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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
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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 theroll
is changing; if interpreting the last element of the rotation asroll
- 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 tocarla/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
Line 158 in 8854804
(pitch, yaw, roll)
) to the recorder file, but the Euler angles of aFTransform
, or ratherFQuat
. 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!
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