From 2c19227f9136482c8ccb1837eb62beac00c81e55 Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 22:31:18 +0800 Subject: [PATCH 1/6] Update CarlaEpisode.h --- .../CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h index 63320dca83..b73ad2c24f 100644 --- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h +++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h @@ -114,7 +114,11 @@ class CARLA_API UCarlaEpisode : public UObject // Material Parameters 中的更新时间 if (MaterialParameters) { - MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTime); + MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTime);// 通过MaterialParameters指针调用SetScalarParameterValue函数 +// 第一个参数使用FName构造函数创建了一个名为"VisualTime"的参数名 +// 第二个参数VisualGameTime应该是要设置给"VisualTime"这个参数的具体数值（具体类型需看VisualGameTime的定义） +// 整体作用大概率是在程序中（可能是游戏开发等场景涉及材质相关操作）为名为"VisualTime"的材质参数设置对应的值，以影响材质的某种表现特性。 +MaterialParameters->SetScalarParameterValue(FName("VisualTime"), VisualGameTi } } From c53ff26c65363425b96c76a12639cf24bc5648f9 Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 22:39:45 +0800 Subject: [PATCH 2/6] Update CarlaTools.uplugin --- Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin b/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin index 7e16637485..8f38536f51 100644 --- a/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin +++ b/Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin @@ -10,7 +10,10 @@ "CreatedByURL": "http://carla.org", "DocsURL": "http://carla.readthedocs.io", "MarketplaceURL": "", - "SupportURL": "https://github.com/carla-simulator/carla/issues", + "SupportURL": "https://github.com/carla-simulator/carla/issues",// "SupportURL"是一个键（key），通常用于表示支持相关的链接地址。 +// 对应的值"https://github.com/carla-simulator/carla/issues"是一个具体的URL链接， +// 意味着当遇到与相关项目（此处可能是carla-simulator项目）有关的问题、需要支持或者反馈情况时， +// 可以通过访问这个GitHub仓库对应的问题页面（issues页面）来进行相应操作，比如提交问题、查看已有问题的解决办法等。 "CanContainContent": true, "IsBetaVersion": false, "IsExperimentalVersion": true, From 359742769a2a6afa2822edbfc0fd085ef03b7c8e Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 22:46:26 +0800 Subject: [PATCH 3/6] Update FBX2OBJ.cpp --- Util/DockerUtils/fbx/src/FBX2OBJ.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/Util/DockerUtils/fbx/src/FBX2OBJ.cpp b/Util/DockerUtils/fbx/src/FBX2OBJ.cpp index 9dce01a4ed..b0be4aa018 100644 --- a/Util/DockerUtils/fbx/src/FBX2OBJ.cpp +++ b/Util/DockerUtils/fbx/src/FBX2OBJ.cpp @@ -147,7 +147,14 @@ bool SaveScene( const char* pFilename, int pFileFormat, bool pEmbedMedia - ) + )// 函数SaveScene用于将一个Fbx场景保存到文件中。 +// 参数： +// pSdkManager：指向FbxManager对象的指针，FbxManager是管理整个FBX SDK的核心对象，通常用于处理与FBX文件相关的各种操作，如创建场景、加载/保存文件等。 +// pScene：指向要保存的FbxScene对象的指针，该对象包含了场景中的所有数据，如节点、几何体、动画等。 +// pFilename：以字符数组形式表示的文件名，指定了要保存场景的目标文件路径和名称。 +// pFileFormat：整数类型的参数，用于指定保存文件时所使用的文件格式。不同的整数值可能对应不同的FBX文件格式版本或其他支持的格式。 +// pEmbedMedia：布尔类型的参数，用于指示是否将媒体数据（如纹理等）嵌入到保存的文件中。如果为true，则媒体数据会被嵌入到文件内；如果为false，则可能会单独存储媒体数据，文件中仅保留引用信息。 +// 返回值：函数返回一个布尔值，表示场景保存操作是否成功。如果成功保存场景，则返回true；否则返回false。 { bool lStatus = true; // 创建一个导出器 From 72c2c16592db73b36aa2a68aca3f3ee2b4b81bd6 Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 22:51:33 +0800 Subject: [PATCH 4/6] Update check_lidar_bb.py --- PythonAPI/util/check_lidar_bb.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PythonAPI/util/check_lidar_bb.py b/PythonAPI/util/check_lidar_bb.py index 7b496b4d1b..40c5786341 100644 --- a/PythonAPI/util/check_lidar_bb.py +++ b/PythonAPI/util/check_lidar_bb.py @@ -150,7 +150,7 @@ def lidar_is_outside_bb(self, check_axis = [True, True, True]): return False - def check_lidar_data(self): + def check_lidar_data(self):// 定义类方法check_lidar_data，可能用于检查激光雷达数据，具体功能看内部实现。 if self.lidar_is_outside_bb(): print("Error!!! Points of lidar point cloud are outside its BB for car %d: %s " % (self._actor_id, self._actor_type)) self.print() From c9cca15832a09177f05c58c2257ed70a1d805189 Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 23:14:58 +0800 Subject: [PATCH 5/6] Update CMakeLists.txt --- LibCarla/cmake/fast_dds/CMakeLists.txt | 43 +++++++++++++------------- 1 file changed, 22 insertions(+), 21 deletions(-) diff --git a/LibCarla/cmake/fast_dds/CMakeLists.txt b/LibCarla/cmake/fast_dds/CMakeLists.txt index e105a9fe28..96f23d8e8d 100644 --- a/LibCarla/cmake/fast_dds/CMakeLists.txt +++ b/LibCarla/cmake/fast_dds/CMakeLists.txt @@ -1,9 +1,9 @@ -cmake_minimum_required(VERSION 3.5.1)# ָCMakeͰ汾Ҫ -project(libcarla_fastdds)# ĿƺͰ汾 +cmake_minimum_required(VERSION 3.5.1)# 指定CMake的最低版本要求 +project(libcarla_fastdds)# 设置项目名称和版本 -# װͷļ -# ʹfile(GLOB)ռصͷļǰװinclude/carla/ros2Ŀ¼ +# 安装头文件 +# 使用file(GLOB)命令收集所有相关的头文件，并将它们安装到include/carla/ros2目录下 file(GLOB libcarla_carla_fastdds_headers "${libcarla_source_path}/carla/ros2/publishers/*.h" "${libcarla_source_path}/carla/ros2/subscribers/*.h" @@ -11,51 +11,52 @@ file(GLOB libcarla_carla_fastdds_headers "${libcarla_source_path}/carla/ros2/types/*.h" ) install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2) -# װFast DDSĶ̬ӿļ +# 安装Fast DDS的动态链接库文件 file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.so*") install(FILES ${fast_dds_dependencies} DESTINATION lib) -# ռlibcarla_fastddsԴļ +# 收集libcarla_fastdds的源文件 file(GLOB libcarla_fastdds_sources "${libcarla_source_path}/carla/ros2/publishers/*.cpp" "${libcarla_source_path}/carla/ros2/subscribers/*.cpp" "${libcarla_source_path}/carla/ros2/listeners/*.cpp" "${libcarla_source_path}/carla/ros2/types/*.cpp") -# C++׼ͷļ·ͱѡ +# 设置C++标准库头文件路径和编译选项 set(FASTDDS_CPP_STD_INCLUDES "/usr/include/c++/7") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CPP_STD_INCLUDES}" CACHE STRING "" FORCE) -# Ƿ÷ԹӦĿ +# 根据是否启用发布或调试构建，创建相应的目标 # ============================================================================== # Create targets for debug and release in the same build type. # ============================================================================== -# ˷汾 +# 如果启用了发布版本构建 if (LIBCARLA_BUILD_RELEASE) -# һ̬Ŀ +# 添加一个静态库目标 add_library(carla_fastdds STATIC ${libcarla_fastdds_sources}) - # ðĿ¼ + # 设置包含目录 target_include_directories(carla_fastdds SYSTEM PRIVATE "${BOOST_INCLUDE_PATH}" "${RPCLIB_INCLUDE_PATH}") - # Fast DDS˽аĿ¼ + # 添加Fast DDS和其他私有包含目录 target_include_directories(carla_fastdds PRIVATE "${FASTDDS_INCLUDE_PATH}") - target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2") - # + target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")# 将指定路径 "${libcarla_source_path}/carla/ros2" 添加为名为 carla_fastdds 这个目标的私有包含目录。 +# 这样在编译与 carla_fastdds 相关代码时，编译器就能在该目录下查找头文件等，PRIVATE 表示此包含目录仅对 carla_fastdds 自身的编译起作用。 + # 链接依赖库 target_link_libraries(carla_fastdds fastrtps fastcdr "${FAST_DDS_LIBRARIES}") - # װ⵽libĿ¼ + # 安装库到lib目录 install(TARGETS carla_fastdds DESTINATION lib) set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}") endif() -# ˵԰汾 +# 如果启用了调试版本构建 if (LIBCARLA_BUILD_DEBUG) - # һ̬Ŀ꣨԰棩 - add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})# ðĿ¼ + # 添加一个静态库目标（调试版） + add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})# 设置包含目录 target_include_directories(carla_fastdds_debug SYSTEM PRIVATE "${BOOST_INCLUDE_PATH}" "${RPCLIB_INCLUDE_PATH}") - # װ԰⵽libĿ¼ + # 安装调试版库到lib目录 install(TARGETS carla_fastdds_debug DESTINATION lib) - set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")# ñ־ - target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)# BoostASIO + set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")# 设置编译标志 + target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)# 启用Boost的ASIO调试 endif() From 3038beb226d06e2407ad82b29bff1cf4885fcea4 Mon Sep 17 00:00:00 2001 From: zuo664 <2174395400@qq.com> Date: Fri, 20 Dec 2024 23:20:36 +0800 Subject: [PATCH 6/6] Update setup.py --- PythonAPI/carla/setup.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/PythonAPI/carla/setup.py b/PythonAPI/carla/setup.py index 8a527f1480..e86900310b 100644 --- a/PythonAPI/carla/setup.py +++ b/PythonAPI/carla/setup.py @@ -123,7 +123,9 @@ def walk(folder, file_filter='*'): # extra_link_args += ['/usr/lib/gcc/x86_64-linux-gnu/7/libstdc++.a'] extra_link_args += ['-lstdc++'] else: - raise NotImplementedError(linux_distro + " not in supported posix platforms: " + str(supported_dists)) + raise NotImplementedError(linux_distro + " not in supported posix platforms: " + str(supported_dists))# 抛出一个NotImplementedError异常，异常信息由当前的Linux发行版名称（linux_distro变量的值） +# 与提示信息拼接而成，提示信息表明当前这个Linux发行版不在支持的POSIX平台列表（supported_dists变量转成字符串后的内容）之中， +# 通常用于表示当前代码所在环境对应的Linux发行版不被程序所支持，需要进行相应适配等情况。 elif os.name == "nt": pwd = os.path.dirname(os.path.realpath(__file__)) pylib = 'libboost_python%d%d' % (