Carla: Customized CameraRGB size not working in Windows using Direct3D

[wzhAptiv]

In Version 0.8.0 (Win)
I only changed WINDOW_WIDTH and WINDOW_HEIGHT to 400 and 300, then I got assert error, with raw_data_length as 499200, larger than 4x400x300. But I have no problem with 800x600. Any solution?

But it all worked in 0.7.1 (Win).

[juaxix]

Hello @wzhAptiv ,can you provide the command and log please?,
thanks

[wzhAptiv]

Hello @juaxix , here are the command for starting carla-server, the modified manual_control.py (only changed WINDOW_WIDTH = 400, WINDOW_HEIGHT = 300, MINI_WINDOW_WIDTH = 160, MINI_WINDOW_HEIGHT = 90), and the python command with cmd-output.
I only omitted the absolute path as 'Path', please be aware.

run_Carla.bat.txt
manual_control_demo_debug.py.txt
python_cmd_log.txt

I tried a few other window_widths & heights, non of them worked except 800x600.
The error came from 'CameraRGB'.

P.S. My python is 3.5.3.

Thank you.

[juaxix]

Hey @wzhAptiv I noticed that your command has a typo with the option _-carla-server_ ,you used -clara-server, please fix that.

Now, I've just tested it with this command for the server:
CarlaUE4.exe /Game/Maps/Town01 -windowed -ResX=400 -ResY=300 -carla-server -carla-world-port=2000 -fps=10 -benchmark

and this command for the client:
python manual_control.py -l -q Low -m Town01

and this works perfectly as you can see in the screenshots:
Town 1:

Town 2:

I'm using the python version 3.6.4

Note: if you are not going to use the main screen you can set this command (use º to bring up the console in the server main window)

r.ScreenPercentage 1

and with the G key you can deactivate the HUD, that will give you around 2-3FPS more.
Thanks

[wzhAptiv]

Hello @juaxix , have you tried to change the window size? or try my modified .py script?
According to your screenshot, it seems you are just running 800x600, which I also have no problem.

Also, thanks for pointing out the typo in command.

[juaxix]

You are right @wzhAptiv ,this is a bug related to Direct3D that is adding more information to the texture of the screen capture to be sent so the array of data is bigger than 4 colors * width * height.
The work-around right now is go and try to use other API instead of Direct3D.

Run:

CarlaUE4.exe /Game/Maps/Town01 -windowed -ResX=400 -ResY=300 -carla-server -carla-world-port=2000 -fps=10 -benchmark -opengl

or

CarlaUE4.exe /Game/Maps/Town01 -windowed -ResX=400 -ResY=300 -carla-server -carla-world-port=2000 -fps=10 -benchmark _-vulkan_

because CARLA for Windows is built with support for OpenGL3/4 (SM4,SM5) and Vulkan (SM5).

You can install Vulkan drivers for Windows using intel, nvidia or amd support pages.

Screenshot using Vulkan:

We will dig in this to get more info from the EPIC team to find a fix for Unreal 4.19 together with other fixes.

[wzhAptiv]

Thank you and I'll try other API at the moment.
Hope we can see the fix soon.

[juaxix]

Update:
The problem is this line

uint8 *src = reinterpret_cast<uint8*>(RHILockTexture2D(texture, 0, RLM_ReadOnly, stride, false));

With a resolution of 320x180 the stride is 1280 so 1280*180 = 230400 --> it's the same as 320*180*4 = 230400

With 400x300 the stride is 1664 --> 1664*300 = 499200 != 400*300*4 = 480000

With 800x600 the stride is 3200 --> 3200*600 = 1920000 = 800*600*4

so you just have to find the correct resolution

[juaxix]

This is fixed in b8b27447d94a3f6877d896ef8422c991d2a4ec9c

[wzhAptiv]

Thank you for the fix!