Some clean up and documentation

PythonClient/carla/image_converter.py

@@ -19,8 +19,7 @@ try:
     import numpy
     from numpy.matlib import repmat
 except ImportError:
-    raise RuntimeError(
-        'cannot import numpy, make sure numpy package is installed')
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
 
 
 from . import sensor

PythonClient/carla/sensor.py

@@ -16,10 +16,13 @@ try:
 except ImportError:
     raise RuntimeError('cannot import numpy, make sure numpy package is installed.')
 
+from . import image_converter
+
 from .transform import Transform, Translation, Rotation, Scale
 
+
 # ==============================================================================
-# -- Helpers -------------------------------------------------------------
+# -- Helpers -------------------------------------------------------------------
 # ==============================================================================
 
 
@@ -32,7 +35,7 @@ Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
 
 
 # ==============================================================================
-# -- Sensor --------------------------------------------------------------
+# -- Sensor --------------------------------------------------------------------
 # ==============================================================================
 
 
@@ -44,12 +47,12 @@ class Sensor(object):
     def __init__(self, name, sensor_type):
         self.SensorName = name
         self.SensorType = sensor_type
-        self.PositionX = 140
-        self.PositionY = 0
-        self.PositionZ = 140
-        self.RotationPitch = 0
-        self.RotationRoll = 0
-        self.RotationYaw = 0
+        self.PositionX = 140.0
+        self.PositionY = 0.0
+        self.PositionZ = 140.0
+        self.RotationPitch = 0.0
+        self.RotationRoll = 0.0
+        self.RotationYaw = 0.0
 
     def set(self, **kwargs):
         for key, value in kwargs.items():
@@ -96,9 +99,9 @@ class Camera(Sensor):
     def __init__(self, name, **kwargs):
         super(Camera, self).__init__(name, sensor_type="CAMERA")
         self.PostProcessing = 'SceneFinal'
-        self.ImageSizeX = 800
-        self.ImageSizeY = 600
-        self.FOV = 90
+        self.ImageSizeX = 720
+        self.ImageSizeY = 512
+        self.FOV = 90.0
         self.set(**kwargs)
 
     def set_image_size(self, pixels_x, pixels_y):
@@ -116,20 +119,19 @@ class Lidar(Sensor):
     def __init__(self, name, **kwargs):
         super(Lidar, self).__init__(name, sensor_type="LIDAR_RAY_TRACE")
         self.Channels = 32
-        self.Range = 5000
-        self.PointsPerSecond = 100000
-        self.RotationFrequency = 10
-        self.UpperFovLimit = 10
-        self.LowerFovLimit = -30
+        self.Range = 5000.0
+        self.PointsPerSecond = 56000
+        self.RotationFrequency = 10.0
+        self.UpperFovLimit = 10.0
+        self.LowerFovLimit = -30.0
         self.ShowDebugPoints = False
         self.set(**kwargs)
 
 
 # ==============================================================================
-# -- SensorData ----------------------------------------------------------
+# -- SensorData ----------------------------------------------------------------
 # ==============================================================================
 
-
 class SensorData(object):
     """Base class for sensor data returned from the server."""
     pass
@@ -154,8 +156,6 @@ class Image(SensorData):
         default format.
         """
         if self._converted_data is None:
-            from . import image_converter
-
             if self.type == 'Depth':
                 self._converted_data = image_converter.depth_to_array(self)
             elif self.type == 'SemanticSegmentation':

PythonClient/carla/settings.py

@@ -40,10 +40,9 @@ class CarlaSettings(object):
         self.PlayerVehicle = None
         self.NumberOfVehicles = 20
         self.NumberOfPedestrians = 30
-        self.WeatherId = -1
+        self.WeatherId = 1
         self.SeedVehicles = None
         self.SeedPedestrians = None
-        self.randomize_weather()
         self.set(**kwargs)
         self._sensors = []
 

Rebuild.sh

@@ -58,6 +58,8 @@ function log {
 
 if [ ! -d "${UE4_ROOT}" ]; then
   fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
+else
+  echo "Using Unreal Engine at '$UE4_ROOT'"
 fi
 
 # ==============================================================================

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp

@@ -24,11 +24,13 @@
 // -- Static methods -----------------------------------------------------------
 // =============================================================================
 
+/// Call Callback for every subsection (from top to bottom) in SectionName.
+/// Subsections are separated by '/' character.
 template <typename T>
-static void ForEachSectionInName(const FString &SensorName, T &&Callback)
+static void ForEachSectionInName(const FString &SectionName, T &&Callback)
 {
   TArray<FString> SubSections;
-  SensorName.ParseIntoArray(SubSections, TEXT("/"), true);
+  SectionName.ParseIntoArray(SubSections, TEXT("/"), true);
   check(SubSections.Num() > 0);
   FString Section = S_CARLA_SENSOR;
   Callback(Section);
@@ -39,6 +41,8 @@ static void ForEachSectionInName(const FString &SensorName, T &&Callback)
   }
 }
 
+/// Recursively get sensor type from the ConfigFile for each subsection in
+/// SensorName.
 static FString GetSensorType(
     const FIniFile &ConfigFile,
     const FString &SensorName)
@@ -50,6 +54,8 @@ static FString GetSensorType(
   return SensorType;
 }
 
+/// Recursively load sensor settings from the ConfigFile for each subsection in
+/// SensorName.
 static void LoadSensorFromConfig(
     const FIniFile &ConfigFile,
     USensorDescription &Sensor)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h

@@ -13,6 +13,7 @@
 class FIniFile;
 struct FWeatherDescription;
 
+/// A description of a sensor as loaded from the settings file.
 UCLASS(Abstract)
 class CARLA_API USensorDescription : public UObject
 {