![]() This is currently hard-coded for all the sidewalks the same. This feature is currently not integrated in CARLA. Set smooth_junctions to False to disable the smoothing if preferred. However, it will modify the original mesh in the process. The default smoothing prevents the issues at tilted junctions described above. Regarding the current state of the mesh generation, some considerations should be taken into account. Working smaller also allows to generate huge maps and contain issues that may occur on a small portion of the mesh. By dividing the mesh, the simulator can avoid rendering portions that are not visible, and save up costs. The parameter smooth_junctions prevents this kind of issue.īesides that, instead of creating the whole map as a unique mesh, different portions are created. When generating junction meshes, higher lanes tend to block the ones below them. python3 config.py -x opendrive/TownBig.xodr This feature can be tested with the new TownBig provided by CARLA. If the mesh is generated with this script, the parameters used will always be the default ones. This argument expects a string with the path to the. In order to easily test this feature, the config.py script in PythonAPI/util/ has a new argument, -x or -xodr-path. enable_mesh_visibility (default True) - If False, the mesh will not be rendered, which could save a lot of rendering work to the simulator.If set to False, the mesh will be generated exactly as described in the OpenDRIVE. This is done to prevent some inaccuracies that may occur when various lanes meet. smooth_junctions (default True) - If True, some information of the OpenDRIVE will be reinterpreted to smooth the final mesh at junctions.This is a safety measure to prevent vehicles from falling. additional_width (default 0.6 meters, 0.3 on each side) - Small width increment applied to the junction lanes.These prevent vehicles from falling to the void. wall_height (default 1.0 meters) - Height of the additional walls created on the boundaries of the road.However, if the portions are too small, UE will have too many objects to manage, and performance will be affected too. The smaller the portions, the more probably they are discarded. If a portion is not visible, UE will not render it. The mesh is divide in portions to reduce rendering overhead. max_road_length (default 50.0 meters) - Maximum length of a portion of the mesh.However, if the distance is too small, the resulting mesh will be too heavy to work with. The bigger, the distance, the more inaccurate the mesh will be. vertex_distance (default 2.0 meters) - Distance between the vertices of the mesh.Parameters is a carla.OpendriveGenerationParameters containing settings for the generation of the mesh. opendrive is the content of the OpenDRIVE file parsed as a string.This will generate the new map, and block the simulation until it is ready. Open an OpenDRIVE file is just a matter of calling client.generate_opendrive_world() through the API. Any issues in it will propagate when running the simulation. It is especially important to double check the OpenDRIVE file. This could be an issue especially at junctions, where many lanes are mixed. xodr directly, any issues in it will propagate to the simulation. All of these elements, and every detail on the road, are based on the OpenDRIVE file. Pedestrians will navigate over the sidewalks and crosswalks that appear in the map. Traffic lights, stops and yields will be generated on the fly. Visible walls are created at the boundaries of the road, to act as a last safety measure.Lanes are a bit wider at junctions, where the flow of vehicles is most complex.In order to prevent vehicles from falling off the road, two measures have been taken. All the elements will correspond with the OpenDRIVE file, but besides that, there will be only void. ![]() ![]() The resulting mesh describes the road definition in a minimalistic manner. To this end, the simulator takes an OpenDRIVE file and procedurally creates a temporal 3D mesh to run the simulation with. This mode runs a full simulation using only an OpenDRIVE file, without the need of any additional geometries or assets. In order to do so, the simulator will automatically generate a road mesh for actors to navigate through. ![]() This feature allows users to ingest any OpenDRIVE file as a CARLA map out-of-the-box. ![]()
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