Merge branch 'master' into documentation

jeperez · Mar 21, 2018 · 810b84e · 810b84e
2 parents 2bd96d7 + 2196977
commit 810b84e
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Showing 23 changed files with 164 additions and 97 deletions.
diff --git a/Docs/Example.CarlaSettings.ini b/Docs/Example.CarlaSettings.ini
@@ -50,7 +50,7 @@ SeedPedestrians=123456789
 ; 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
+; or uncomment next line to add a camera and a Lidar
 ; Sensors=MyCamera,MyLidar
 
 ; or uncomment next line to add a regular camera and a depth camera
@@ -60,7 +60,7 @@ SeedPedestrians=123456789
 [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.
+;   * LIDAR_RAY_CAST                A Lidar implementation based on ray-casting.
 SensorType=CAMERA
 ; Post-processing effect to be applied to this camera. Valid values:
 ;   * None                  No effects applied.
@@ -90,7 +90,7 @@ PostProcessing=Depth
 
 
 [CARLA/Sensor/MyLidar]
-SensorType=LIDAR_RAY_TRACE
+SensorType=LIDAR_RAY_CAST
 ; Number of lasers.
 Channels=32
 ; Measure distance in meters.

diff --git a/Docs/cameras_and_sensors.md b/Docs/cameras_and_sensors.md
@@ -19,7 +19,7 @@ moment there are four different sensors available.
   * [Camera: Scene final](#camera-scene-final)
   * [Camera: Depth map](#camera-depth-map)
   * [Camera: Semantic segmentation](#camera-semantic-segmentation)
-  * [Ray-trace based lidar](#ray-trace-based-lidar)
+  * [Ray-cast based lidar](#ray-cast-based-lidar)
 
 !!! note
     The images are sent by the server as a BGRA array of bytes. The provided
@@ -219,12 +219,12 @@ RotationRoll=0
 RotationYaw=0
 ```
 
-Ray-trace based Lidar
----------------------
+Ray-cast based Lidar
+--------------------
 
 ![LidarPointCloud](img/lidar_point_cloud.gif)
 
-A rotating Lidar implemented with ray-tracing. The points are computed by adding
+A rotating Lidar implemented with ray-casting. The points are computed by adding
 a laser for each channel distributed in the vertical FOV, then the rotation is
 simulated computing the horizontal angle that the Lidar rotated this frame, and
 doing a ray-cast for each point that each laser was supposed to generate this
@@ -264,7 +264,7 @@ carla_settings.add_sensor(lidar)
 
 ```ini
 [CARLA/Sensor/MyLidar]
-SensorType=LIDAR_RAY_TRACE
+SensorType=LIDAR_RAY_CAST
 Channels=32
 Range=50
 PointsPerSecond=100000

diff --git a/PythonClient/carla/carla_server_pb2.py b/PythonClient/carla/carla_server_pb2.py
diff --git a/PythonClient/carla/client.py b/PythonClient/carla/client.py
@@ -220,7 +220,7 @@ def __init__(self, s):
         sensor_def = SensorDefinition(s)
         if sensor_def.type == carla_protocol.Sensor.CAMERA:
             sensor_def.parse_raw_data = parse_image
-        elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_TRACE:
+        elif sensor_def.type == carla_protocol.Sensor.LIDAR_RAY_CAST:
             sensor_def.parse_raw_data = parse_lidar
         else:
             logging.error('unknown sensor type %s', sensor_def.type)

diff --git a/PythonClient/carla/sensor.py b/PythonClient/carla/sensor.py
@@ -119,9 +119,9 @@ class Lidar(Sensor):
     """
 
     def __init__(self, name, **kwargs):
-        super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE")
+        super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_CAST")
         self.Channels = 32
-        self.Range = 5000.0
+        self.Range = 50.0
         self.PointsPerSecond = 56000
         self.RotationFrequency = 10.0
         self.UpperFovLimit = 10.0

diff --git a/PythonClient/client_example.py b/PythonClient/client_example.py
@@ -49,7 +49,8 @@ def run_carla_client(args):
                     SendNonPlayerAgentsInfo=True,
                     NumberOfVehicles=20,
                     NumberOfPedestrians=40,
-                    WeatherId=random.choice([1, 3, 7, 8, 14]))
+                    WeatherId=random.choice([1, 3, 7, 8, 14]),
+                    QualityLevel=args.quality_level)
                 settings.randomize_seeds()
 
                 # Now we want to add a couple of cameras to the player vehicle.
@@ -76,7 +77,7 @@ def run_carla_client(args):
                     lidar.set_rotation(0, 0, 0)
                     lidar.set(
                         Channels=32,
-                        Range=5000,
+                        Range=50,
                         PointsPerSecond=100000,
                         RotationFrequency=10,
                         UpperFovLimit=10,
@@ -201,6 +202,12 @@ def main():
         '-l', '--lidar',
         action='store_true',
         help='enable Lidar')
+    argparser.add_argument(
+        '-q', '--quality-level',
+        choices=['Low', 'Epic'],
+        type=lambda s: s.title(),
+        default='Epic',
+        help='graphics quality level, a lower level makes the simulation run considerably faster.')
     argparser.add_argument(
         '-i', '--images-to-disk',
         action='store_true',