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Updated links and information about sensors

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Francesc Domene 2019-07-03 12:52:49 +02:00 committed by Néstor Subirón
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commit 515b6f44bb
2 changed files with 17 additions and 13 deletions
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18
Docs/cameras_and_sensors.md
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@ -85,7 +85,7 @@ applied to the image to create a more realistic feel
* **Lens flares** Simulates the reflection of bright objects on the lens. * **Lens flares** Simulates the reflection of bright objects on the lens.
* **Depth of field** Blurs objects near or very far away of the camera. * **Depth of field** Blurs objects near or very far away of the camera.
This sensor produces [`carla.Image`](python_api.md#carlaimagecarlasensordata) This sensor produces [`carla.Image`](python_api.md#carla.Image)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -113,7 +113,7 @@ pixel to the camera (also known as **depth buffer** or **z-buffer**).
| `fov` | float | 90.0 | Horizontal field of view in degrees | | `fov` | float | 90.0 | Horizontal field of view in degrees |
| `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) | | `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) |
This sensor produces [`carla.Image`](python_api.md#carlaimagecarlasensordata) This sensor produces [`carla.Image`](python_api.md#carla.Image)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -152,7 +152,7 @@ pedestrians appear in a different color than vehicles.
| `fov` | float | 90.0 | Horizontal field of view in degrees | | `fov` | float | 90.0 | Horizontal field of view in degrees |
| `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) | | `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) |
This sensor produces [`carla.Image`](python_api.md#carlaimagecarlasensordata) This sensor produces [`carla.Image`](python_api.md#carla.Image)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -220,7 +220,7 @@ supposed to generate this frame; `points_per_second / (FPS * channels)`.
| `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) | | `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) |
This sensor produces This sensor produces
[`carla.LidarMeasurement`](python_api.md#carlalidarmeasurementcarlasensordata) [`carla.LidarMeasurement`](python_api.md#carla.LidarMeasurement)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -233,7 +233,7 @@ objects.
| `get_point_count(channel)` | int | Number of points per channel captured this frame | | `get_point_count(channel)` | int | Number of points per channel captured this frame |
| `raw_data` | bytes | Array of 32-bits floats (XYZ of each point) | | `raw_data` | bytes | Array of 32-bits floats (XYZ of each point) |
The object also acts as a Python list of `carla.Location` The object also acts as a Python list of [`carla.Location`](python_api.md#carla.Location)
```py ```py
for location in lidar_measurement: for location in lidar_measurement:
@ -262,7 +262,7 @@ configurable attribute.
This sensor creates "fake" actors when it collides with something that is not an actor, this is so we can retrieve the semantic tags of the object we hit. This sensor creates "fake" actors when it collides with something that is not an actor, this is so we can retrieve the semantic tags of the object we hit.
This sensor produces a This sensor produces a
[`carla.CollisionEvent`](python_api.md#carlacollisioneventcarlasensordata) [`carla.CollisionEvent`](python_api.md#carla.CollisionEvent)
object for each collision registered object for each collision registered
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -294,7 +294,7 @@ by this sensor.
This sensor does not have any configurable attribute. This sensor does not have any configurable attribute.
This sensor produces a This sensor produces a
[`carla.LaneInvasionEvent`](python_api.md#carlalaneinvasioneventcarlasensordata) [`carla.LaneInvasionEvent`](python_api.md#carla.LaneInvasionEvent)
object for each lane marking crossed by the actor object for each lane marking crossed by the actor
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -313,7 +313,7 @@ The gnss position is internally calculated by adding the metric position to
an initial geo reference location defined within the OpenDRIVE map definition. an initial geo reference location defined within the OpenDRIVE map definition.
This sensor produces This sensor produces
[`carla.GnssEvent`](python_api.md#carlagnsseventcarlasensordata) [`carla.GnssEvent`](python_api.md#carla.GnssEvent)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |
@ -342,7 +342,7 @@ This sensor, when attached to an actor, reports if there is obstacles ahead.
| `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) | | `sensor_tick` | float | 0.0 | Seconds between sensor captures (ticks) |
This sensor produces This sensor produces
[`carla.ObstacleDetectionSensorEvent`](python_api.md#carlaobstacledetectionsensoreventdata) [`carla.ObstacleDetectionEvent`](python_api.md#carla.ObstacleDetectionEvent)
objects. objects.
| Sensor data attribute | Type | Description | | Sensor data attribute | Type | Description |

12
Docs/python_api.md
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@ -1685,9 +1685,9 @@ Signal the simulator to continue to next tick (only has effect on synchronous mo
## carla.WorldSnapshot<a name="carla.WorldSnapshot"></a> <sub><sup>_class_</sup></sub> ## carla.WorldSnapshot<a name="carla.WorldSnapshot"></a> <sub><sup>_class_</sup></sub>
<h3>Instance Variables</h3> <h3>Instance Variables</h3>
- <a name="carla.WorldSnapshot.id"></a>**<font color="#f8805a">id</font>** - <a name="carla.WorldSnapshot.id"></a>**<font color="#f8805a">id</font>** (_int_)
- <a name="carla.WorldSnapshot.frame"></a>**<font color="#f8805a">frame</font>** - <a name="carla.WorldSnapshot.frame"></a>**<font color="#f8805a">frame</font>**
- <a name="carla.WorldSnapshot.timestamp"></a>**<font color="#f8805a">timestamp</font>** - <a name="carla.WorldSnapshot.timestamp"></a>**<font color="#f8805a">timestamp</font>** (_[carla.Timestamp](#carla.Timestamp)_)
<h3>Methods</h3> <h3>Methods</h3>
- <a name="carla.WorldSnapshot.has_actor"></a>**<font color="#7fb800">has_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>) - <a name="carla.WorldSnapshot.has_actor"></a>**<font color="#7fb800">has_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
@ -1699,6 +1699,7 @@ Find an ActorSnapshot by id.
- **Parameters:** - **Parameters:**
- `actor_id` (_int_) - `actor_id` (_int_)
- <a name="carla.WorldSnapshot.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.WorldSnapshot.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Return number of ActorSnapshots present in this WorldSnapshot.
- <a name="carla.WorldSnapshot.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.WorldSnapshot.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.WorldSnapshot.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>) - <a name="carla.WorldSnapshot.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:** - **Parameters:**
@ -1726,8 +1727,11 @@ Find an ActorSnapshot by id.
<h3>Instance Variables</h3> <h3>Instance Variables</h3>
- <a name="carla.Image.width"></a>**<font color="#f8805a">width</font>** - <a name="carla.Image.width"></a>**<font color="#f8805a">width</font>**
Image width in pixels.
- <a name="carla.Image.height"></a>**<font color="#f8805a">height</font>** - <a name="carla.Image.height"></a>**<font color="#f8805a">height</font>**
Image height in pixels.
- <a name="carla.Image.fov"></a>**<font color="#f8805a">fov</font>** - <a name="carla.Image.fov"></a>**<font color="#f8805a">fov</font>**
Horizontal field of view of the image in degrees.
- <a name="carla.Image.raw_data"></a>**<font color="#f8805a">raw_data</font>** - <a name="carla.Image.raw_data"></a>**<font color="#f8805a">raw_data</font>**
<h3>Methods</h3> <h3>Methods</h3>
@ -1854,7 +1858,7 @@ Stops listening for data.
- `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_) - `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_)
- <a name="carla.TrafficLight.get_state"></a>**<font color="#7fb800">get_state</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.TrafficLight.get_state"></a>**<font color="#7fb800">get_state</font>**(<font color="#00a6ed">**self**</font>)
Return the current state of the traffic light. Return the current state of the traffic light.
- **Return:** _[carla.Tra](#carla.Tra)_ - **Return:** _[carla.Color](#carla.Color)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick. - **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font> _</font>
- <a name="carla.TrafficLight.set_green_time"></a>**<font color="#7fb800">set_green_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**green_time**</font>) - <a name="carla.TrafficLight.set_green_time"></a>**<font color="#7fb800">set_green_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**green_time**</font>)
@ -1964,7 +1968,7 @@ Apply control to this walker. The control will take effect on next tick.
- `control` (_[carla.WalkerControl](#carla.WalkerControl)_) - `control` (_[carla.WalkerControl](#carla.WalkerControl)_)
- <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>) - <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
- **Parameters:** - **Parameters:**
- `control` (_[carla.BoneControl](#carla.BoneControl)_) - `control` (_[carla.WalkerBoneControl](#carla.WalkerBoneControl)_)
- <a name="carla.Walker.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.Walker.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>)
Return the control last applied to this walker. Return the control last applied to this walker.
- **Return:** _[carla.WalkerControl](#carla.WalkerControl)_ - **Return:** _[carla.WalkerControl](#carla.WalkerControl)_