to be used when requesting a new episode.
+;
+; Note that server specific variables are loaded in server only. Use it with
+; `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
 
 [CARLA/Server]
 ; If set to false, a mock controller will be used instead of waiting for a real
-; client to connect.
+; client to connect. (Server only)
 UseNetworking=true
 ; Ports to use for the server-client communication. This can be overridden by
 ; the command-line switch `-world-port=N`, write and read ports will be set to
-; N+1 and N+2 respectively.
+; N+1 and N+2 respectively. (Server only)
 WorldPort=2000
-; Time-out in milliseconds for the networking operations.
+; Time-out in milliseconds for the networking operations. (Server only)
 ServerTimeOut=10000
 ; In synchronous mode, CARLA waits every frame until the control from the client
 ; is received.
@@ -36,16 +40,26 @@ WeatherId=1
 SeedVehicles=123456789
 SeedPedestrians=123456789
 
-[CARLA/SceneCapture]
-; Names of the cameras to be attached to the player, comma-separated, each of
-; them should be defined in its own subsection. E.g., Uncomment next line to add
-; a camera called MyCamera to the vehicle
+[CARLA/Sensor]
+; Names of the sensors to be attached to the player, comma-separated, each of
+; them should be defined in its own subsection.
+
+; Uncomment next line to add a camera called MyCamera to the vehicle
+; Sensors=MyCamera
+
+; or uncomment next line to add a camera and a LiDAR
+; Sensors=MyCamera,MyLidar
 
-; Cameras=MyCamera
+; or uncomment next line to add a regular camera and a depth camera
+; Sensors=MyCamera,MyCamera/Depth
 
 ; Now, every camera we added needs to be defined it in its own subsection.
-[CARLA/SceneCapture/MyCamera]
-; Post-processing effect to be applied. Valid values:
+[CARLA/Sensor/MyCamera]
+; Type of the sensor. The available types are:
+;   * CAMERA                        A scene capture camera.
+;   * LIDAR_RAY_TRACE               A LiDAR implementation based on ray-tracing.
+SensorType=CAMERA
+; Post-processing effect to be applied to this camera. Valid values:
 ;   * None                  No effects applied.
 ;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
 ;   * Depth                 Depth map ground-truth only.
@@ -55,42 +69,39 @@ PostProcessing=SceneFinal
 ImageSizeX=800
 ImageSizeY=600
 ; Camera (horizontal) field of view in degrees.
-CameraFOV=90
+FOV=90
 ; Position of the camera relative to the car in centimeters.
-CameraPositionX=15
-CameraPositionY=0
-CameraPositionZ=123
+PositionX=15
+PositionY=0
+PositionZ=123
 ; Rotation of the camera relative to the car in degrees.
-CameraRotationPitch=8
-CameraRotationRoll=0
-CameraRotationYaw=0
+RotationPitch=8
+RotationRoll=0
+RotationYaw=0
 
-; Stereo setup example:
-;
-; [CARLA/SceneCapture]
-; Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
-; ImageSizeX=720
-; ImageSizeY=512
-; CameraFOV=90
-; [CARLA/SceneCapture/CameraStereoLeft]
-; CameraPositionX=170
-; CameraPositionY=-30
-; CameraPositionZ=150
-; CameraRotationPitch=0
-; CameraRotationRoll=0
-; CameraRotationYaw=0
-; [CARLA/SceneCapture/CameraStereoLeft/RGB]
-; PostProcessing=SceneFinal
-; [CARLA/SceneCapture/CameraStereoLeft/Depth]
-; PostProcessing=Depth
-; [CARLA/SceneCapture/CameraStereoRight]
-; CameraPositionX=170
-; CameraPositionY=30
-; CameraPositionZ=150
-; CameraRotationPitch=0
-; CameraRotationRoll=0
-; CameraRotationYaw=0
-; [CARLA/SceneCapture/CameraStereoRight/RGB]
-; PostProcessing=SceneFinal
-; [CARLA/SceneCapture/CameraStereoRight/Depth]
-; PostProcessing=Depth
+[CARLA/Sensor/MyCamera/Depth]
+; The sensor can be defined in a subsection of MyCamera so it inherits the
+; values in MyCamera. This adds a camera similar to MyCamera but generating
+; depth map images instead.
+PostProcessing=Depth
+
+[CARLA/Sensor/MyLidar]
+SensorType=LIDAR_RAY_TRACE
+; Number of lasers.
+Channels=32
+; Measure distance in centimeters.
+Range=5000
+; Points generated by all lasers per second.
+PointsPerSecond=100000
+; Lidar rotation frequency.
+RotationFrequency=10
+; Upper and lower laser angles, positive values means above horizontal line.
+UpperFOVLimit=10
+LowerFOVLimit=-30
+; Position and rotation relative to the vehicle.
+PositionX=0
+PositionY=0
+PositionZ=140
+RotationPitch=0
+RotationYaw=0
+RotationRoll=0

Docs/carla_server.md

@@ -48,10 +48,11 @@ Server only writes, first measurements message then the bulk of raw images.
 
 Every image is an array of uint32's
 
-    [width, height, type, color[0], color[1],...]
+    [width, height, type, FOV, color[0], color[1],...]
 
-where each color is an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine,
-and the possible types of images are
+where FOV is the horizontal field of view of the camera as float, each color is
+an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine, and the possible
+types of images are
 
     type = 0  None                  (RGB without any post-processing)
     type = 1  SceneFinal            (RGB with post-processing present at the scene)

PythonClient/.pylintrc

@@ -1,4 +1,4 @@
 [TYPECHECK]
 ignore=carla_server_pb2.py
 ignored-modules=ConfigParser,numpy,numpy.random,pygame,shutil
-ignored-classes=_socketobject,EpisodeReady
+ignored-classes=_socketobject,EpisodeReady,SceneDescription,Sensor

PythonClient/carla/benchmarks/corl_2017.py

@@ -138,7 +138,7 @@ def _build_experiments(self):
         # This single RGB camera is used on every experiment
 
         camera = Camera('CameraRGB')
-        camera.set(CameraFOV=100)
+        camera.set(FOV=100)
 
         camera.set_image_size(800, 600)