From 8190850e403119ec713233f8586f6eb1364c4e46 Mon Sep 17 00:00:00 2001 From: sergi-e Date: Mon, 2 Mar 2020 16:31:54 +0100 Subject: [PATCH] New draft on Bernat comments --- Docs/adv_synchrony_timestep.md | 2 +- Docs/core_actors.md | 4 ++-- Docs/core_map.md | 2 +- Docs/index.md | 4 ++-- Docs/ref_sensors.md | 24 ++++++++++++------------ Docs/tuto_D_create_sensor.md | 2 -- 6 files changed, 18 insertions(+), 20 deletions(-) diff --git a/Docs/adv_synchrony_timestep.md b/Docs/adv_synchrony_timestep.md index cf7db11d9..3fd87c1a6 100644 --- a/Docs/adv_synchrony_timestep.md +++ b/Docs/adv_synchrony_timestep.md @@ -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.__
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? diff --git a/Docs/core_actors.md b/Docs/core_actors.md index 4b63dd752..4e4b70e72 100644 --- a/Docs/core_actors.md +++ b/Docs/core_actors.md @@ -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 diff --git a/Docs/core_map.md b/Docs/core_map.md index 29c9fa94d..334eaa893 100644 --- a/Docs/core_map.md +++ b/Docs/core_map.md @@ -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. diff --git a/Docs/index.md b/Docs/index.md index 397fef59b..44e78288c 100644 --- a/Docs/index.md +++ b/Docs/index.md @@ -29,7 +29,7 @@ CARLA forum Quickstart installation - — Get the CARLA releases. + — Get the CARLA releases.

## Building CARLA @@ -57,7 +57,7 @@ CARLA forum F.A.Q. - — Some of the most frequent issues for newcomers. + — Some of the most frequent issues for newcomers.

## First steps diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md index 54c0edeb6..a42708349 100644 --- a/Docs/ref_sensors.md +++ b/Docs/ref_sensors.md @@ -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). diff --git a/Docs/tuto_D_create_sensor.md b/Docs/tuto_D_create_sensor.md index 5bde0dd44..e28c395f6 100644 --- a/Docs/tuto_D_create_sensor.md +++ b/Docs/tuto_D_create_sensor.md @@ -492,8 +492,6 @@ Vehicle too close: vehicle.mercedes-benz.coupe That's it, we have a new sensor working! -- - - - --- ## Appendix: Reusing buffers