338 lines
6.0 KiB
Markdown
338 lines
6.0 KiB
Markdown
<h1>Python API Reference</h1>
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!!! important
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Versions prior to 0.9.0 have a very different API. For the documentation of
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the stable version please switch to the
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[stable branch](https://carla.readthedocs.io/en/stable/).
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## `carla.Client`
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- `Client(host, port, worker_threads=0)`
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- `set_timeout(float_seconds)`
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- `get_client_version()`
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- `get_server_version()`
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- `get_world()`
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## `carla.World`
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- `id`
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- `map_name`
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- `debug`
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- `get_blueprint_library()`
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- `get_map()`
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- `get_spectator()`
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- `get_weather()`
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- `set_weather(weather_parameters)`
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- `get_actors()`
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- `spawn_actor(blueprint, transform, attach_to=None)`
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- `try_spawn_actor(blueprint, transform, attach_to=None)`
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- `wait_for_tick(seconds=1.0)`
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- `on_tick(callback)`
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## `carla.DebugHelper`
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- `draw_point(location, size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)`
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- `draw_line(begin, end, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)`
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- `draw_arrow(begin, end, thickness=0.1, arrow_size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)`
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- `draw_box(box, rotation, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)`
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- `draw_string(location, text, draw_shadow=False, color=carla.Color(), life_time=-1.0, persistent_lines=True)`
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## `carla.BlueprintLibrary`
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- `find(id)`
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- `filter(wildcard_pattern)`
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- `__getitem__(pos)`
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- `__len__()`
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- `__iter__()`
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## `carla.ActorBlueprint`
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- `id`
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- `tags`
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- `has_tag(tag)`
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- `match_tags(wildcard_pattern)`
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- `has_attribute(key)`
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- `get_attribute(key)`
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- `set_attribute(key, value)`
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- `__len__()`
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- `__iter__()`
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## `carla.ActorAttribute`
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- `id`
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- `type`
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- `recommended_values`
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- `is_modifiable`
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- `as_bool()`
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- `as_int()`
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- `as_float()`
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- `as_str()`
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- `as_color()`
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- `__eq__(other)`
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- `__ne__(other)`
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- `__nonzero__()`
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- `__bool__()`
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- `__int__()`
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- `__float__()`
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- `__str__()`
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## `carla.ActorList`
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- `find(id)`
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- `filter(wildcard_pattern)`
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- `__getitem__(pos)`
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- `__len__()`
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- `__iter__()`
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## `carla.Actor`
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- `id`
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- `type_id`
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- `parent`
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- `semantic_tags`
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- `is_alive`
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- `attributes`
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- `get_world()`
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- `get_location()`
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- `get_transform()`
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- `get_velocity()`
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- `get_acceleration()`
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- `set_location(location)`
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- `set_transform(transform)`
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- `set_simulate_physics(enabled=True)`
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- `destroy()`
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## `carla.Vehicle(carla.Actor)`
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- `bounding_box`
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- `apply_control(vehicle_control)`
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- `get_control()`
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- `set_autopilot(enabled=True)`
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- `get_speed_limit()`
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- `get_traffic_light_state()`
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- `is_at_traffic_light()`
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- `get_traffic_light()`
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## `carla.TrafficLight(carla.Actor)`
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- `state`
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- `set_state(traffic_light_state)`
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- `get_state()`
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- `set_green_time(green_time)`
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- `get_green_time()`
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- `set_yellow_time(yellow_time)`
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- `get_yellow_time()`
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- `set_red_time(red_time)`
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- `get_red_time()`
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- `get_elapsed_time()`
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- `freeze(True)`
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- `is_frozen()`
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## `carla.Sensor(carla.Actor)`
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- `is_listening`
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- `listen(callback_function)`
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- `stop()`
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## `carla.SensorData`
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- `frame_number`
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- `transform`
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## `carla.Image(carla.SensorData)`
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- `width`
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- `height`
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- `fov`
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- `raw_data`
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- `convert(color_converter)`
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- `save_to_disk(path, color_converter=None)`
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- `__len__()`
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- `__iter__()`
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- `__getitem__(pos)`
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- `__setitem__(pos, color)`
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## `carla.LidarMeasurement(carla.SensorData)`
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- `horizontal_angle`
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- `channels`
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- `raw_data`
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- `get_point_count(channel)`
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- `save_to_disk(path)`
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- `__len__()`
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- `__iter__()`
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- `__getitem__(pos)`
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- `__setitem__(pos, location)`
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## `carla.CollisionEvent(carla.SensorData)`
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- `actor`
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- `other_actor`
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- `normal_impulse`
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## `carla.LaneInvasionEvent(carla.SensorData)`
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- `actor`
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- `crossed_lane_markings`
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## `carla.GnssEvent(carla.SensorData)`
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- `latitude`
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- `longitude`
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- `altitude`
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## `carla.ObstacleDetectionSensorEvent(carla.SensorData)`
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- `actor`
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- `other_actor`
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- `distance`
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## `carla.VehicleControl`
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- `throttle`
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- `steer`
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- `brake`
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- `hand_brake`
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- `reverse`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Map`
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- `name`
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- `get_spawn_points()`
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- `get_waypoint(location, project_to_road=True)`
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- `get_topology()`
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- `generate_waypoints(distance)`
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- `to_opendrive()`
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- `save_to_disk(path=self.name)`
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## `carla.Waypoint`
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- `transform`
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- `is_intersection`
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- `lane_width`
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- `road_id`
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- `lane_id`
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- `next(distance)`
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## `carla.WeatherParameters`
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- `cloudyness`
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- `precipitation`
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- `precipitation_deposits`
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- `wind_intensity`
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- `sun_azimuth_angle`
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- `sun_altitude_angle`
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- `__eq__(other)`
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- `__ne__(other)`
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Static presets
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- `carla.WeatherParameters.ClearNoon`
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- `carla.WeatherParameters.CloudyNoon`
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- `carla.WeatherParameters.WetNoon`
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- `carla.WeatherParameters.WetCloudyNoon`
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- `carla.WeatherParameters.MidRainyNoon`
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- `carla.WeatherParameters.HardRainNoon`
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- `carla.WeatherParameters.SoftRainNoon`
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- `carla.WeatherParameters.ClearSunset`
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- `carla.WeatherParameters.CloudySunset`
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- `carla.WeatherParameters.WetSunset`
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- `carla.WeatherParameters.WetCloudySunset`
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- `carla.WeatherParameters.MidRainSunset`
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- `carla.WeatherParameters.HardRainSunset`
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- `carla.WeatherParameters.SoftRainSunset`
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## `carla.Vector3D`
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- `x`
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- `y`
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- `z`
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- `__add__(other)`
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- `__sub__(other)`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Location`
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- `x`
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- `y`
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- `z`
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- `distance(other)`
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- `__add__(other)`
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- `__sub__(other)`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Rotation`
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- `pitch`
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- `yaw`
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- `roll`
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- `get_forward_vector()`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Transform`
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- `location`
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- `rotation`
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- `transform(geom_object)`
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- `get_forward_vector()`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.BoundingBox`
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- `location`
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- `extent`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Timestamp`
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- `frame_count`
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- `elapsed_seconds`
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- `delta_seconds`
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- `platform_timestamp`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.Color`
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- `r`
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- `g`
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- `b`
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- `a`
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- `__eq__(other)`
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- `__ne__(other)`
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## `carla.ColorConverter`
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- `Raw`
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- `Depth`
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- `LogarithmicDepth`
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- `CityScapesPalette`
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## `carla.ActorAttributeType`
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- `Bool`
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- `Int`
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- `Float`
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- `RGBColor`
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## `carla.TrafficLightState`
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- `Red`
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- `Yellow`
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- `Green`
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- `Off`
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- `Unknown`
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## `carla.LaneMarking`
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- `Other`
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- `Broken`
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- `Solid`
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