-Snippet for carla.World.get_spectator -
-
-
-```py
-
-
-# This recipe spawns an actor and the spectator camera at the actor's location.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.WalkerAIController.stop -
-
-
-```py
-
-
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-
-# 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])
-
-
-```
-
- -
-
-- -
-
+
-Snippet for carla.World.spawn_actor -
-
-
-```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)
-# ...
-
-
-```
-
- -
-
- -
Snippet for carla.Client.apply_batch_sync @@ -3897,6 +3813,61 @@ for i in range(0, len(all_actors), 2):
+
+Snippet for carla.World.enable_environment_objects +
+
+
+```py
+
+# This recipe turn visibility off and on for two specifc buildings on the map
+
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
+
+# Access individual building IDs and save in a set
+building_01 = env_objs[0]
+building_02 = env_objs[1]
+objects_to_toggle = {building_01.id, building_02.id}
+
+# Toggle buildings off
+world.enable_environment_objects(objects_to_toggle, False)
+# Toggle buildings on
+world.enable_environment_objects(objects_to_toggle, True)
+
+
+```
+
+ +
+
++ +
+
-
+Snippet for carla.World.spawn_actor +
+
+
+```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)
+# ...
+
+
+```
+
+ +
+
+ +
Snippet for carla.ActorBlueprint.set_attribute @@ -3931,195 +3902,6 @@ camera_bp.set_attribute('image_size_y', 600)
-
-Snippet for carla.DebugHelper.draw_box -
-
-
-```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)
-# ...
-
-
-
-```
-
- - -
-
-
-
-- - -
-
-
-
-Snippet for carla.Sensor.listen -
-
-
-```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))
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.Vehicle.set_wheel_steer_direction -
-
-
-```py
-
-# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
-
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.DebugHelper.draw_string -
-
-
-```py
-
-
-# This recipe is a modification of lane_explorer.py example.
-# It draws the path of an actor through the world, printing information at each waypoint.
-
-# ...
-current_w = map.get_waypoint(vehicle.get_location())
-while True:
-
- next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
- # Check if the vehicle is moving
- if next_w.id != current_w.id:
- vector = vehicle.get_velocity()
- # Check if the vehicle is on a sidewalk
- if current_w.lane_type == carla.LaneType.Sidewalk:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
- else:
- draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
- debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
- draw_transform(debug, current_w.transform, white, 60)
-
- # Update the current waypoint and sleep for some time
- current_w = next_w
- time.sleep(args.tick_time)
-# ...
-
-
-```
-
- -
-
-- -
-
-Snippet for carla.World.enable_environment_objects -
-
-
-```py
-
-# This recipe turn visibility off and on for two specifc buildings on the map
-
-# Get the buildings in the world
-world = client.get_world()
-env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-
-# Access individual building IDs and save in a set
-building_01 = env_objs[0]
-building_02 = env_objs[1]
-objects_to_toggle = {building_01.id, building_02.id}
-
-# Toggle buildings off
-world.enable_environment_objects(objects_to_toggle, False)
-# Toggle buildings on
-world.enable_environment_objects(objects_to_toggle, True)
-
-
-```
-
- -
-
-- -
-
+
-Snippet for carla.Client.__init__ -
-
-
-```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)
-
-
-
-```
-
- -
-
- -
Snippet for carla.TrafficLight.set_state @@ -4166,6 +3948,224 @@ if vehicle_actor.is_at_traffic_light():
+
+Snippet for carla.WalkerAIController.stop +
+
+
+```py
+
+
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
+
+# 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])
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Vehicle.set_wheel_steer_direction +
+
+
+```py
+
+# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
+
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.Client.__init__ +
+
+
+```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)
+
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.World.get_spectator +
+
+
+```py
+
+
+# This recipe spawns an actor and the spectator camera at the actor's location.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...
+
+
+```
+
+ +
+
++ +
+
+Snippet for carla.DebugHelper.draw_box +
+
+
+```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)
+# ...
+
+
+
+```
+
+ + +
+
+
+
++ + +
+
+
+
- +
The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.
 *Unreal Engine's coordinates system* @@ -269,7 +361,7 @@ param_units: degrees doc: > X-axis rotation angle. - warning: The declaration order is different in CARLA
+Snippet for carla.DebugHelper.draw_string +
+
+
+```py
+
+
+# This recipe is a modification of lane_explorer.py example.
+# It draws the path of an actor through the world, printing information at each waypoint.
+
+# ...
+current_w = map.get_waypoint(vehicle.get_location())
+while True:
+
+ next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
+ # Check if the vehicle is moving
+ if next_w.id != current_w.id:
+ vector = vehicle.get_velocity()
+ # Check if the vehicle is on a sidewalk
+ if current_w.lane_type == carla.LaneType.Sidewalk:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
+ else:
+ draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
+ debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
+ draw_transform(debug, current_w.transform, white, 60)
+
+ # Update the current waypoint and sleep for some time
+ current_w = next_w
+ time.sleep(args.tick_time)
+# ...
+
+
+```
+
+ +
+
++ +
+
@@ -4202,4 +4202,4 @@ for (let i = 0; i < buttons.length; i++) {
buttons[i].addEventListener("click",function(){ButtonAction(buttons[i].id);},true);
}
window.onresize = WindowResize;
-
+
\ No newline at end of file
diff --git a/LibCarla/source/carla/geom/Math.h b/LibCarla/source/carla/geom/Math.h
index 1f6ec7ec3..0dc5a5a09 100644
--- a/LibCarla/source/carla/geom/Math.h
+++ b/LibCarla/source/carla/geom/Math.h
@@ -55,6 +55,10 @@ namespace geom {
return a * a;
}
+ static auto Cross(const Vector3D &a, const Vector3D &b) {
+ return Vector3D(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
+ }
+
static auto Dot(const Vector3D &a, const Vector3D &b) {
return a.x * b.x + a.y * b.y + a.z * b.z;
}
diff --git a/PythonAPI/carla/source/libcarla/Geom.cpp b/PythonAPI/carla/source/libcarla/Geom.cpp
index 81ec434de..4c0281270 100644
--- a/PythonAPI/carla/source/libcarla/Geom.cpp
+++ b/PythonAPI/carla/source/libcarla/Geom.cpp
@@ -103,6 +103,10 @@ static auto GetInverseTransformMatrix(const carla::geom::Transform &self) {
return BuildMatrix(self.GetInverseMatrix());
}
+static auto Cross(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
+ return carla::geom::Math::Cross(self, other);
+}
+
static auto Dot(const carla::geom::Vector3D &self, const carla::geom::Vector3D &other) {
return carla::geom::Math::Dot(self, other);
}
@@ -173,6 +177,7 @@ void export_geom() {
.def("length", &cg::Vector3D::Length)
.def("squared_length", &cg::Vector3D::SquaredLength)
.def("make_unit_vector", &cg::Vector3D::MakeUnitVector)
+ .def("cross", &Cross, (arg("vector")))
.def("dot", &Dot, (arg("vector")))
.def("dot_2d", &Dot2D, (arg("vector")))
.def("distance", &Distance, (arg("vector")))
diff --git a/PythonAPI/docs/geom.yml b/PythonAPI/docs/geom.yml
index cae843d06..05b1092e2 100644
--- a/PythonAPI/docs/geom.yml
+++ b/PythonAPI/docs/geom.yml
@@ -26,6 +26,24 @@
type: float
default: 0.0
# --------------------------------------
+ - def_name: length
+ return: float
+ params:
+ doc: >
+ Computes the length of the vector.
+ # --------------------------------------
+ - def_name: squared_length
+ return: float
+ params:
+ doc: >
+ Computes the squared length of the vector.
+ # --------------------------------------
+ - def_name: make_unit_vector
+ return: carla.Vector3D
+ params:
+ doc: >
+ Returns a vector with the same direction and unitary length.
+ # --------------------------------------
- def_name: __add__
params:
- param_name: other
@@ -100,6 +118,80 @@
type: float
default: 0.0
# --------------------------------------
+ - def_name: length
+ return: float
+ params:
+ doc: >
+ Computes the length of the vector.
+ # --------------------------------------
+ - def_name: squared_length
+ return: float
+ params:
+ doc: >
+ Computes the squared length of the vector.
+ # --------------------------------------
+ - def_name: make_unit_vector
+ return: carla.Vector3D
+ params:
+ doc: >
+ Returns a vector with the same direction and unitary length.
+ # --------------------------------------
+ - def_name: cross
+ return: carla.Vector3D
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the cross product between two vectors.
+ # --------------------------------------
+ - def_name: dot
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the dot product between two vectors.
+ # --------------------------------------
+ - def_name: distance
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the distance between two vectors.
+ # --------------------------------------
+ - def_name: distance_squared
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the squared distance between two vectors.
+ # --------------------------------------
+ - def_name: dot_2d
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the 2-dimensional dot product between two vectors.
+ # --------------------------------------
+ - def_name: distance_2d
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the 2-dimensional distance between two vectors.
+ # --------------------------------------
+ - def_name: distance_squared_2d
+ return: float
+ params:
+ - param_name: vector
+ type: carla.Vector3D
+ doc: >
+ Computes the 2-dimensional squared distance between two vectors.
+ # --------------------------------------
- def_name: __add__
params:
- param_name: other
@@ -226,7 +318,7 @@
# - DESCRIPTION ------------------------
doc: >
Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system. +Snippet for carla.Sensor.listen +
+
+
+```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))
+# ...
+
+
+```
+
+ +
+
+ +
- +
The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.
 *Unreal Engine's coordinates system* @@ -269,7 +361,7 @@ param_units: degrees doc: > X-axis rotation angle. - warning: The declaration order is different in CARLA
(pitch,yaw,roll), and in the Unreal Engine Editor (roll,pitch,yaw). When working in a build from source, don't mix up the axes' rotations.
+ warning: The declaration order is different in CARLA (pitch,yaw,roll), and in the Unreal Engine Editor (roll,pitch,yaw). When working in a build from source, don't mix up the axes' rotations.
# --------------------------------------
- def_name: get_forward_vector
params:
@@ -421,7 +513,7 @@
type: carla.Location
var_units: meters
doc: >
- Center of the box, relative to its parent.
+ Center of the box, relative to its parent.
- param_name: extent
type: carla.Vector3D
param_units: meters