2.0.0

What's New?

• New object classes: SimBEV can now collect information about traffic lights and signs, including their 3D bounding box. In addition to information collected for all object classes, for traffic lights SimBEV also collects their current state and their light timing, and for traffic signs their type, if provided by CARLA (which is generally the case for stop, yield, and speed limit signs).

• New BEV classes: SimBEV now supports three new classes when collecting the BEV ground truth: road line, sidewalk, and crosswalk.

• HD map information: SimBEV now collects information about the waypoint at the ego vehicle's location such as its road ID, lane ID, lane type, lane width, and left/right lane markings, which, when combined with the map's OpenDRIVE data should provide accurate map information about the area around the ego vehicle.

• Variable scene duration: You can now set the desired minimum and maximum scene duration values and SimBEV will randomly select a duration within that interval for each scene (setting both to the same value results in scenes with constant duration). You can also choose to terminate a scene early if the ego vehicle has not moved for a certain period of time.

• Multi-GPU support: If you have more than one GPU, you can now assign one to render CARLA and another one to do the PyTorch CUDA calculations.

• Continuous weather shifts: You can now enable continuous weather shifts within each scene. You can set any subset of weather parameters for the desired initial and final weathers and SimBEV will choose the rest at random.

Note: if you previously downloaded our enhanced content library please replace the OpenDRIVE files with the ones below.