硬件与驱动说明
台式机
i7-8700
GeForce 1660
ubuntu16.4
UE4高速下载与安装
ss选择http(s)模式并开启，然后设置代理
git config --global http.https://github.com.proxy http://127.0.0.1:12333
git config --global https.https://github.com.proxy http://127.0.0.1:12333
用如下命令下载UE4 4.22/carla0.9.6(UE4 4.19/carla0.9.2 ,4.18版本会在compiling shaders之后crash)版本
git clone -b 4.22 --single-branch --depth=1 https://github.com/EpicGames/UnrealEngine.git
如果想删除代理，可用如下代码，建议别删，以后都走代理clone速度快
git config --global --unset http.https://github.com.proxy http://127.0.0.1:12333
git config --global --unset https.https://github.com.proxy http://127.0.0.1:12333
执行如下命令编译安装UE4
sudo apt-get update
sudo apt-get install wget software-properties-common
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-7 main"
sudo apt-get update
sudo apt-get install build-essential g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync
pip2 install --user setuptools
pip3 install --user setuptools
#sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-7/bin/clang++ 170
#sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-7/bin/clang 170
cd UnrealEngine
注释掉Engine/Build/BatchFiles/Linux/SetupToolchain.sh这个文件
浏览器下载Engine/Build/BatchFiles/Linux/SetupToolchain.sh文件中的http://cdn.unrealengine.com/Toolchain_Linux/native-linux-v13_clang-7.0.1-centos7.tar.gz
解压到/usr/local/clang-7.0.1
tar zxvf native-linux-v13_clang-7.0.1-centos7.tar.gz
mv v13_clang-7.0.1-centos7 /usr/local/clang-7.0.1
sudo update-alternatives --install /usr/bin/clang clang /usr/local/clang-7.0.1/x86_64-unknown-linux-gnu/bin/clang 3
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/local/clang-7.0.1/x86_64-unknown-linux-gnu/bin/clang++ 3
sudo update-alternatives --config clang
sudo update-alternatives --config clang++
./Setup.sh
#rm -rf .git/ue4-sdks/v13_clang-7.0.1-centos7.tar.gz
#rm -rf Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v13_clang-7.0.1-centos7
#cp ../native-linux-v13_clang-7.0.1-centos7.tar.gz .git/ue4-sdks/v13_clang-7.0.1-centos7.tar.gz
#Engine/Build/BatchFiles/Linux/SetupToolchain.sh
./GenerateProjectFiles.sh
make -j11
make -j11 重要重要重要重要重要重要重要重要，记得执行两遍
./Engine/Binaries/Linux/UE4Editor
设置环境变量UE4_ROOT=~/UnrealEngine_4.19
打开UE4Editor等compiling shaders之后没crash
Airsim安装
同上设置好代理
先装qt
设置/usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf值为：/opt/Qt5.13.0/5.13.0/gcc_64/bin和/opt/Qt5.13.0/5.13.0/gcc_64/lib
sudo apt-get install libglfw3-dev libgles2-mesa-dev
sudo rm /usr/lib/x86_64-linux-gnu/libEGL.so
ln -s /usr/lib/x86_64-linux-gnu/libEGL.so.1.1.0 /usr/lib/x86_64-linux-gnu/libEGL.so
sudo rm /usr/lib/x86_64-linux-gnu/libGL.so
ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1.7.0 /usr/lib/x86_64-linux-gnu/libGL.so
git clone --single-branch --depth=1 https://github.com/Microsoft/AirSim.git
cd AirSim
./setup.sh
确保文件夹llvm-build内有文件
./build.sh
无人机无人车同时
git clone -b v1.2.1 --single-branch --depth=1 https://github.com/kshitiz38/AirSim.git
git clone -b both/1.2.1 --single-branch --depth=1 https://github.com/kshitiz38/AirSim.git
cd AirSim
./setup.sh
./build.sh
设置AIRSIM_ROOT
fov=2*arctan(width/2f)
unrealcv安装
git clone --single-branch --depth=1 https://github.com/unrealcv/unrealcv.git
python36 -m pip install -U unrealcv
python36 build.py --UE4 "/home/hachiya/Downloads/UnrealEngine"
复制插件到UE4项目的Plugins目录即可
carla安装
注意下载0.9.2版本，与UE4.19对应，都是依赖clang5.0
git clone --branch 0.9.2 --single-branch --depth=1 --recursive https://github.com/carla-simulator/carla
git clone --branch 0.9.6 --single-branch --depth=1 --recursive https://github.com/carla-simulator/carla
cd carla
打开Util/ContentVersions.txt下载对应0.9.2版本的content.tar.gz文件
然后解压到carla/Unreal/CarlaUE4/Content/Carla文件夹
./Update.sh -s
#git clone https://github.com/ninja-build/ninja.git
#cd ninja
#./configure.py --bootstrap
#cp ninja /usr/bin/
#cd ..
#rm -rf ninja
./Util/BuildTools/Setup.sh
#sudo apt-get install mono-xbuild
make launch
make LibCarla
make PythonApI.2
注意：
由于sudo apt-get install libpng16-dev libtiff5-dev libjpeg-dev与ros冲突"，make PythonAPI.2之前，需先在./Util/BuildTools/Setup.sh文件中找到DLIBCARLA_IMAGE_WITH_PNG_SUPPORT命令块注释掉，用下面的代替
log "Disabling PNG support"
echo "add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=false)" >> ${CMAKE_CONFIG_FILE}.gen
并执行./Util/BuildTools/Setup.sh
修改carla/PythonAPI/setup.py，或PythonAPI/carla/setup.py将
extra_link_args += ['-lpng', '-ljpeg', '-ltiff']
extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true']
改为
extra_link_args += ['-ljpeg', '-ltiff']
extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=false']
还有make launch之前要先删除Unreal/CarlaUE4/Makefile
无显示off-screen 运行
SDL_VIDEODRIVER=offscreen SDL_HINT_CUDA_DEVICE=0 ./CarlaUE4.sh
sudo pip install pygame numpy
提高帧率
- 更新unreal版本位4.22，carla版本为0.9.6（主要0）
- 设置setting中属性
"ViewMode":"NoDisplay",（主要1） - 设置setting中camera图片大小（主要2）
- 在unreal editor中设置project的framerate为fixed frame rate 60并启用（主要3，自行调整到最适合值）
安装pcl_viewer
sudo apt-get install pcl-tools