CARLA Simulator: Difference between revisions
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** You will need an Epic Games account linked to your GitHub to have access to the source code. | ** You will need an Epic Games account linked to your GitHub to have access to the source code. | ||
* Clone the carla repo and download assets. | * Clone the carla repo and download assets. | ||
<pre> | |||
# Launch Unreal Engine | |||
make launch | |||
# Build Carla | |||
make package | |||
</pre> | |||
}} | }} | ||
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===RGB Image=== | ===RGB Image=== | ||
;Disabling Effects for Stitching | |||
See [https://github.com/carla-simulator/carla/issues/2185 Disable all lens simulating effects on cameras ] | |||
<pre> | |||
# carla/CarlaUE4/Config/DefaultEngine.ini | |||
# Add to section [/Script/Engine.RendererSettings] | |||
r.BlackBorders=0 | |||
r.DepthOfFieldQuality=0 | |||
r.DisableDistortion=1 | |||
r.MotionBlurQuality=0 | |||
r.SceneColorFringeQuality=0 # might be chromatic aberrations | |||
r.Tonemapper.Quality=0 # might be vignette | |||
</pre> | |||
===Depth Image=== | ===Depth Image=== | ||
Depths images encode as z-depth to camera as 8-bit images. | Depths images encode as z-depth to camera as 8-bit images. | ||
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To convert depth values to euclidean distance, you need to divide by \(\cos(\theta)\) where \(\theta\) is the angle to the center of the image. | To convert depth values to euclidean distance, you need to divide by \(\cos(\theta)\) where \(\theta\) is the angle to the center of the image. | ||
{{hidden | Z-depth to Euclidean Depth | | |||
See [https://github.com/carla-simulator/carla/issues/2287 https://github.com/carla-simulator/carla/issues/2287] for a formula to convert z-depth to euclidean depth. | |||
}} | |||
==Fixed time step== | ==Fixed time step== | ||