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Docs preview (#4983) * add UE4 warning * fixed UE4 build warning * removed file * created inst seg tutorial * added instance segmentation image * added to index * fix * added menu entries * texture streaming tutorial * reorganised instance segmentation tutorial * texture tutorial revision * typos * typos * added PIL link * added tooltip * remove tooltip image * replace tooltip image * removed tooltip image * added tooltip image * replaced image * texture streaming tutorial update * started pedestrian bones tutorial * added image * updates * updates * added download link for skeleton.txt * fixed link * fixed link * completed pedestrian tutorial * small change * small fix * TM tutorial * added new gif * typo * finished TM tutorial * small edit * small edit * typo * pygame tutorial * added gif to pygame tutorial * corrected gif location * replaced manual_control.gif * typos * fixed pygame tutorial * import numpy * pedestrian tutorial corrections * corrected pedestrian bones tutorial * added actors and blueprints * indexed getting started tutorial * fixed links * index.md refactor * mkdocs.yml nav refactor * mkdocs.yml syntax error * main docs refactor * new documentation structure * content authoring tutorials * content authoring tutorial * content authoring * latest changes * vehicle authoring tutorial * finished vehicle content tutorial * finished vehicles tutorial * adjusted outline * finalise authoring tutorials * rearrange index.md * extended index.md * change mkdocs format * update jinja version * bounding box tutorial * fix stray files * remove changes in build.sh * proof read * guillermo's pr edits * bbox tutorial changes * guillermo's pr edits 1 * added modeling guidelines and blender add on * added COCO export format * added bounding boxes to tutorials * merged bounding box tutorial Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>
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# Sensors and data
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Sensors are actors that retrieve data from their surroundings. They are crucial to create learning environment for driving agents.
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This page summarizes everything necessary to start handling sensors. It introduces the types available and a step-by-step guide of their life cycle. The specifics for every sensor can be found in the [sensors reference](ref_sensors.md).
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* [__Sensors step-by-step__](#sensors-step-by-step)
* [Setting](#setting)
* [Spawning](#spawning)
* [Listening](#listening)
* [Data](#data)
* [__Types of sensors__](#types-of-sensors)
* [Cameras](#cameras)
* [Detectors](#detectors)
Docs preview (#4983) * add UE4 warning * fixed UE4 build warning * removed file * created inst seg tutorial * added instance segmentation image * added to index * fix * added menu entries * texture streaming tutorial * reorganised instance segmentation tutorial * texture tutorial revision * typos * typos * added PIL link * added tooltip * remove tooltip image * replace tooltip image * removed tooltip image * added tooltip image * replaced image * texture streaming tutorial update * started pedestrian bones tutorial * added image * updates * updates * added download link for skeleton.txt * fixed link * fixed link * completed pedestrian tutorial * small change * small fix * TM tutorial * added new gif * typo * finished TM tutorial * small edit * small edit * typo * pygame tutorial * added gif to pygame tutorial * corrected gif location * replaced manual_control.gif * typos * fixed pygame tutorial * import numpy * pedestrian tutorial corrections * corrected pedestrian bones tutorial * added actors and blueprints * indexed getting started tutorial * fixed links * index.md refactor * mkdocs.yml nav refactor * mkdocs.yml syntax error * main docs refactor * new documentation structure * content authoring tutorials * content authoring tutorial * content authoring * latest changes * vehicle authoring tutorial * finished vehicle content tutorial * finished vehicles tutorial * adjusted outline * finalise authoring tutorials * rearrange index.md * extended index.md * change mkdocs format * update jinja version * bounding box tutorial * fix stray files * remove changes in build.sh * proof read * guillermo's pr edits * bbox tutorial changes * guillermo's pr edits 1 * added modeling guidelines and blender add on * added COCO export format * added bounding boxes to tutorials * merged bounding box tutorial Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>
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* [Other](#other)
* [__Sensors reference__](ref_sensors.md)
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---
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## Sensors step-by-step
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The class [carla.Sensor](python_api.md#carla.Sensor) defines a special type of actor able to measure and stream data.
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* __What is this data?__ It varies a lot depending on the type of sensor. All the types of data are inherited from the general [carla.SensorData](python_api.md#carla.SensorData).
* __When do they retrieve the data?__ Either on every simulation step or when a certain event is registered. Depends on the type of sensor.
* __How do they retrieve the data?__ Every sensor has a `listen()` method to receive and manage the data.
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Despite their differences, all the sensors are used in a similar way.
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### Setting
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As with every other actor, find the blueprint and set specific attributes. This is essential when handling sensors. Their attributes will determine the results obtained. These are detailed in the [sensors reference](ref_sensors.md).
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The following example sets a dashboard HD camera.
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```py
# Find the blueprint of the sensor.
blueprint = world.get_blueprint_library().find('sensor.camera.rgb')
# Modify the attributes of the blueprint to set image resolution and field of view.
blueprint.set_attribute('image_size_x', '1920')
blueprint.set_attribute('image_size_y', '1080')
blueprint.set_attribute('fov', '110')
# Set the time in seconds between sensor captures
blueprint.set_attribute('sensor_tick', '1.0')
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```
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### Spawning
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`attachment_to` and `attachment_type`, are crucial. Sensors should be attached to a parent actor, usually a vehicle, to follow it around and gather the information. The attachment type will determine how its position is updated regarding said vehicle.
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* __Rigid attachment.__ Movement is strict regarding its parent location. This is the proper attachment to retrieve data from the simulation.
* __SpringArm attachment.__ Movement is eased with little accelerations and decelerations. This attachment is only recommended to record videos from the simulation. The movement is smooth and "hops" are avoided when updating the cameras' positions.
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* __SpringArmGhost attachment.__ Like the previous one but without doing the collision test, so the camera or sensor could cross walls or other geometries.
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```py
transform = carla.Transform(carla.Location(x=0.8, z=1.7))
sensor = world.spawn_actor(blueprint, transform, attach_to=my_vehicle)
```
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When spawning with attachment, location must be relative to the parent actor.
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### Listening
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Every sensor has a [`listen()`](python_api.md#carla.Sensor.listen) method. This is called every time the sensor retrieves data.
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The argument `callback` is a [lambda function](https://www.w3schools.com/python/python_lambda.asp). It describes what should the sensor do when data is retrieved. This must have the data retrieved as an argument.
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```py
# do_something() will be called each time a new image is generated by the camera.
sensor.listen(lambda data: do_something(data))
...
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# This collision sensor would print everytime a collision is detected.
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def callback(event):
for actor_id in event:
vehicle = world_ref().get_actor(actor_id)
print('Vehicle too close: %s' % vehicle.type_id)
sensor02.listen(callback)
```
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### Data
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Most sensor data objects have a function to save the information to disk. This will allow it to be used in other environments.
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Sensor data differs a lot between sensor types. Take a look at the [sensors reference](ref_sensors.md) to get a detailed explanation. However, all of them are always tagged with some basic information.
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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| Sensor data attribute | Type | Description |
| -------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- |
| `frame` | int | Frame number when the measurement took place. |
| `timestamp` | double | Timestamp of the measurement in simulation seconds since the beginning of the episode. |
| `transform` | [carla.Transform](<../python_api#carlatransform>) | World reference of the sensor at the time of the measurement. |
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<br>
Final draft
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
2020-12-14 20:15:32 +08:00
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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!!! Important
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`is_listening` is a __sensor attribute__ that enables/disables data listening at will.
`sensor_tick` is a __blueprint attribute__ that sets the simulation time between data received.
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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Final draft
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---
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## Types of sensors
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### Cameras
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Take a shot of the world from their point of view. For cameras that return [carla.Image](<../python_api#carlaimage>), you can use the helper class [carla.ColorConverter](python_api.md#carla.ColorConverter) to modify the image to represent different information.
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* __Retrieve data__ every simulation step.
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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Included DVS sensor in Core sensors page, fixed some links in Python API and added info about when DVS will not return an image
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|Sensor |Output | Overview |
| ----------------- | ---------- | ------------------ |
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| [Depth](ref_sensors.md#depth-camera) | [carla.Image](<../python_api#carlaimage>) |Renders the depth of the elements in the field of view in a gray-scale map. |
| [RGB](ref_sensors.md#rgb-camera) | [carla.Image](<../python_api#carlaimage>) | Provides clear vision of the surroundings. Looks like a normal photo of the scene. |
| [Optical Flow](ref_sensors.md#optical-flow-camera) | [carla.Image](<../python_api#carlaimage>) | Renders the motion of every pixel from the camera. |
| [Semantic segmentation](ref_sensors.md#semantic-segmentation-camera) | [carla.Image](<../python_api#carlaimage>) | Renders elements in the field of view with a specific color according to their tags. |
| [Instance segmentation](ref_sensors.md#instance-segmentation-camera) | [carla.Image](<../python_api#carlaimage>) | Renders elements in the field of view with a specific color according to their tags and a unique object ID. |
| [DVS](ref_sensors.md#dvs-camera) | [carla.DVSEventArray](<../python_api#carladvseventarray>) | Measures changes of brightness intensity asynchronously as an event stream. |
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2020-12-14 20:15:32 +08:00
sergi-e/sidebar-bug (#2529) * Fix indexes for all the documentation. * Added instructions for development assets in linux build * Table bottom-margin workaround
2020-03-02 16:40:34 +08:00
<br>
Final draft
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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---
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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### Detectors
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Retrieve data when the object they are attached to registers a specific event.
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* __Retrieve data__ when triggered.
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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| Sensor | Output | Overview |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
Docs preview (#4983) * add UE4 warning * fixed UE4 build warning * removed file * created inst seg tutorial * added instance segmentation image * added to index * fix * added menu entries * texture streaming tutorial * reorganised instance segmentation tutorial * texture tutorial revision * typos * typos * added PIL link * added tooltip * remove tooltip image * replace tooltip image * removed tooltip image * added tooltip image * replaced image * texture streaming tutorial update * started pedestrian bones tutorial * added image * updates * updates * added download link for skeleton.txt * fixed link * fixed link * completed pedestrian tutorial * small change * small fix * TM tutorial * added new gif * typo * finished TM tutorial * small edit * small edit * typo * pygame tutorial * added gif to pygame tutorial * corrected gif location * replaced manual_control.gif * typos * fixed pygame tutorial * import numpy * pedestrian tutorial corrections * corrected pedestrian bones tutorial * added actors and blueprints * indexed getting started tutorial * fixed links * index.md refactor * mkdocs.yml nav refactor * mkdocs.yml syntax error * main docs refactor * new documentation structure * content authoring tutorials * content authoring tutorial * content authoring * latest changes * vehicle authoring tutorial * finished vehicle content tutorial * finished vehicles tutorial * adjusted outline * finalise authoring tutorials * rearrange index.md * extended index.md * change mkdocs format * update jinja version * bounding box tutorial * fix stray files * remove changes in build.sh * proof read * guillermo's pr edits * bbox tutorial changes * guillermo's pr edits 1 * added modeling guidelines and blender add on * added COCO export format * added bounding boxes to tutorials * merged bounding box tutorial Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>
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| [Collision](ref_sensors.md#collision-detector) | [carla.CollisionEvent](<../python_api#carlacollisionevent>) | Retrieves collisions between its parent and other actors. |
| [Lane invasion](ref_sensors.md#lane-invasion-detector) | [carla.LaneInvasionEvent](<../python_api#carlalaneinvasionevent>) | Registers when its parent crosses a lane marking. |
| [Obstacle](ref_sensors.md#obstacle-detector) | [carla.ObstacleDetectionEvent](<../python_api#carlaobstacledetectionevent>) | Detects possible obstacles ahead of its parent. |
Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
2020-12-14 20:15:32 +08:00
sergi-e/sidebar-bug (#2529) * Fix indexes for all the documentation. * Added instructions for development assets in linux build * Table bottom-margin workaround
2020-03-02 16:40:34 +08:00
<br>
Final draft
2020-03-02 21:35:50 +08:00
Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
2020-12-14 20:15:32 +08:00
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
2020-03-17 16:24:43 +08:00
### Other
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Different functionalities such as navigation, measurement of physical properties and 2D/3D point maps of the scene.
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
2020-03-17 16:24:43 +08:00
Recover spaces from core_sensors
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* __Retrieve data__ every simulation step.
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
2020-03-17 16:24:43 +08:00
Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
2020-12-14 20:15:32 +08:00
| Sensor | Output | Overview |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
Docs preview (#4983) * add UE4 warning * fixed UE4 build warning * removed file * created inst seg tutorial * added instance segmentation image * added to index * fix * added menu entries * texture streaming tutorial * reorganised instance segmentation tutorial * texture tutorial revision * typos * typos * added PIL link * added tooltip * remove tooltip image * replace tooltip image * removed tooltip image * added tooltip image * replaced image * texture streaming tutorial update * started pedestrian bones tutorial * added image * updates * updates * added download link for skeleton.txt * fixed link * fixed link * completed pedestrian tutorial * small change * small fix * TM tutorial * added new gif * typo * finished TM tutorial * small edit * small edit * typo * pygame tutorial * added gif to pygame tutorial * corrected gif location * replaced manual_control.gif * typos * fixed pygame tutorial * import numpy * pedestrian tutorial corrections * corrected pedestrian bones tutorial * added actors and blueprints * indexed getting started tutorial * fixed links * index.md refactor * mkdocs.yml nav refactor * mkdocs.yml syntax error * main docs refactor * new documentation structure * content authoring tutorials * content authoring tutorial * content authoring * latest changes * vehicle authoring tutorial * finished vehicle content tutorial * finished vehicles tutorial * adjusted outline * finalise authoring tutorials * rearrange index.md * extended index.md * change mkdocs format * update jinja version * bounding box tutorial * fix stray files * remove changes in build.sh * proof read * guillermo's pr edits * bbox tutorial changes * guillermo's pr edits 1 * added modeling guidelines and blender add on * added COCO export format * added bounding boxes to tutorials * merged bounding box tutorial Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>
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| [GNSS](ref_sensors.md#gnss-sensor) | [carla.GNSSMeasurement](<../python_api#carlagnssmeasurement>) | Retrieves the geolocation of the sensor. |
| [IMU](ref_sensors.md#imu-sensor) | [carla.IMUMeasurement](<../python_api#carlaimumeasurement>) | Comprises an accelerometer, a gyroscope, and a compass. |
| [LIDAR](ref_sensors.md#lidar-sensor) | [carla.LidarMeasurement](<../python_api#carlalidarmeasurement>) | A rotating LIDAR. Generates a 4D point cloud with coordinates and intensity per point to model the surroundings. |
| [Radar](ref_sensors.md#radar-sensor) | [carla.RadarMeasurement](<../python_api#carlaradarmeasurement>) | 2D point map modelling elements in sight and their movement regarding the sensor. |
| [RSS](ref_sensors.md#rss-sensor) | [carla.RssResponse](<../python_api#carlarssresponse>) | Modifies the controller applied to a vehicle according to safety checks. This sensor works in a different manner than the rest, and there is specific [RSS documentation](<../adv_rss>) for it. |
| [Semantic LIDAR](ref_sensors.md#semantic-lidar-sensor) | [carla.SemanticLidarMeasurement](<../python_api#carlasemanticlidarmeasurement>) | A rotating LIDAR. Generates a 3D point cloud with extra information regarding instance and semantic segmentation. |
Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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sergi-e/sidebar-bug (#2529) * Fix indexes for all the documentation. * Added instructions for development assets in linux build * Table bottom-margin workaround
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<br>
Final draft
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Converting html tags (table, image, link, etc.) into markdown (#3629) * Converting html tags (table, image, link, etc.) into markdown, fixing an issue with python marrkdown generation script * Converting tables for pandoc * Incorrect code block * Changelog is updated Co-authored-by: Corinne <38050983+corkyw10@users.noreply.github.com> Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>
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Final draft
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---
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That is a wrap on sensors and how do these retrieve simulation data.
Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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Thus concludes the introduction to CARLA. However there is yet a lot to learn.
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* __Continue learning.__ There are some advanced features in CARLA: rendering options, traffic
manager, the recorder, and some more. This is a great moment to learn more about them.
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<div class="build-buttons">
<p>
Links checked (#2661)
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<a href="../adv_synchrony_timestep" target="_blank" class="btn btn-neutral" title="Synchrony and time-step">
fixed links
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Synchrony and time-step</a>
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</p>
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* __Experiment freely.__ Take a look at the __References__ section of this documentation. It
contains detailed information on the classes in the Python API, sensors, code snippets and much
more.
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<p>
Links checked (#2661)
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<a href="../python_api" target="_blank" class="btn btn-neutral" title="Python API reference">
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Python API reference</a>
</p>
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Sergi e/p098 core (#2583) * Style fixes and iteration * Mid iteration for rebase * Finished core + town slider * First fix waiting for Reviewable * Iteration on G comments * Added spectator example * Fixed typo * Added minor change to generate opendrive world
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* __Give your two cents.__ Any doubts, suggestions and ideas are welcome in the forum.
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<div class="build-buttons">
<p>
Changed forum links to point to GitHub discussions (#4111)
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<a href="https://github.com/carla-simulator/carla/discussions/" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
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CARLA forum</a>
</p>
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