New draft on Bernat comments
This commit is contained in:
sergi-e
bernat
parent
48247f1ad9
commit
8190850e40
|
|
@ -72,7 +72,7 @@ Being these a maximum of 6, `6*0.016667 = 0.1`. If the time-step is greater ther
|
|||
__Do not use a time-step greater than 0.1s.__<br>
|
||||
As explained above, the physics will not be representative for the simulation. The original issue can be found here: Ref. [#695](https://github.com/carla-simulator/carla/issues/695)
|
||||
|
||||
---
|
||||
---
|
||||
## Client-server synchrony
|
||||
|
||||
CARLA is built over a client-server architecture. This has been previously stated: the server runs the simulation and the client retrieves information and demands for changes in the world. But how do these two elements communicate?
|
||||
|
|
|
|||
|
|
@ -17,11 +17,11 @@ This section will cover the basics: from spawning up to destruction and their di
|
|||
* Walkers
|
||||
|
||||
---
|
||||
## Blueprints
|
||||
## Blueprints
|
||||
|
||||
This layouts allow the user to smoothly add new actors into the simulation. They basically are already-made models with a series of attributes listed, some of which are modifiable and others are not: vehicle color, amount of channels in a lidar sensor, _fov_ in a camera, a walker's speed. All of these can be changed at will. All the available blueprints are listed in the [blueprint library](bp_library.md) with their attributes and a tag to identify which can be set by the user.
|
||||
|
||||
####Managing the blueprint library
|
||||
#### Managing the blueprint library
|
||||
|
||||
There is a [carla.BlueprintLibrary](python_api.md#carla.BlueprintLibrary) class containing a list of [carla.ActorBlueprint](python_api.md#carla.ActorBlueprint) elements. It is the world object who can provide access to an instance of it:
|
||||
```py
|
||||
|
|
|
|||
|
|
@ -10,7 +10,7 @@ After discussing about the world and its actors, it is time to put everything in
|
|||
* [__Map navigation__](#map-navigation)
|
||||
|
||||
---
|
||||
## The map
|
||||
## The map
|
||||
|
||||
Understanding the map in CARLA is equivalent to understanding the road. All of the maps have an OpenDRIVE file defining the road layout fully annotated. The way the [OpenDRIVE standard 1.4](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) defines roads, lanes, junctions, etc. is extremely important. It determines the possibilities of the API and the reasoning behind many decisions made.
|
||||
The Python API provides a higher level querying system to navigate these roads. It is constantly evolving to provide a wider set of tools.
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ CARLA forum</a>
|
|||
<a href="../start_quickstart"><b>
|
||||
Quickstart installation
|
||||
</b></a>
|
||||
— Get the CARLA releases.
|
||||
— Get the CARLA releases.
|
||||
</p>
|
||||
|
||||
## Building CARLA
|
||||
|
|
@ -57,7 +57,7 @@ CARLA forum</a>
|
|||
<a href="../build_faq"><b>
|
||||
F.A.Q.
|
||||
</b></a>
|
||||
— Some of the most frequent issues for newcomers.
|
||||
— Some of the most frequent issues for newcomers.
|
||||
</p>
|
||||
|
||||
## First steps
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
# Sensors' documentation
|
||||
# Sensors reference
|
||||
|
||||
* [__Collision detector__](#collision-detector)
|
||||
* [__Depth camera__](#depth-camera)
|
||||
|
|
@ -13,7 +13,7 @@
|
|||
|
||||
|
||||
---
|
||||
## Collision detector
|
||||
## Collision detector
|
||||
|
||||
* __Blueprint:__ sensor.other.collision
|
||||
* __Output:__ [carla.CollisionEvent](python_api.md#carla.CollisionEvent) per collision.
|
||||
|
|
@ -23,7 +23,7 @@ To ensure that collisions with any kind of object are detected, the server creat
|
|||
|
||||
Collision detectors do not have any configurable attribute.
|
||||
|
||||
#### Output attributes
|
||||
#### Output attributes
|
||||
|
||||
| Sensor data attribute | Type | Description |
|
||||
| ---------------------- | ----------- | ----------- |
|
||||
|
|
@ -35,7 +35,7 @@ Collision detectors do not have any configurable attribute.
|
|||
| `normal_impulse` | [carla.Vector3D](python_api.md#carla.Vector3D) | Normal impulse result of the collision. |
|
||||
|
||||
---
|
||||
## Depth camera
|
||||
## Depth camera
|
||||
|
||||
* __Blueprint:__ sensor.camera.depth
|
||||
* __Output:__ [carla.Image](python_api.md#carla.Image) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -93,7 +93,7 @@ There are two options in [carla.colorConverter](python_api.md#carla.ColorConvert
|
|||
| `raw_data` | bytes | Array of BGRA 32-bit pixels. |
|
||||
|
||||
---
|
||||
## GNSS sensor
|
||||
## GNSS sensor
|
||||
|
||||
* __Blueprint:__ sensor.other.gnss
|
||||
* __Output:__ [carla.GNSSMeasurement](python_api.md#carla.GNSSMeasurement) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -127,7 +127,7 @@ Reports current [gnss position](https://www.gsa.europa.eu/european-gnss/what-gns
|
|||
| `altitude` | double | Altitude of the actor. |
|
||||
|
||||
---
|
||||
## IMU sensor
|
||||
## IMU sensor
|
||||
|
||||
* __Blueprint:__ sensor.other.imu
|
||||
* __Output:__ [carla.IMUMeasurement](python_api.md#carla.IMUMeasurement) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -164,7 +164,7 @@ Provides measures that accelerometer, gyroscope and compass would retrieve for t
|
|||
| `compass` | float | Orientation in radians. North is `(0.0, -1.0, 0.0)` in UE. |
|
||||
|
||||
---
|
||||
## Lane invasion detector
|
||||
## Lane invasion detector
|
||||
|
||||
* __Blueprint:__ sensor.other.lane_invasion
|
||||
* __Output:__ [carla.LaneInvasionEvent](python_api.md#carla.LaneInvasionEvent) per crossing.
|
||||
|
|
@ -193,7 +193,7 @@ This sensor does not have any configurable attribute.
|
|||
|
||||
|
||||
---
|
||||
## Lidar raycast sensor
|
||||
## Lidar raycast sensor
|
||||
|
||||
* __Blueprint:__ sensor.lidar.ray_cast
|
||||
* __Output:__ [carla.LidarMeasurement](python_api.md#carla.LidarMeasurement) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -243,7 +243,7 @@ for location in lidar_measurement:
|
|||
| `raw_data` | bytes | Array of 32-bits floats (XYZ of each point). |
|
||||
|
||||
---
|
||||
## Obstacle detector
|
||||
## Obstacle detector
|
||||
|
||||
* __Blueprint:__ sensor.other.obstacle
|
||||
* __Output:__ [carla.ObstacleDetectionEvent](python_api.md#carla.ObstacleDetectionEvent) per obstacle (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -274,7 +274,7 @@ To ensure that collisions with any kind of object are detected, the server creat
|
|||
| `distance` | float | Distance from `actor` to `other_actor`. |
|
||||
|
||||
---
|
||||
## Radar sensor
|
||||
## Radar sensor
|
||||
|
||||
* __Blueprint:__ sensor.other.radar
|
||||
* __Output:__ [carla.RadarMeasurement](python_api.md#carla.RadarMeasurement) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
@ -317,7 +317,7 @@ The provided script `manual_control.py` uses this sensor to show the points bein
|
|||
| `velocity` | float | Velocity towards the sensor. |
|
||||
|
||||
---
|
||||
## RGB camera
|
||||
## RGB camera
|
||||
|
||||
* __Blueprint:__ sensor.camera.rgb
|
||||
* __Output:__ [carla.Image](python_api.md#carla.Image) per step (unless `sensor_tick` says otherwise)..
|
||||
|
|
@ -425,7 +425,7 @@ Since these effects are provided by UE, please make sure to check their document
|
|||
| `raw_data` | bytes | Array of BGRA 32-bit pixels. |
|
||||
|
||||
---
|
||||
## Semantic segmentation camera
|
||||
## Semantic segmentation camera
|
||||
|
||||
* __Blueprint:__ sensor.camera.semantic_segmentation
|
||||
* __Output:__ [carla.Image](python_api.md#carla.Image) per step (unless `sensor_tick` says otherwise).
|
||||
|
|
|
|||
|
|
@ -492,8 +492,6 @@ Vehicle too close: vehicle.mercedes-benz.coupe
|
|||
|
||||
That's it, we have a new sensor working!
|
||||
|
||||
- - -
|
||||
|
||||
---
|
||||
## Appendix: Reusing buffers
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue