From e1938e13bdca8f12350e5fb3e0a92ef6e8e5e8f9 Mon Sep 17 00:00:00 2001
From: Daniel Santos-Olivan <dsantosolivan@gmail.com>
Date: Thu, 11 Mar 2021 10:46:40 +0100
Subject: [PATCH] Updated manual control with new camera shots for pedestrians

---
 PythonAPI/examples/manual_control.py | 29 +++++++++++++++-------------
 1 file changed, 16 insertions(+), 13 deletions(-)

diff --git a/PythonAPI/examples/manual_control.py b/PythonAPI/examples/manual_control.py
index 0cbd775b3..c0c867dba 100755
--- a/PythonAPI/examples/manual_control.py
+++ b/PythonAPI/examples/manual_control.py
@@ -793,15 +793,18 @@ class CollisionSensor(object):
 class LaneInvasionSensor(object):
     def __init__(self, parent_actor, hud):
         self.sensor = None
-        self._parent = parent_actor
-        self.hud = hud
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
-        self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
-        # We need to pass the lambda a weak reference to self to avoid circular
-        # reference.
-        weak_self = weakref.ref(self)
-        self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
+
+        # If the spawn object is not a vehicle, we cannot use the Lane Invasion Sensor
+        if parent_actor.type_id.startswith("vehicle."):
+            self._parent = parent_actor
+            self.hud = hud
+            world = self._parent.get_world()
+            bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
+            self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
+            # We need to pass the lambda a weak reference to self to avoid circular
+            # reference.
+            weak_self = weakref.ref(self)
+            self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
 
     @staticmethod
     def _on_invasion(weak_self, event):
@@ -969,11 +972,11 @@ class CameraManager(object):
                 (carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
         else:
             self._camera_transforms = [
-                (carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
+                (carla.Transform(carla.Location(x=-2.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArm),
                 (carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
-                (carla.Transform(carla.Location(x=5.5, y=1.5, z=1.5)), Attachment.SpringArm),
-                (carla.Transform(carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
-                (carla.Transform(carla.Location(x=-1, y=-bound_y, z=0.5)), Attachment.Rigid)]
+                (carla.Transform(carla.Location(x=2.5, y=0.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArm),
+                (carla.Transform(carla.Location(x=-4.0, z=2.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
+                (carla.Transform(carla.Location(x=0, y=-2.5, z=-0.0), carla.Rotation(yaw=90.0)), Attachment.Rigid)]
 
         self.transform_index = 1
         self.sensors = [