; Example of settings file for CARLA.

[CARLA/Server]
; If set to false, a mock controller will be used instead of waiting for a real
; client to connect.
UseNetworking=true
; Ports to use for the server-client communication. This can be overridden by
; the command-line switch `-world-port=N`, write and read ports will be set to
; N+1 and N+2 respectively.
WorldPort=2000
; Time-out in milliseconds for the networking operations.
ServerTimeOut=10000
; In synchronous mode, CARLA waits every frame until the control from the client
; is received.
SynchronousMode=true
; Send info about every non-player agent in the scene every frame, the
; information is attached to the measurements message. This includes other
; vehicles, pedestrians and traffic signs. Disabled by default to improve
; performance.
SendNonPlayerAgentsInfo=false

[CARLA/LevelSettings]
; Path of the vehicle class to be used for the player. Leave empty for default.
; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
PlayerVehicle=
; Number of non-player vehicles to be spawned into the level.
NumberOfVehicles=15
; Number of non-player pedestrians to be spawned into the level.
NumberOfPedestrians=30
; Index of the weather/lighting presets to use. If negative, the default presets
; of the map will be used.
WeatherId=1
; Seeds for the pseudo-random number generators.
SeedVehicles=123456789
SeedPedestrians=123456789

[CARLA/SceneCapture]
; Names of the cameras to be attached to the player, comma-separated, each of
; them should be defined in its own subsection. E.g., Uncomment next line to add
; a camera called MyCamera to the vehicle

; Cameras=MyCamera

; Now, every camera we added needs to be defined it in its own subsection.
[CARLA/SceneCapture/MyCamera]
; Post-processing effect to be applied. Valid values:
;   * None                  No effects applied.
;   * SceneFinal            Post-processing present at scene (bloom, fog, etc).
;   * Depth                 Depth map ground-truth only.
;   * SemanticSegmentation  Semantic segmentation ground-truth only.
PostProcessing=SceneFinal
; Size of the captured image in pixels.
ImageSizeX=800
ImageSizeY=600
; Camera (horizontal) field of view in degrees.
CameraFOV=90
; Position of the camera relative to the car in centimeters.
CameraPositionX=15
CameraPositionY=0
CameraPositionZ=123
; Rotation of the camera relative to the car in degrees.
CameraRotationPitch=8
CameraRotationRoll=0
CameraRotationYaw=0

; Stereo setup example:
;
; [CARLA/SceneCapture]
; Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
; ImageSizeX=720
; ImageSizeY=512
; CameraFOV=90
; [CARLA/SceneCapture/CameraStereoLeft]
; CameraPositionX=170
; CameraPositionY=-30
; CameraPositionZ=150
; CameraRotationPitch=0
; CameraRotationRoll=0
; CameraRotationYaw=0
; [CARLA/SceneCapture/CameraStereoLeft/RGB]
; PostProcessing=SceneFinal
; [CARLA/SceneCapture/CameraStereoLeft/Depth]
; PostProcessing=Depth
; [CARLA/SceneCapture/CameraStereoRight]
; CameraPositionX=170
; CameraPositionY=30
; CameraPositionZ=150
; CameraRotationPitch=0
; CameraRotationRoll=0
; CameraRotationYaw=0
; [CARLA/SceneCapture/CameraStereoRight/RGB]
; PostProcessing=SceneFinal
; [CARLA/SceneCapture/CameraStereoRight/Depth]
; PostProcessing=Depth