Tags: zhuabaguai/carla
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* CARLA 0.9.15 * Added Digital Twins feature version 0.1. Now you can create your own map based on OpenStreetMaps * Added compatibility with SymReady Assets, using NVIDIA Omniverse * Added new maps: Town13 (is a large map) and Town15 * The spectator will be used to load tiles and actor in Large Maps when no other actors with the rolename 'ego_vehicle' or 'hero' are present. Added the `spectator_as_ego` to the `carla.WorldSettings()` to allow users to disable this behavior. * Add keyword arguments for `carla.TrafficManager` Python API functions * Added build support for VS2022 and Ninja for LibCarla and osm2odr on Windows * Added empty actor * Restored gamma value to 2.2 instead of 2.4 * CarlaExporter tool now exports the box collider and convex collider of the object if it has one, otherwise the mesh * Pedestrians with AI or in replayer are now faster around 10x. They have collisions disabled until they hit a vehicle. * Added API function to avoid replaying the spectator * `Client.set_replayer_ignore_spectator(bool)` * `start_replaying.py` using flag `--move-spectator` * Surface non-unity build mode by passing ARGS=--no-unity to make; allows IWYU-type errors to be unmasked and fixed. * Added maps, vehicles, pedestrians and props catalogues to the documentation * Collisions detected by the CollisionSensor no longer generate more than one event per frame. * Added API function to load a map only if it is different from the current one. * Fixed a bug in the TrafficManager causing vehicles that reached an ending lane to have abnormal behavior while lane changing. * Fixed bug causing the TM's unstuck logic to incorrectly remove the vehicles in some situations. * Fixed the extra data in Directx textures, so we need to copy row by row on Windows to remove extra bytes on images * Fixed vertices of big meshes (more than 65k vertices) in CarlaExporter * Fixed sensors to check for the stream to be ready (race condition) * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly. * Fixed segfaults in Python API due to incorrect GIL locking under Python 3.10. * Fixed the import script, where could use any other TilesInfo.txt if the destination folder has many
* CARLA 0.9.15 * Added Digital Twins feature version 0.1. Now you can create your own map based on OpenStreetMaps * Added compatibility with SymReady Assets, using NVIDIA Omniverse * Added new maps: Town13 (is a large map) and Town15 * The spectator will be used to load tiles and actor in Large Maps when no other actors with the rolename 'ego_vehicle' or 'hero' are present. Added the `spectator_as_ego` to the `carla.WorldSettings()` to allow users to disable this behavior. * Add keyword arguments for `carla.TrafficManager` Python API functions * Added build support for VS2022 and Ninja for LibCarla and osm2odr on Windows * Added empty actor * Restored gamma value to 2.2 instead of 2.4 * CarlaExporter tool now exports the box collider and convex collider of the object if it has one, otherwise the mesh * Pedestrians with AI or in replayer are now faster around 10x. They have collisions disabled until they hit a vehicle. * Added API function to avoid replaying the spectator * `Client.set_replayer_ignore_spectator(bool)` * `start_replaying.py` using flag `--move-spectator` * Surface non-unity build mode by passing ARGS=--no-unity to make; allows IWYU-type errors to be unmasked and fixed. * Added maps, vehicles, pedestrians and props catalogues to the documentation * Collisions detected by the CollisionSensor no longer generate more than one event per frame. * Added API function to load a map only if it is different from the current one. * Fixed a bug in the TrafficManager causing vehicles that reached an ending lane to have abnormal behavior while lane changing. * Fixed bug causing the TM's unstuck logic to incorrectly remove the vehicles in some situations. * Fixed the extra data in Directx textures, so we need to copy row by row on Windows to remove extra bytes on images * Fixed vertices of big meshes (more than 65k vertices) in CarlaExporter * Fixed sensors to check for the stream to be ready (race condition) * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly. * Fixed segfaults in Python API due to incorrect GIL locking under Python 3.10. * Fixed the import script, where could use any other TilesInfo.txt if the destination folder has many
CARLA 0.9.14
* Fixed bug in FrictionTrigger causing sometimes server segfault
* Added attachment type "SpringArmGhost" for cinematic cameras but without doing the collision test.
* Improved algorithm to move signals out of the road by computing the desired displacement direction.
* Added `TrafficManager.vehicle_lane_offset(actor, offset)` and `TrafficManager.global_lane_offset(offset)` methods.
* Some of the warnings shown when building a map will now only be showing when debugging.
* The ids for semantic segmentation has been modified to be the same as cityscapes (labels, ids and colors)
* Fixed bug causing traffic signals at the end points of a road to sometimes create malformed waypoints.
* Fixed pedestrian skeleton frame, where sometimes it was draw displaced from the body
* Fixed decals when importing maps. It was using other .json files found in other packages.
* In multi-GPU mode some sensors now are forced to be created on the primary server always (ex. collision sensor)
* Added the speed limits for 100, 110 and 120 Km/h.
* Fixing sensor destruction, now the stream and socket is succesfully destroyed.
* Fixed bug at `Vehicle.get_traffic_light_state()` and `Vehicle.is_at_traffic_light()` causing vehicles to temporarily not lose the information of a traffic light if they moved away from it before it turned green.
* Changed the height of the automatic spawn points, from 3m to only 0.5m
* Added pedestrian skeleton to the recorder, as additional data. They will replay with the exact pose.
* Added multi-GPU feature. Now several servers (with dedicated GPU) can render sensors for the same simulation.
* Fixed bug causing the `Vehicle.get_traffic_light_state()` function not notify about the green to yellow and yellow to red light state changes.
* Fixed bug causing the `Vehicle.is_at_traffic_light()` function to return *false* if the traffic light was green.
* Fixed bug causing the scene lights to return an incorrect location at large maps.
* Fixed bug causing the `world.ground_projection()` function to return an incorrect location at large maps.
* Added failure state to vehicles, which can be retrieved by using `Vehicle.get_failure_state()`. Only Rollover failure state is currently supported.
* Fixed bug causing the TM to block the simulation when a vehicle with no physics was teleported.
* Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
* Improved the TM's handling of non signalized junctions, resulting in a more fluid overall behavior.
* Added check to avoid adding procedural trigger boxes inside intersections.
* Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
* Python agents now have a function to lane change.
* Python agents now detect vehicle in adjacent lanes if invaded due to the offset.
* Fixed bug causing the python agents to sometimes not detect a blocking actor if there were severral actors around it.
* Improved Python agents performance for large maps.
* Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it.
* Added new ConstantVelocityAgent
* Added new parameter to the TrafficManager, `set_desired_speed`, to set a vehicle's speed.
* Added 4 new attributes to all vehicles:
- `base_type` can be use as a vehicle classification. The possible values are *car*, *truck*, *van*, *motorcycle* and *bycicle*.
- `special_type` provides more information about the vehicle. It is currently restricted to *electric*, *emergency* and *taxi*, and not all vehicles have this attribute filled.
- `has_dynamics_doors` can either be *true* or *false* depending on whether or not the vehicle has doors that can be opened using the API.
- `has_lights` works in the same way as *has_dynamic_doors*, but differentiates between vehicles with lights, and those that don't.
* Added native ackermann controller:
- `apply_ackermann_control`: to apply an ackermann control command to a vehicle
- `get_ackermann_controller_settings`: to get the last ackermann controller settings applied
- `apply_ackermann_controller_settings`: to apply new ackermann controller settings
* Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
* Added `NormalsSensor`, a new sensor with normals information
* Added support for N wheeled vehicles
* Added support for new batch commands ConsoleCommand, ApplyLocation (to actor), SetTrafficLightState
* Added new API function: `set_day_night_cycle` at the LightManager, to (de)activate the automatic switch of the lights when the simulation changes from day to night mode, and viceversa.
* Switch to boost::variant2 for rpc::Command as that allows more than 20 RPC commands
* Added post process effects for rainy and dusty weathers.
* Switched data type of the dust storm weather parameter from bool to float.
* Check for the version of the installed Clang compiler during build.
* Added API function to get direct access to the GBuffer textures of a sensor:
- `listen_to_gbuffer`: to set a callback for a specific GBuffer texture
* Added new **instance aware semantic segmentation** sensor `sensor.…
…camera.instance_segmentation`
* Added new API classes: `MaterialParameter`, `TextureColor` and `TextureFloatColor` to encode texture data and field (normal map, diffuse, etc)
* Added new API functions: `apply_color_texture_to_object`, `apply_float_color_texture_to_object` and `apply_textures_to_object` to paint objects in **runtime**
* Added the option for users to set a **route** using RoadOption elements to a vehicle controlled by the Traffic Manager.
* **Cache** now has an extra folder with current version of CARLA (so different cache per version)
* Added **set_percentage_random_left_lanechange** and **set_percentage_random_right_lanechange**.
* Improved handling of **collisions** in Traffic Manager when driving at **very high speeds**.
* Added physical simulation to **vehicle doors**, capable of opening and closing
* Added **open/close doors** feature for vehicles.
* Added API functions to **3D vectors**: `squared_length`, `length`, `make_unit_vector`, `dot`, `dot_2d`, `distance`, `distance_2d`, `distance_squared`, `distance_squared_2d`, `get_vector_angle`
* Added API functions to **2D vectors**: `squared_length`, `length`, `make_unit_vector`
* Added a **seed** for better reproducibility of pedestrians
- New API function `set_pedestrians_seed`
- New parameter **--seedw** in generate_traffic.py script
* Added missing dependency `libomp5` to **Release.Dockerfile**
* Added API functions to interact with **pedestrian bones**:
- `get_bones / set_bones`: to get/set the bones of a pedestrian
- `blend_pose`: to blend a custom pose with current animation
- `show_pose / hide_pose`: to show or hide the custom pose
- `get_pose_from_animation`: to set the custom pose with the animation current frame
* Added a new script in **PythonAPI/examples/draw_skeleton.py** to draw the bones of a pedestrian from client side
* Improved **collision** detection of the Python agents
* Added the new **VehicleLightStage** to the Traffic Manager to dynamically update the vehicle lights.
* Added two new examples to **PythonAPI/util**: Conversion of OpenStreetMaps to OpenDRIVE maps `osm_to_xodr.py` and Extraction of map spawn points `extract_spawn_points.py`
* Fixed the **import of props** without any map
* Fixed **global route planner** crash when being used at maps without lane markings
* Fixed bug causing the server to **sigsegv** when a vehicle collides an environment object in recording mode.
* Fixed **RSSSensor**: made client side calculations threaded
* Fixed **keep_right_rule** parameter.
* Improved the documentation for use with pandoc tool by converting … …html tags to their markdown equivalent * Refactored FAQ section of docs to use minimal html and fix broken layout * Extended the local planner with a lateral `offset` * Upgraded to DirectX 12 on Windows * Added the new core pipeline for the simulator * Added parameter to carla settings to control culling * Added fully deterministic option for Traffic Manager, sorting vehicles by ID and avoiding race conditions * Added the option to sweep the wheel shape for collision. This requires to patch the engine * Added the possibility of changing physics substepping options from client * Added 'noise_seed' to sensors to initialize the random generators * API extensions: - Added `actor.set_enable_gravity()` function to enable/disable the gravity affecting the actor - Added `load_map_layer` and `unload_map_layer` to control map layers on new maps that support subleveling - Added `get_environment_objects`call to get all the placed objects in the level - Added `enable_environment_objects`call to enable/disable objects of the level - Added `horizontal_fov` parameter to lidar sensor to allow for restriction of its field of view - Added `WorldSettings.deterministic_ragdolls` to enable deterministic or physically based ragdolls * Fixed RSSSensor python3 build and import of open drive maps by updating to ad-rss v4.2.0 and ad-map-access v2.3.0. * Python import of dependent 'ad' python modules reflects now the namespaces of the C++ interface and follow doxygen documentation * Fixed sensor transformations and sensor data transformations mismatch in IMU and camera-based sensors * Fixed random dead-lock on synchronous mode at high frame rate * Fixed bug on Windows causing sun reflection artifacts * Fixed bug in `waypoint.get_landmarks()` causing some landmarks to be missed when s = 0 * Fixed the `actor.set_simulate_physics()` for pedestrians and vehicles * Fixed bug causing camera-based sensors to stop sending data * Fixed the lack of determinism on the output of raycast sensors * Fixed missing `laneChange` record in converted OSM maps * Fixed bug in the actor's id returned by the semantic lidar * Fixed error when using `--config` parameter in `make package` * Fixed dependency of library **Xerces-c** on package * Fixed minor typo in the simulation data section of the documentation * Fixed the `config.py` to read the `.osm ` files in proper `utf-8` encoding
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