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Possible documentation error of recorder file #5230

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dvdhfnr opened this issue Mar 4, 2022 · 2 comments
Open

Possible documentation error of recorder file #5230

dvdhfnr opened this issue Mar 4, 2022 · 2 comments
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@dvdhfnr
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dvdhfnr commented Mar 4, 2022

CARLA version: 0.9.13
Platform/OS: Linux
Problem you have experienced: Documentation does not fit to code.
What you expected to happen: When recording a vehicle turn, the yaw angle in the recorded vehicle position should change. However, it stays close to 0, and the roll is changing; if interpreting the last element of the rotation as roll - according to this docu.
Steps to reproduce: Record a file while a certain car is performing a turn, and check the binary recorder file.
Other information (documentation you consulted, workarounds you tried): https://carla.readthedocs.io/en/latest/ref_recorder_binary_file_format/#packet-6-position

I suppose that the actual rotation angle order in the recorder file is (roll, pitch, yaw) instead of (pitch, yaw, roll). According to

the recorder does not write a Carla rotation object (which would be (pitch, yaw, roll)) to the recorder file, but the Euler angles of a FTransform, or rather FQuat. Here, the order is (roll, pitch, yaw); see https://github.com/CarlaUnreal/UnrealEngine/blob/68061ec34a1503dd995dbf37d28607bfef220eea/Engine/Source/Runtime/Core/Private/Math/UnrealMath.cpp#L493.

It seems to be only an error in the documentation of the recorder file (https://carla.readthedocs.io/en/latest/ref_recorder_binary_file_format/#packet-6-position). Since the data is written and read in the same way, there is no "bug" in the code, and everything seems to work fine.

Thanks for looking into this!

@stale
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stale bot commented Jun 2, 2023

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

@stale stale bot added the stale Issue has not had recent activity label Jun 2, 2023
@Blyron
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Blyron commented May 10, 2024

You are right. We will be fixing this soon

@stale stale bot removed the stale Issue has not had recent activity label May 10, 2024
@Blyron Blyron moved this to Todo in PUBLIC ROADMAP May 10, 2024
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