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上一篇文章Deepdrive on Unreal Engine 虚幻4无人驾驶模拟-Introduction我对Deepdrive 2.0的提出、设想、实现做了简要概述。
现在就来看看作者提供的程序代码吧！
GitHub :
Deepdrive - Agents, training训练代码（net）, and API to simulator 模拟器Deepdrive sim - Unreal project虚幻4项目, Unreal Plugin插件, assets配置, and Python extension
先简要介绍一下Deepdrive 2.0 的主要特点：
Modifiable source: Our AI, Unreal plugin, simulation assets and code, and Unreal Engine are all on GitHub, so you can modify the agent and the environment to automate labeling and iterate on ideas.Eight cameras with depth: Enable up to eight cameras with images and depth transferred at blazing speeds via shared memory (共享内存). i.e. Eight 512x512 48 bit RGB with 16 bit depth channel cameras, uncompressed on a GTX 980 over PCIe 3.0 x 16 are available at 20Hz as NumPy arrays.Linux / Windows support: First class support for Linux and Windows, one command python install.py, and you'll be piloting Deepdrive in minutes.Visual scripting: Quickly change anything in the simulation with Unreal Blueprints (虚幻引擎中的蓝图 - 可视化脚本系统) , using the full power of Unreal's C++ APIC++ extendability: Everything is C++ under the hood, so you can integrate existing systems and highly optimize anything you want.Python API: Interface through the Gym API using a reward function based on speed, safety, legality, and comfort
Deepdrive 2.0 的插件主要分为两块：
Capturing：从simulation中提取任意数量的live streams、包含Agent的实时状态数据Control：Control capturing
Deepdrive Python C++拓展模块：
Deepdrive capture
Reset : 重置Unreal Engine环境、与Shared Memory建立连接Step ：从UE获取下一个StepClose ：关闭与Unreal Engine环境的链接
Capture模块主要包含以下几个cpp文件：
~ SharedMemory.cpp (Memory management、operation共享内存的管理、操作)
~ DeepDriveSharedMemoryClient.cpp (Receive capture message从UE获取训练数据)
~ deepdrive_capture.cpp (Start/Close connection to shared memory共享内存的连接断开
Query next step from UE)
~ NumPyUtils.cpp (Copyvector3、Getvector3函数，数据操作)Deepdrive client
Close : Closes an existing client connection and frees all depending resourcesRegister_camera : Register a capture camera get_shared_memory : Get data from shared memoryrequest_agent_control : Request control over agent release_agent_control : Release control over agentreset_agent : Reset the agent set_control_values :Send control value set to server
~ deepdrive_client.cpp
~ DeepDriveClient.cpp: Create/close client to Deepdrive Server
Register camera
Get shared memory name and size for client
Control operation over agent
~ IP4Address.cpp
~ IP4ClientSocket.cpp: Socket operation
~ NumPyUtils.cppExtra_compile_args
~ SharedMemoryImpl_Linux.cpp
~ IP4ClientSocketImpl_Linux.cpp
~ -std=c++11PyObject *res =
g_SharedMemClient ? reinterpret_cast<PyObject*> (g_SharedMemClient->readMessage()) : 0;
/////////////////////////////////////////////////////////////////////////////////////////////
数据内容：
msg->
capture_timestamp sequence_number
speed
is_game_driving is_resetting
camera_count
distance_along_route distance_to_center_of_lane
lap_number
steering
throttle
brake
Handbrake
position
rotation
velocity
acceleration
dimension
angular_velocity
angular_acceleration
forward_vector forward_vector
up_vector
right_vector下一篇将对Deepdrive的数据Recording源码作详解。
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发表于 2020-11-27 15:21
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