Added documentation
This commit is contained in:
Axel
bernat
parent
afecb11454
commit
b2b27175c4
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@ -4,6 +4,9 @@
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* Added a RoadOption element in each SimpleWaypoint to specify which action will the vehicle perform if it follows that route.
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* Added the option for users to set a route using RoadOption elements to a vehicle controlled by the Traffic Manager.
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* Fixed keep_right_rule parameter.
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* Added new instance aware semantic segmentation sensor `sensor.camera.instance_segmentation`
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* Added new API classes: `MaterialParameter`, `TextureColor` and `TextureFloatColor` to encode texture data and field (normal map, diffuse, etc)
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* Added new API functions: `apply_color_texture_to_object`, `apply_float_color_texture_to_object` and `apply_textures_to_object` to paint objects in runtime
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* Added set_percentage_random_left_lanechange and set_percentage_random_right_lanechange.
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* Improved handling of collisions in Traffic Manager when driving at very high speeds.
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* Added open/close doors feature for vehicles.
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@ -450,7 +450,8 @@ Creates a new world with default settings using `map_name` map. All actors in th
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- `map_name` (_str_) - Name of the map to be used in this world. Accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic.
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- `reset_settings` (_bool_) - Option to reset the episode setting to default values, set to false to keep the current settings. This is useful to keep sync mode when changing map and to keep deterministic scenarios.
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- `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) - Layers of the map that will be loaded. By default all layers are loaded. This parameter works like a flag mask.
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- **Warning:** <font color="#ED2F2F">_`map_layers` are only available for "Opt" maps_</font>
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- **Warning:** <font color="#ED2F2F">_`map_layers` are only available for "Opt" maps
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_</font>
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- <a name="carla.Client.reload_world"></a>**<font color="#7fb800">reload_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**reset_settings**=True</font>)
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Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed, __but__ traffic manager instances will stay alive.
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- **Parameters:**
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@ -741,6 +742,34 @@ Parses the EnvironmentObject to a string and shows them in command line.
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---
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## carla.FloatColor<a name="carla.FloatColor"></a>
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Class that defines a float RGBA color.
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### Instance Variables
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- <a name="carla.FloatColor.r"></a>**<font color="#f8805a">r</font>** (_float_)
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Red color.
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- <a name="carla.FloatColor.g"></a>**<font color="#f8805a">g</font>** (_float_)
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Green color.
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- <a name="carla.FloatColor.b"></a>**<font color="#f8805a">b</font>** (_float_)
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Blue color.
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- <a name="carla.FloatColor.a"></a>**<font color="#f8805a">a</font>** (_float_)
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Alpha channel.
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### Methods
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- <a name="carla.FloatColor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**r**=0</font>, <font color="#00a6ed">**g**=0</font>, <font color="#00a6ed">**b**=0</font>, <font color="#00a6ed">**a**=1.0</font>)
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Initializes a color, black by default.
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- **Parameters:**
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- `r` (_float_)
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- `g` (_float_)
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- `b` (_float_)
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- `a` (_float_)
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##### Dunder methods
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- <a name="carla.FloatColor.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**=[carla.FloatColor](#carla.FloatColor)</font>)
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- <a name="carla.FloatColor.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**=[carla.FloatColor](#carla.FloatColor)</font>)
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---
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## carla.GearPhysicsControl<a name="carla.GearPhysicsControl"></a>
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Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to help simulate physics.
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@ -1545,6 +1574,21 @@ All layers selected.
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---
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## carla.MaterialParameter<a name="carla.MaterialParameter"></a>
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Class that represents material parameters. Not all objects in the scene contain all parameters.
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### Instance Variables
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- <a name="carla.MaterialParameter.Normal"></a>**<font color="#f8805a">Normal</font>**
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The Normal map of the object. Present in all objects.
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- <a name="carla.MaterialParameter.Diffuse"></a>**<font color="#f8805a">Diffuse</font>**
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The Diffuse texture of the object. Present in all objects.
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- <a name="carla.MaterialParameter.AO_Roughness_Metallic_Emissive"></a>**<font color="#f8805a">AO_Roughness_Metallic_Emissive</font>**
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A texture where each color channel represent a property of the material (R: Ambien oclusion, G: Roughness, B: Metallic, A: Emissive/Height map in some objects).
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- <a name="carla.MaterialParameter.Emissive"></a>**<font color="#f8805a">Emissive</font>**
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Emissive texture. Present in a few objects.
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---
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## carla.ObstacleDetectionEvent<a name="carla.ObstacleDetectionEvent"></a>
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<small style="display:block;margin-top:-20px;">Inherited from _[carla.SensorData](#carla.SensorData)_</small></br>
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Class that defines the obstacle data for <b>sensor.other.obstacle</b>. Learn more about this [here](ref_sensors.md#obstacle-detector).
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@ -1915,6 +1959,12 @@ Applies the safety restrictions given by a [carla.RssSensor](#carla.RssSensor) t
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- `vehicle_physics` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_) - The current physics of the vehicle. Used to apply the restrictions properly.
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- **Return:** _[carla.VehicleControl](#carla.VehicleControl)_
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##### Setters
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- <a name="carla.RssRestrictor.set_log_level"></a>**<font color="#7fb800">set_log_level</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**log_level**</font>)
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Sets the log level.
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- **Parameters:**
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- `log_level` (_[carla.RssLogLevel](#carla.RssLogLevel)_) - New log level.
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---
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## carla.RssRoadBoundariesMode<a name="carla.RssRoadBoundariesMode"></a>
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@ -2089,6 +2139,80 @@ Sensor's transform when the data was generated.
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---
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## carla.TextureColor<a name="carla.TextureColor"></a>
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Class representing a texture object to be uploaded to the server. Pixel format is RGBA, uint8 per channel.
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### Instance Variables
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- <a name="carla.TextureColor.width"></a>**<font color="#f8805a">width</font>** (_int_)
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X-coordinate size of the texture.
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- <a name="carla.TextureColor.height"></a>**<font color="#f8805a">height</font>** (_int_)
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Y-coordinate size of the texture.
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### Methods
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- <a name="carla.TextureColor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**width**</font>, <font color="#00a6ed">**height**</font>)
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Initializes a the texture with a (`width`, `height`) size.
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- **Parameters:**
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- `width` (_int_)
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- `height` (_int_)
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- <a name="carla.TextureColor.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**</font>, <font color="#00a6ed">**y**</font>)
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Get the (x,y) pixel data.
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- **Parameters:**
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- `x` (_int_)
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- `y` (_int_)
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- **Return:** _[carla.Color](#carla.Color)_
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- <a name="carla.TextureColor.set"></a>**<font color="#7fb800">set</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**</font>, <font color="#00a6ed">**y**</font>, <font color="#00a6ed">**value**</font>)
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Sets the (x,y) pixel data with `value`.
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- **Parameters:**
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- `x` (_int_)
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- `y` (_int_)
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- `value` (_[carla.Color](#carla.Color)_)
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##### Setters
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- <a name="carla.TextureColor.set_dimensions"></a>**<font color="#7fb800">set_dimensions</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**width**</font>, <font color="#00a6ed">**height**</font>)
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Resizes the texture to te specified dimensions.
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- **Parameters:**
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- `width` (_int_)
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- `height` (_int_)
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---
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## carla.TextureFloatColor<a name="carla.TextureFloatColor"></a>
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Class representing a texture object to be uploaded to the server. Pixel format is RGBA, float per channel.
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### Instance Variables
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- <a name="carla.TextureFloatColor.width"></a>**<font color="#f8805a">width</font>** (_int_)
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X-coordinate size of the texture.
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- <a name="carla.TextureFloatColor.height"></a>**<font color="#f8805a">height</font>** (_int_)
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Y-coordinate size of the texture.
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### Methods
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- <a name="carla.TextureFloatColor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**width**</font>, <font color="#00a6ed">**height**</font>)
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Initializes a the texture with a (`width`, `height`) size.
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- **Parameters:**
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- `width` (_int_)
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- `height` (_int_)
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- <a name="carla.TextureFloatColor.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**</font>, <font color="#00a6ed">**y**</font>)
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Get the (x,y) pixel data.
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- **Parameters:**
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- `x` (_int_)
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- `y` (_int_)
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- **Return:** _[carla.FloatColor](#carla.FloatColor)_
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- <a name="carla.TextureFloatColor.set"></a>**<font color="#7fb800">set</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**</font>, <font color="#00a6ed">**y**</font>, <font color="#00a6ed">**value**</font>)
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Sets the (x,y) pixel data with `value`.
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- **Parameters:**
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- `x` (_int_)
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- `y` (_int_)
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- `value` (_[carla.FloatColor](#carla.FloatColor)_)
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##### Setters
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- <a name="carla.TextureFloatColor.set_dimensions"></a>**<font color="#7fb800">set_dimensions</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**width**</font>, <font color="#00a6ed">**height**</font>)
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Resizes the texture to te specified dimensions.
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- **Parameters:**
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- `width` (_int_)
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- `height` (_int_)
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---
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## carla.Timestamp<a name="carla.Timestamp"></a>
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Class that contains time information for simulated data. This information is automatically retrieved as part of the [carla.WorldSnapshot](#carla.WorldSnapshot) the client gets on every frame, but might also be used in many other situations such as a [carla.Sensor](#carla.Sensor) retrieveing data.
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@ -3109,6 +3233,30 @@ The ID of the episode associated with this world. Episodes are different session
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Responsible for creating different shapes for debugging. Take a look at its class to learn more about it.
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### Methods
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- <a name="carla.World.apply_color_texture_to_object"></a>**<font color="#7fb800">apply_color_texture_to_object</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**object_name**</font>, <font color="#00a6ed">**material_parameter**</font>, <font color="#00a6ed">**texture**</font>)
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Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
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- **Parameters:**
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- `object_name` (_str_)
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- `material_parameter` (_[carla.MaterialParameter](#carla.MaterialParameter)_)
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- `texture` (_TextureColor_)
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- <a name="carla.World.apply_color_texture_to_objects"></a>**<font color="#7fb800">apply_color_texture_to_objects</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**objects_name_list**</font>, <font color="#00a6ed">**material_parameter**</font>, <font color="#00a6ed">**texture**</font>)
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Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
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- **Parameters:**
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- `objects_name_list` (_list(str)_)
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- `material_parameter` (_[carla.MaterialParameter](#carla.MaterialParameter)_)
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- `texture` (_TextureColor_)
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- <a name="carla.World.apply_float_color_texture_to_object"></a>**<font color="#7fb800">apply_float_color_texture_to_object</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**object_name**</font>, <font color="#00a6ed">**material_parameter**</font>, <font color="#00a6ed">**texture**</font>)
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Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
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- **Parameters:**
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- `object_name` (_str_)
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- `material_parameter` (_[carla.MaterialParameter](#carla.MaterialParameter)_)
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- `texture` (_TextureFloatColor_)
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- <a name="carla.World.apply_float_color_texture_to_objects"></a>**<font color="#7fb800">apply_float_color_texture_to_objects</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**objects_name_list**</font>, <font color="#00a6ed">**material_parameter**</font>, <font color="#00a6ed">**texture**</font>)
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Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
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- **Parameters:**
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- `objects_name_list` (_list(str)_)
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- `material_parameter` (_[carla.MaterialParameter](#carla.MaterialParameter)_)
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- `texture` (_TextureFloatColor_)
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- <a name="carla.World.apply_settings"></a>**<font color="#7fb800">apply_settings</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**world_settings**</font>)
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This method applies settings contained in an object to the simulation running and returns the ID of the frame they were implemented.
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- **Parameters:**
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@ -3116,6 +3264,22 @@ This method applies settings contained in an object to the simulation running an
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- **Return:** _int_
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- **Warning:** <font color="#ED2F2F">_If synchronous mode is enabled, and there is a Traffic Manager running, this must be set to sync mode too. Read [this](adv_traffic_manager.md#synchronous-mode) to learn how to do it.
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_</font>
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- <a name="carla.World.apply_textures_to_object"></a>**<font color="#7fb800">apply_textures_to_object</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**object_name**</font>, <font color="#00a6ed">**diffuse_texture**</font>, <font color="#00a6ed">**emissive_texture**</font>, <font color="#00a6ed">**normal_texture**</font>, <font color="#00a6ed">**ao_roughness_metallic_emissive_texture**</font>)
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Applies all texture fields in [carla.MaterialParameter](#carla.MaterialParameter) to the object `object_name`. Empty textures here will not be applied.
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- **Parameters:**
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- `object_name` (_str_)
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- `diffuse_texture` (_TextureColor_)
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- `emissive_texture` (_TextureFloatColor_)
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- `normal_texture` (_TextureFloatColor_)
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- `ao_roughness_metallic_emissive_texture` (_TextureFloatColor_)
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- <a name="carla.World.apply_textures_to_objects"></a>**<font color="#7fb800">apply_textures_to_objects</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**objects_name_list**</font>, <font color="#00a6ed">**diffuse_texture**</font>, <font color="#00a6ed">**emissive_texture**</font>, <font color="#00a6ed">**normal_texture**</font>, <font color="#00a6ed">**ao_roughness_metallic_emissive_texture**</font>)
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Applies all texture fields in [carla.MaterialParameter](#carla.MaterialParameter) to all objects in `objects_name_list`. Empty textures here will not be applied.
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- **Parameters:**
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- `objects_name_list` (_list(str)_)
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- `diffuse_texture` (_TextureColor_)
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- `emissive_texture` (_TextureFloatColor_)
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- `normal_texture` (_TextureFloatColor_)
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- `ao_roughness_metallic_emissive_texture` (_TextureFloatColor_)
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- <a name="carla.World.cast_ray"></a>**<font color="#7fb800">cast_ray</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**initial_location**</font>, <font color="#00a6ed">**final_location**</font>)
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Casts a ray from the specified initial_location to final_location. The function then detects all geometries intersecting the ray and returns a list of [carla.LabelledPoint](#carla.LabelledPoint) in order.
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- **Parameters:**
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@ -3226,6 +3390,9 @@ Asks the server for the XODR containing the map file, and returns this parsed as
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- **Return:** _[carla.Map](#carla.Map)_
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- **Warning:** <font color="#ED2F2F">_This method does call the simulation. It is expensive, and should only be called once.
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_</font>
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- <a name="carla.World.get_names_of_all_objects"></a>**<font color="#7fb800">get_names_of_all_objects</font>**(<font color="#00a6ed">**self**</font>)
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Returns a list of the names of all objects in the scene that can be painted with the apply texture functions.
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- **Return:** _list(str)_
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- <a name="carla.World.get_random_location_from_navigation"></a>**<font color="#7fb800">get_random_location_from_navigation</font>**(<font color="#00a6ed">**self**</font>)
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This can only be used with walkers. It retrieves a random location to be used as a destination using the __<font color="#7fb800">go_to_location()</font>__ method in [carla.WalkerAIController](#carla.WalkerAIController). This location will be part of a sidewalk. Roads, crosswalks and grass zones are excluded. The method does not take into consideration locations of existing actors so if a collision happens when trying to spawn an actor, it will return an error. Take a look at [`generate_traffic.py`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/generate_traffic.py) for an example.
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- **Return:** _[carla.Location](#carla.Location)_
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@ -3278,6 +3445,11 @@ Retrieves an object containing weather parameters currently active in the simula
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- `percentage` (_float_) - Sets the percentage of pedestrians that can walk on the road or cross at any point on the road. Value should be between `0.0` and `1.0`. For example, a value of `0.1` would allow 10% of pedestrians to walk on the road. __Default is `0.0`__.
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- **Note:** <font color="#8E8E8E">_Should be set before pedestrians are spawned.
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_</font>
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- <a name="carla.World.set_pedestrians_seed"></a>**<font color="#7fb800">set_pedestrians_seed</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**seed**</font>)
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- **Parameters:**
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- `seed` (_int_) - Sets the seed to use for any random number generated in relation to pedestrians.
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- **Note:** <font color="#8E8E8E">_Should be set before pedestrians are spawned. If you want to repeat the same exact bodies (blueprint) for each pedestrian, then use the same seed in the Python code (where the blueprint is choosen randomly) and here, otherwise the pedestrians will repeat the same paths but the bodies will be different.
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_</font>
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- <a name="carla.World.set_weather"></a>**<font color="#7fb800">set_weather</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**weather**</font>)
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Changes the weather parameteres ruling the simulation to another ones defined in an object.
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- **Parameters:**
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@ -3733,6 +3905,34 @@ document.getElementById("snipets-container").innerHTML = null;
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}
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</script>
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<div id ="carla.World.load_map_layer-snipet" style="display: none;">
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<p class="SnipetFont">
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Snippet for carla.World.load_map_layer
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</p>
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<div id="carla.World.load_map_layer-code" class="SnipetContent">
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```py
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# This recipe toggles on several layers in our "_Opt" maps
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# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.None)
|
||||
|
||||
# Toggle all buildings on
|
||||
world.load_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all foliage on
|
||||
world.load_map_layer(carla.MapLayer.Foliage)
|
||||
|
||||
# Toggle all parked vehicles on
|
||||
world.load_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.ActorBlueprint.set_attribute
|
||||
|
|
@ -3840,79 +4040,27 @@ for i in range(0, len(all_actors), 2):
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
</p>
|
||||
<div id="carla.Client.__init__-code" class="SnipetContent">
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows in every script provided in PythonAPI/Examples
|
||||
# and it is used to parse the client creation arguments when running the script.
|
||||
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
|
||||
|
||||
argparser = argparse.ArgumentParser(
|
||||
description=__doc__)
|
||||
argparser.add_argument(
|
||||
'--host',
|
||||
metavar='H',
|
||||
default='127.0.0.1',
|
||||
help='IP of the host server (default: 127.0.0.1)')
|
||||
argparser.add_argument(
|
||||
'-p', '--port',
|
||||
metavar='P',
|
||||
default=2000,
|
||||
type=int,
|
||||
help='TCP port to listen to (default: 2000)')
|
||||
argparser.add_argument(
|
||||
'-s', '--speed',
|
||||
metavar='FACTOR',
|
||||
default=1.0,
|
||||
type=float,
|
||||
help='rate at which the weather changes (default: 1.0)')
|
||||
args = argparser.parse_args()
|
||||
|
||||
speed_factor = args.speed
|
||||
update_freq = 0.1 / speed_factor
|
||||
|
||||
client = carla.Client(args.host, args.port)
|
||||
# stop pedestrians (list is [controller, actor, controller, actor ...])
|
||||
for i in range(0, len(all_id), 2):
|
||||
all_actors[i].stop()
|
||||
|
||||
# destroy pedestrian (actor and controller)
|
||||
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
|
@ -3988,31 +4136,6 @@ print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.TrafficLight.set_state
|
||||
|
|
@ -4059,6 +4182,108 @@ if vehicle_actor.is_at_traffic_light():
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
</p>
|
||||
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe toggles off several layers in our "_Opt" maps
|
||||
|
||||
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
# as well as buildings and parked vehicles
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
|
||||
|
||||
# Toggle all buildings off
|
||||
world.unload_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all parked vehicles off
|
||||
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.DebugHelper.draw_box
|
||||
</p>
|
||||
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
|
||||
|
||||
# ....
|
||||
debug = world.debug
|
||||
world_snapshot = world.get_snapshot()
|
||||
|
||||
for actor_snapshot in world_snapshot:
|
||||
actual_actor = world.get_actor(actor_snapshot.id)
|
||||
if actual_actor.type_id == 'traffic.traffic_light':
|
||||
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
|
||||
# ...
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
|
||||
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Client.__init__-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Client.__init__
|
||||
</p>
|
||||
<div id="carla.Client.__init__-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe shows in every script provided in PythonAPI/Examples
|
||||
# and it is used to parse the client creation arguments when running the script.
|
||||
|
||||
argparser = argparse.ArgumentParser(
|
||||
description=__doc__)
|
||||
argparser.add_argument(
|
||||
'--host',
|
||||
metavar='H',
|
||||
default='127.0.0.1',
|
||||
help='IP of the host server (default: 127.0.0.1)')
|
||||
argparser.add_argument(
|
||||
'-p', '--port',
|
||||
metavar='P',
|
||||
default=2000,
|
||||
type=int,
|
||||
help='TCP port to listen to (default: 2000)')
|
||||
argparser.add_argument(
|
||||
'-s', '--speed',
|
||||
metavar='FACTOR',
|
||||
default=1.0,
|
||||
type=float,
|
||||
help='rate at which the weather changes (default: 1.0)')
|
||||
args = argparser.parse_args()
|
||||
|
||||
speed_factor = args.speed
|
||||
update_freq = 0.1 / speed_factor
|
||||
|
||||
client = carla.Client(args.host, args.port)
|
||||
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.Vehicle.set_wheel_steer_direction
|
||||
|
|
@ -4078,27 +4303,28 @@ vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
|
||||
<div id ="carla.Sensor.listen-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.WalkerAIController.stop
|
||||
Snippet for carla.Sensor.listen
|
||||
</p>
|
||||
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
|
||||
<div id="carla.Sensor.listen-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
|
||||
# This recipe applies a color conversion to the image taken by a camera sensor,
|
||||
# so it is converted to a semantic segmentation image.
|
||||
|
||||
# stop pedestrians (list is [controller, actor, controller, actor ...])
|
||||
for i in range(0, len(all_id), 2):
|
||||
all_actors[i].stop()
|
||||
|
||||
# destroy pedestrian (actor and controller)
|
||||
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
|
||||
# ...
|
||||
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
|
||||
# ...
|
||||
cc = carla.ColorConverter.CityScapesPalette
|
||||
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
|
@ -4132,6 +4358,31 @@ world.enable_environment_objects(objects_to_toggle, True)
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.get_spectator-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.get_spectator
|
||||
|
|
@ -4167,85 +4418,6 @@ spectator.set_transform(actor_snapshot.get_transform())
|
|||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.load_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.load_map_layer
|
||||
</p>
|
||||
<div id="carla.World.load_map_layer-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe toggles on several layers in our "_Opt" maps
|
||||
|
||||
# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.None)
|
||||
|
||||
# Toggle all buildings on
|
||||
world.load_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all foliage on
|
||||
world.load_map_layer(carla.MapLayer.Foliage)
|
||||
|
||||
# Toggle all parked vehicles on
|
||||
world.load_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.spawn_actor
|
||||
</p>
|
||||
<div id="carla.World.spawn_actor-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
|
||||
# This recipe attaches different camera / sensors to a vehicle with different attachments.
|
||||
|
||||
# ...
|
||||
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
|
||||
# Default attachment: Attachment.Rigid
|
||||
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
|
||||
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
|
||||
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
|
||||
# ...
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
|
||||
<p class="SnipetFont">
|
||||
Snippet for carla.World.unload_map_layer
|
||||
</p>
|
||||
<div id="carla.World.unload_map_layer-code" class="SnipetContent">
|
||||
|
||||
```py
|
||||
|
||||
# This recipe toggles off several layers in our "_Opt" maps
|
||||
|
||||
# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
|
||||
# as well as buildings and parked vehicles
|
||||
world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles)
|
||||
|
||||
# Toggle all buildings off
|
||||
world.unload_map_layer(carla.MapLayer.Buildings)
|
||||
|
||||
# Toggle all parked vehicles off
|
||||
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
||||
|
||||
|
||||
```
|
||||
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button> <button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
|
|
|
|||
|
|
@ -69,6 +69,58 @@
|
|||
- def_name: __str__
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: FloatColor
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Class that defines a float RGBA color.
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: r
|
||||
type: float
|
||||
doc: >
|
||||
Red color.
|
||||
- var_name: g
|
||||
type: float
|
||||
doc: >
|
||||
Green color.
|
||||
- var_name: b
|
||||
type: float
|
||||
doc: >
|
||||
Blue color.
|
||||
- var_name: a
|
||||
type: float
|
||||
doc: >
|
||||
Alpha channel.
|
||||
# - METHODS ----------------------------
|
||||
methods:
|
||||
- def_name: __init__
|
||||
params:
|
||||
- param_name: r
|
||||
type: float
|
||||
default: 0
|
||||
- param_name: g
|
||||
type: float
|
||||
default: 0
|
||||
- param_name: b
|
||||
type: float
|
||||
default: 0
|
||||
- param_name: a
|
||||
type: float
|
||||
default: 1.0
|
||||
doc: >
|
||||
Initializes a color, black by default.
|
||||
# --------------------------------------
|
||||
- def_name: __eq__
|
||||
params:
|
||||
- param_name: other
|
||||
type: carla.FloatColor
|
||||
# --------------------------------------
|
||||
- def_name: __ne__
|
||||
params:
|
||||
- param_name: other
|
||||
type: carla.FloatColor
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: OpticalFlowPixel
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
|
|
|
|||
|
|
@ -288,6 +288,132 @@
|
|||
All layers selected
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: MaterialParameter
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Class that represents material parameters. Not all objects in the scene contain all parameters.
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: Normal
|
||||
doc: >
|
||||
The Normal map of the object. Present in all objects.
|
||||
- var_name: Diffuse
|
||||
doc: >
|
||||
The Diffuse texture of the object. Present in all objects.
|
||||
- var_name: AO_Roughness_Metallic_Emissive
|
||||
doc: >
|
||||
A texture where each color channel represent a property of the material (R: Ambien oclusion, G: Roughness, B: Metallic, A: Emissive/Height map in some objects)
|
||||
- var_name: Emissive
|
||||
doc: >
|
||||
Emissive texture. Present in a few objects.
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: TextureColor
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Class representing a texture object to be uploaded to the server. Pixel format is RGBA, uint8 per channel.
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: width
|
||||
type: int
|
||||
doc: >
|
||||
X-coordinate size of the texture.
|
||||
- var_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Y-coordinate size of the texture.
|
||||
# - METHODS ----------------------------
|
||||
methods:
|
||||
- def_name: __init__
|
||||
params:
|
||||
- param_name: width
|
||||
type: int
|
||||
- param_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Initializes a the texture with a (`width`, `height`) size.
|
||||
- def_name: set_dimensions
|
||||
params:
|
||||
- param_name: width
|
||||
type: int
|
||||
- param_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Resizes the texture to te specified dimensions.
|
||||
- def_name: get
|
||||
return: carla.Color
|
||||
params:
|
||||
- param_name: x
|
||||
type: int
|
||||
- param_name: y
|
||||
type: int
|
||||
doc: >
|
||||
Get the (x,y) pixel data.
|
||||
- def_name: set
|
||||
params:
|
||||
- param_name: x
|
||||
type: int
|
||||
- param_name: y
|
||||
type: int
|
||||
- param_name: value
|
||||
type: carla.Color
|
||||
doc: >
|
||||
Sets the (x,y) pixel data with `value`.
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: TextureFloatColor
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
Class representing a texture object to be uploaded to the server. Pixel format is RGBA, float per channel.
|
||||
# - PROPERTIES -------------------------
|
||||
instance_variables:
|
||||
- var_name: width
|
||||
type: int
|
||||
doc: >
|
||||
X-coordinate size of the texture.
|
||||
- var_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Y-coordinate size of the texture.
|
||||
# - METHODS ----------------------------
|
||||
methods:
|
||||
- def_name: __init__
|
||||
params:
|
||||
- param_name: width
|
||||
type: int
|
||||
- param_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Initializes a the texture with a (`width`, `height`) size.
|
||||
- def_name: set_dimensions
|
||||
params:
|
||||
- param_name: width
|
||||
type: int
|
||||
- param_name: height
|
||||
type: int
|
||||
doc: >
|
||||
Resizes the texture to te specified dimensions.
|
||||
- def_name: get
|
||||
return: carla.FloatColor
|
||||
params:
|
||||
- param_name: x
|
||||
type: int
|
||||
- param_name: y
|
||||
type: int
|
||||
doc: >
|
||||
Get the (x,y) pixel data.
|
||||
- def_name: set
|
||||
params:
|
||||
- param_name: x
|
||||
type: int
|
||||
- param_name: y
|
||||
type: int
|
||||
- param_name: value
|
||||
type: carla.FloatColor
|
||||
doc: >
|
||||
Sets the (x,y) pixel data with `value`.
|
||||
# --------------------------------------
|
||||
|
||||
- class_name: World
|
||||
# - DESCRIPTION ------------------------
|
||||
doc: >
|
||||
|
|
@ -670,6 +796,85 @@
|
|||
Should be set before pedestrians are spawned.
|
||||
If you want to repeat the same exact bodies (blueprint) for each pedestrian, then use the same seed in the Python code (where the blueprint is choosen randomly) and here, otherwise the pedestrians will repeat the same paths but the bodies will be different.
|
||||
# --------------------------------------
|
||||
- def_name: apply_color_texture_to_object
|
||||
params:
|
||||
- param_name: object_name
|
||||
type: str
|
||||
- param_name: material_parameter
|
||||
type: carla.MaterialParameter
|
||||
- param_name: texture
|
||||
type: TextureColor
|
||||
doc: >
|
||||
Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
|
||||
# --------------------------------------
|
||||
- def_name: apply_float_color_texture_to_object
|
||||
params:
|
||||
- param_name: object_name
|
||||
type: str
|
||||
- param_name: material_parameter
|
||||
type: carla.MaterialParameter
|
||||
- param_name: texture
|
||||
type: TextureFloatColor
|
||||
doc: >
|
||||
Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
|
||||
# --------------------------------------
|
||||
- def_name: apply_textures_to_object
|
||||
params:
|
||||
- param_name: object_name
|
||||
type: str
|
||||
- param_name: diffuse_texture
|
||||
type: TextureColor
|
||||
- param_name: emissive_texture
|
||||
type: TextureFloatColor
|
||||
- param_name: normal_texture
|
||||
type: TextureFloatColor
|
||||
- param_name: ao_roughness_metallic_emissive_texture
|
||||
type: TextureFloatColor
|
||||
doc: >
|
||||
Applies all texture fields in carla.MaterialParameter to the object `object_name`. Empty textures here will not be applied.
|
||||
# --------------------------------------
|
||||
- def_name: apply_color_texture_to_objects
|
||||
params:
|
||||
- param_name: objects_name_list
|
||||
type: list(str)
|
||||
- param_name: material_parameter
|
||||
type: carla.MaterialParameter
|
||||
- param_name: texture
|
||||
type: TextureColor
|
||||
doc: >
|
||||
Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
|
||||
# --------------------------------------
|
||||
- def_name: apply_float_color_texture_to_objects
|
||||
params:
|
||||
- param_name: objects_name_list
|
||||
type: list(str)
|
||||
- param_name: material_parameter
|
||||
type: carla.MaterialParameter
|
||||
- param_name: texture
|
||||
type: TextureFloatColor
|
||||
doc: >
|
||||
Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
|
||||
# --------------------------------------
|
||||
- def_name: apply_textures_to_objects
|
||||
params:
|
||||
- param_name: objects_name_list
|
||||
type: list(str)
|
||||
- param_name: diffuse_texture
|
||||
type: TextureColor
|
||||
- param_name: emissive_texture
|
||||
type: TextureFloatColor
|
||||
- param_name: normal_texture
|
||||
type: TextureFloatColor
|
||||
- param_name: ao_roughness_metallic_emissive_texture
|
||||
type: TextureFloatColor
|
||||
doc: >
|
||||
Applies all texture fields in carla.MaterialParameter to all objects in `objects_name_list`. Empty textures here will not be applied.
|
||||
# --------------------------------------
|
||||
- def_name: get_names_of_all_objects
|
||||
return: list(str)
|
||||
doc: >
|
||||
Returns a list of the names of all objects in the scene that can be painted with the apply texture functions.
|
||||
# --------------------------------------
|
||||
- def_name: __str__
|
||||
return:
|
||||
string
|
||||
|
|
|
|||
Loading…
Reference in New Issue