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New iteration with changes on environment.py, light explanation and lights explanation

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sergi-e 2020-06-04 10:23:35 +02:00 committed by Marc Garcia Puig
parent 07fe7a7153
commit 45da3ae55e
6 changed files with 78 additions and 12 deletions
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70
Docs/core_world.md
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@ -11,6 +11,7 @@ This tutorial goes from defining the basics and creation of these elements, to d
* [__The world__](#the-world)
* [Actors](#actors)
* [Weather](#weather)
* [Lights](#lights)
* [Debugging](#debugging)
* [World snapshots](#world-snapshots)
* [World settings](#world-settings)
@ -127,13 +128,75 @@ There are some weather presets that can be directly applied to the world. These
```py
world.set_weather(carla.WeatherParameters.WetCloudySunset)
```
The weather can also be customized using two scripts provided by CARLA.
* __`environment.py`__ *(in `PythonAPI/util`)* — Provides access to weather and light parameters so that these can be changed in real time.
<details>
<summary> Optional arguments in <b>environment.py</b> </summary>
```sh
-h, --help show this help message and exit
--host H IP of the host server (default: 127.0.0.1)
-p P, --port P TCP port to listen to (default: 2000)
--sun SUN Sun position presets [sunset | day | night]
--weather WEATHER Weather condition presets [clear | overcast | rain]
--altitude A, -alt A Sun altitude [-90.0, 90.0]
--azimuth A, -azm A Sun azimuth [0.0, 360.0]
--clouds C, -c C Clouds amount [0.0, 100.0]
--rain R, -r R Rain amount [0.0, 100.0]
--puddles Pd, -pd Pd Puddles amount [0.0, 100.0]
--wind W, -w W Wind intensity [0.0, 100.0]
--fog F, -f F Fog intensity [0.0, 100.0]
--fogdist Fd, -fd Fd Fog Distance [0.0, inf)
--wetness Wet, -wet Wet
Wetness intensity [0.0, 100.0]
```
</details><br>
* __`dynamic_weather.py`__ *(in `PythonAPI/examples`)* — Enables a particular weather cycle prepared by developers for each CARLA map.
<details>
<summary> Optional arguments in <b>dynamic_weather.py</b> </summary>
```sh
-h, --help show this help message and exit
--host H IP of the host server (default: 127.0.0.1)
-p P, --port P TCP port to listen to (default: 2000)
-s FACTOR, --speed FACTOR
rate at which the weather changes (default: 1.0)
```
</details><br>
!!! Note
Changes in the weather do not affect physics. They are only visuals that can be captured by the camera sensors.
__Night mode starts when sun_altitude_angle < 0__, which is considered sunset. This is when street and vehicle lights become especially relevant.
__Night mode starts when sun_altitude_angle < 0__, which is considered sunset. This is when lights become especially relevant.
### Lights
* __Street lights__ automatically turn on when night mode starts. The lights are placed by the developers of the map, and accessible as [__carla.Light__](python_api.md#carla.Light) objects. Their properties can be changed at will. An instance of [__carla.LightManager__](python_api.md#carla.LightManager) can be retrieved to handle groups of lights.
* __Street lights__ automatically turn on when the simulation enters night mode. The lights are placed by the developers of the map, and accessible as [__carla.Light__](python_api.md#carla.Light) objects. Properties such as color and intensity can be changed at will. The variable __light_state__ of type [__carla.LightState__](python_api.md#carla.LightState) allows setting all of these in one call.
Street lights are categorized using their attribute __light_group__, of type [__carla.LightGroup__](python_api.md#carla.LightGroup). This allows to classify lights as street lights, building lights... An instance of [__carla.LightManager__](python_api.md#carla.LightManager) can be retrieved to handle groups of lights in one call.
```py
# Get the light manager and lights
lmanager = world.get_light_manager()
mylights = lmanager.get_all_lights()
# Custom a specific light
light01 = mylights[0]
light01.turn_on()
light01.set_intensity(100.0)
state01 = carla.LightState(200.0,red,carla.LightGroup.Building,True)
light01.set_light_state(state01)
# Custom a group of lights
my_lights = lmanager.get_light_group(carla.LightGroup.Building)
lmanager.turn_on(my_lights)
lmanager.set_color(my_lights,carla.Color(255,0,0))
lmanager.set_intensities(my_lights,list_of_intensities)
```
* __Vehicle lights__ have to be turned on/off by the user. Each vehicle has a set of lights listed in [__carla.VehicleLightState__](python_api.md#carla.VehicleLightState). So far, not all vehicles have lights integrated. Here is a list of those that are available by the time of writing.
* __Bikes.__ All of them have a front and back position light.
@ -149,6 +212,9 @@ current_lights |= carla.VehicleLightState.Position
vehicle.set_light_state(current_lights)
```
!!! Note
Lights can also be set in real time using the `environment.py` described in the [weather](#weather) section.
### Debugging
World objects have a [carla.DebugHelper](python_api.md#carla.DebugHelper) object as a public attribute. It allows for different shapes to be drawn during the simulation. These are used to trace the events happening. The following example would draw a red box at an actor's location and rotation.

6
Docs/python_api.md
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@ -2362,11 +2362,11 @@ Fog concentration or thickness. It only affects the RGB camera sensor. Values ra
Fog start distance (in meters). Values range from 0 to infinite.
- <a name="carla.WeatherParameters.wetness"></a>**<font color="#f8805a">wetness</font>** (_float_)
Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100.
- <a name="carla.WeatherParameters.falloff"></a>**<font color="#f8805a">falloff</font>** (_float_)
- <a name="carla.WeatherParameters.fog_falloff"></a>**<font color="#f8805a">fog_falloff</font>** (_float_)
Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to <a href="https://docs.unrealengine.com/en-US/Engine/Actors/FogEffects/HeightFog/index.html#:~:text=Using%20Exponential%20Height%20Fog%20Features,-The%20sections%20below&text=Add%20a%20second%20fog%20layer,height%20falloff%2C%20and%20height%20offset">Fog Height Falloff</a> in the UE docs. <br> If the value is 0, the fog will be lighter than air, and will cover the whole scene. <br> A value of 1 is approximately as dense as the air, and reaches normal-sized buildings. <br> For values greater than 5, the air will be so dense that it will be compressed on ground level.
<h3>Methods</h3>
- <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>, <font color="#00a6ed">**fog_density**=0.0</font>, <font color="#00a6ed">**fog_distance**=0.0</font>, <font color="#00a6ed">**wetness**=0.0</font>, <font color="#00a6ed">**falloff**=0.2</font>)
- <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>, <font color="#00a6ed">**fog_density**=0.0</font>, <font color="#00a6ed">**fog_distance**=0.0</font>, <font color="#00a6ed">**wetness**=0.0</font>, <font color="#00a6ed">**fog_falloff**=0.2</font>)
Method to initialize an object defining weather conditions. This class has some presets for different noon and sunset conditions listed in a note below.
- **Parameters:**
- `cloudiness` (_float_) – 0 is a clear sky, 100 complete overcast.
@ -2378,7 +2378,7 @@ Method to initialize an object defining weather conditions. This class has some
- `fog_density` (_float_) – Concentration or thickness of the fog, from 0 to 100.
- `fog_distance` (_float_) – Distance where the fog starts in meters.
- `wetness` (_float_) – Humidity percentages of the road, from 0 to 100.
- `falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity.
- `fog_falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity.
- **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset.
_</font>

2
Docs/start_quickstart.md
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@ -5,7 +5,7 @@
* __[CARLA installation](#carla-installation)__
* a) deb CARLA installation
* b) GitHub repository installation
* __[Import additional assets](#import-addditional-assets)__
* __[Import additional assets](#import-additional-assets)__
* __[Running CARLA](#running-carla)__
* Command-line options
* __[Updating CARLA](#updating-carla)__

2
Docs/tuto_A_map_customization.md
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@ -153,7 +153,7 @@ __3. Choose the desired town__ and modify the parameters.
### BP_Sky
This blueprint groups all the weather parameters. It can be loaded into the scene when there is no CARLA server running, and used to easily test different configurations before setting a new default weather.
This blueprint groups all the weather parameters. It can be loaded into the scene when there is no CARLA server running, and used to ea test different configurations before setting a new default weather.
__1. Find the BP_Sky__ in `Content/Carla/Blueprints/Weather`.

6
Docs/tuto_G_retrieve_data.md
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@ -136,15 +136,15 @@ cd /opt/carla/PythonAPI/examples
python dynamic_weather.py --speed 1.0
```
* __To set custom conditions__. Use the script __weather.py__. There are quite a lot of possible settings. Take a look at the optional arguments, and the documentation for [carla.WeatherParameters](python_api.md#carla.WeatherParameters).
* __To set custom conditions__. Use the script __environment.py__. There are quite a lot of possible settings. Take a look at the optional arguments, and the documentation for [carla.WeatherParameters](python_api.md#carla.WeatherParameters).
```sh
cd /opt/carla/PythonAPI/util
python weather.py --clouds 100 --rain 80 --wetness 100 --puddles 60 --wind 80 --fog 50
python environment.py --clouds 100 --rain 80 --wetness 100 --puddles 60 --wind 80 --fog 50
```
<details>
<summary> Optional arguments in <b>weather.py</b> </summary>
<summary> Optional arguments in <b>environment.py</b> </summary>
```sh
-h, --help show this help message and exit

4
PythonAPI/docs/weather.yml
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@ -55,7 +55,7 @@
doc: >
Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100.
# --------------------------------------
- var_name: falloff
- var_name: fog_falloff
type: float
doc: >
Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to <a href="https://docs.unrealengine.com/en-US/Engine/Actors/FogEffects/HeightFog/index.html#:~:text=Using%20Exponential%20Height%20Fog%20Features,-The%20sections%20below&text=Add%20a%20second%20fog%20layer,height%20falloff%2C%20and%20height%20offset">Fog Height Falloff</a> in the UE docs. <br> If the value is 0, the fog will be lighter than air, and will cover the whole scene. <br> A value of 1 is approximately as dense as the air, and reaches normal-sized buildings. <br> For values greater than 5, the air will be so dense that it will be compressed on ground level.
@ -109,7 +109,7 @@
default: 0.0
doc: >
Humidity percentages of the road, from 0 to 100.
- param_name: falloff
- param_name: fog_falloff
type: float
default: 0.2
doc: >