carla/PythonAPI/docs/sensor_data.yml

---
- module_name: carla
  # - CLASSES ------------------------------
  classes:
  - class_name: SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Base class for all the objects containing data generated by a carla.Sensor. This objects should be the argument of the function said sensor is listening to, in order to work with them. Each of these sensors needs for a specific type of sensor data. The relation between available sensors and their corresponding data goes like:        
        - Cameras (RGB, depth and semantic segmentation): carla.Image.        
        - Collision detector: carla.CollisionEvent.        
        - Gnss detector: carla.GnssMeasurement.        
        - IMU detector: carla.IMUMeasurement.      
        - Lane invasion detector: carla.LaneInvasionEvent.        
        - Lidar raycast: carla.LidarMeasurement.        
        - Obstacle detector: carla.ObstacleDetectionEvent.        
        - Radar detector: carla.RadarMeasurement.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: frame
      type: int
      doc: >
        Frame count when the data was generated.
    - var_name: timestamp
      type: float
      doc: >
        Simulation-time when the data was generated.
    - var_name: transform
      type: carla.Transform
      doc: >
        Sensor's transform when the data was generated.
    # --------------------------------------

  - class_name: ColorConverter
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines conversion patterns that can be applied to a carla.Image in order to show information provided by carla.Sensor. Depth conversions cause a loss of accuracy, as sensors detect depth as <b>float</b> that is then converted to a grayscale value between 0 and 255. Take a look a this [recipe](ref_code_recipes.md#converted-image-recipe) to see an example of how to create and save image data for <b>sensor.camera.semantic_segmentation</b>. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: CityScapesPalette
      doc: >
        Converts the image to a segmentated map using tags provided by the blueprint library. Used by <b>sensor.camera.semantic_segmentation</b>. 
    - var_name: Depth
      doc: >
        Converts the image to a linear depth map. Used by <b>sensor.camera.depth</b>. 
    - var_name: LogarithmicDepth
      doc: >
        Converts the image to a depth map using a logarithmic scale, leading to better precision for small distances at the expense of losing it when further away.  
    - var_name: Raw
      doc: >
        No changes applied to the image. 

  - class_name: Image
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines an image of 32-bit BGRA colors that will be used as initial data retrieved by camera sensors. There are different camera sensors (currently three, RGB, depth and semantic segmentation) and each of these makes different use for the images. Learn more about them [here](/cameras_and_sensors/).
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: fov
      type: float
      doc: >
        Horizontal field of view of the image in degrees.
    - var_name: height
      type: int
      doc: >
        Image height in pixels. 
    - var_name: width
      type: int
      doc: >
        Image width in pixels.
    - var_name: raw_data
      type: bytes
    # - METHODS ----------------------------
    methods:
    - def_name: convert
      params:
      - param_name: color_converter
        type: carla.ColorConverter
      doc: >
        Converts the image following the `color_converter` pattern.
    # --------------------------------------
    - def_name: save_to_disk
      params:
      - param_name: path
        type: str
        doc: >
          Path that will contain the image. 
      - param_name: color_converter
        type: carla.ColorConverter
        default: Raw
        doc: >
          Default <b>Raw</b> will make no changes. 
      doc: >
        Saves the image to disk using a converter pattern stated as `color_converter`. The default conversion pattern is <b>Raw</b> that will make no changes to the image.
    # --------------------------------------
    - def_name: __len__
    # --------------------------------------
    - def_name: __iter__
    # --------------------------------------
    - def_name: __getitem__
      params:
      - param_name: pos
        type: int
    # --------------------------------------
    - def_name: __setitem__
      params:
      - param_name: pos
        type: int
      - param_name: color
        type: carla.Color
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: LidarMeasurement
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines the lidar data retrieved by a <b>sensor.lidar.ray_cast</b>. This essentially simulates a rotating lidar using ray-casting. Learn more about this [here](/cameras_and_sensors/#sensorlidarray_cast).
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: channels
      type: int
      doc: >
        Number of lasers shot. 
    - var_name: horizontal_angle
      type: float
      doc: >
        Horizontal angle the Lidar is rotated at the time of the measurement (in radians).
    - var_name: raw_data
      type: bytes
      doc: >
        List of 3D points received as data. 
    # - METHODS ----------------------------
    methods:
    - def_name: get_point_count
      params:
      - param_name: channel
        type: int
      doc: >
        Retrieves the number of points sorted by channel that are generated by this measure. Sorting by channel allows to identify the original channel for every point.
    # --------------------------------------
    - def_name: save_to_disk
      params:
      - param_name: path
        type: str
      doc: >
        Saves the point cloud to disk as a <b>.ply</b> file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated. 
    # --------------------------------------
    - def_name: __len__
    # --------------------------------------
    - def_name: __iter__
    # --------------------------------------
    - def_name: __getitem__
      params:
      - param_name: pos
        type: int
    # --------------------------------------
    - def_name: __setitem__
      params:
      - param_name: pos
        type: int
      - param_name: location
        type: carla.Location
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: CollisionEvent
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines a collision data for <b>sensor.other.collision</b>. The sensor creates one of this for every collision detected which may be many for one simulation step. Learn more about this [here](/cameras_and_sensors/#sensorothercollision).   
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor
      type: carla.Actor
      doc: >
        The actor the sensor is attached to, the one that measured the collision.
    - var_name: other_actor
      type: carla.Actor
      doc: >
        The second actor involved in the collision.  
    - var_name: normal_impulse
      type: carla.Vector3D
      doc: >
        Normal impulse resulting of the collision.

  - class_name: ObstacleDetectionEvent
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines the obstacle data for <b>sensor.other.obstacle</b>. Learn more about this [here](/cameras_and_sensors/#sensorotherobstacle). 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor
      type: carla.Actor
      doc: >
        The actor the sensor is attached to. 
    - var_name: other_actor
      type: carla.Actor
      doc: >
        The actor or object considered to be an obstacle.
    - var_name: distance
      type: float
      doc: >
        Distance between `actor` and `other`. 
    # - METHODS ----------------------------
    methods:
    - def_name: __str__
    # --------------------------------------

  - class_name: LaneInvasionEvent
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines lanes invasion for <b>sensor.other.lane_invasion</b>. It works only client-side and is dependant on OpenDRIVE to provide reliable information. The sensor creates one of this every time there is a lane invasion, which may be more than once per simulation step. Learn more about this [here](/cameras_and_sensors/#sensorotherlane_invasion).   
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor
      type: carla.Actor
      doc: >
        Gets the actor the sensor is attached to, the one that invaded another lane.
    - var_name: crossed_lane_markings
      type: list(carla.LaneMarking)
      doc: >
        List of lane markings that have been crossed and detected by the sensor.
    # - METHODS ----------------------------
    methods:
    - def_name: __str__
    # --------------------------------------

  - class_name: GnssMeasurement
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines the Gnss data registered by a <b>sensor.other.gnss</b>. It essentially reports its position with the position of the sensor and an OpenDRIVE geo-reference.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: altitude
      type: float
      doc: >
        Height regarding ground level.
    - var_name: latitude
      type: float
      doc: >
        North/South value of a point on the map.
    - var_name: longitude
      type: float
      doc: >
        West/East value of a point on the map.
    # - METHODS ----------------------------
    methods:
    - def_name: __str__
    # --------------------------------------

  - class_name: IMUMeasurement
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines the data registered by a <b>sensor.other.imu</b>, regarding the sensor's transformation according to the current carla.World. It essentially acts as accelerometer, gyroscope and compass. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: accelerometer
      type: carla.Vector3D
      doc: >
        Linear acceleration in m/s^2.
    - var_name: compass
      type: float
      doc: >
        Orientation with regard to the North ((0.0, -1.0, 0.0) in Unreal Engine) in radians.
    - var_name: gyroscope
      type: carla.Vector3D
      doc: >
        Angular velocity in rad/sec.
    # - METHODS ----------------------------
    methods:
    - def_name: __str__
    # --------------------------------------

  - class_name: RadarMeasurement
    parent: carla.SensorData
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines and gathers the measures registered by a <b>sensor.other.radar</b>, representing a wall of points in front of the sensor with a distance, angle and velocity in relation to it. The data consists of a carla.RadarDetection array.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: raw_data
      type: bytes
      doc: >
        The complete information of the carla.RadarDetection the radar has registered. 
    # - METHODS ----------------------------
    methods:
    - def_name: get_detection_count
      doc: >
        Retrieves the number of entries generated, same as **<font color="#7fb800">\__str__()</font>**. 
    # --------------------------------------
    - def_name: __len__
    # --------------------------------------
    - def_name: __iter__
    # --------------------------------------
    - def_name: __getitem__
      params:
      - param_name: pos
        type: int
    # --------------------------------------
    - def_name: __setitem__
      params:
      - param_name: pos
        type: int
      - param_name: detection
        type: carla.RadarDetection
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: RadarDetection
    # - DESCRIPTION ------------------------
    doc: >
      Data contained inside a carla.RadarMeasurement. Each of these represents one of the points in the cloud that a <b>sensor.other.radar</b> registers and contains the distance, angle and velocity in relation to the radar. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: altitude
      type: float
      doc: >
        Altitude angle of the detection in radians.
    # --------------------------------------
    - var_name: azimuth
      type: float
      doc: >
        Azimuth angle of the detection in radians.
    # --------------------------------------
    - var_name: depth
      type: float
      doc: >
        Distance in meters from the sensor to the detection position.
    # --------------------------------------
    - var_name: velocity
      type: float
      doc: >
        The velocity of the detected object towards the sensor in m/s.
    # - METHODS ----------------------------
    methods:
    - def_name: __str__
    # --------------------------------------
...