358 lines
9.9 KiB
YAML
358 lines
9.9 KiB
YAML
---
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- module_name: carla
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doc: >
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# - CLASSES ------------------------------
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classes:
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- class_name: SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Base class for all the objects containing data generated by a sensor.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: frame
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type: int
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doc: >
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Frame count when the data was generated.
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- var_name: timestamp
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type: float
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doc: >
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Simulation-time when the data was generated.
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- var_name: transform
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type: carla.Transform
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doc: >
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Sensor's transform when the data was generated.
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# --------------------------------------
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- class_name: ColorConverter
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# - DESCRIPTION ------------------------
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doc: >
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Class that defines the color converter options. Check out this [`recipe`](../python_cookbook/#converted-image-recipe)!
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: Raw
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doc: >
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- var_name: Depth
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doc: >
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- var_name: LogarithmicDepth
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doc: >
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- var_name: CityScapesPalette
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doc: >
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- class_name: Image
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Class that defines an image of 32-bit BGRA colors.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: width
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type: int
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doc: >
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Image width in pixels.
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- var_name: height
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type: int
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doc: >
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Image height in pixels
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- var_name: fov
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type: float
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doc: >
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Horizontal field of view of the image in degrees.
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- var_name: raw_data
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type: bytes
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doc: >
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# - METHODS ----------------------------
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methods:
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- def_name: convert
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params:
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- param_name: color_converter
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type: carla.ColorConverter
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doc: >
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Convert the image with the applied conversion.
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# --------------------------------------
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- def_name: save_to_disk
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params:
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- param_name: path
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type: str
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doc: >
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Path where it will be saved
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- param_name: color_converter
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type: carla.ColorConverter
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default: Raw
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doc: >
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Save the image to disk.
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# --------------------------------------
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- def_name: __len__
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doc: >
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# --------------------------------------
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- def_name: __iter__
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doc: >
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# --------------------------------------
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- def_name: __getitem__
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params:
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- param_name: pos
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type: int
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doc: >
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# --------------------------------------
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- def_name: __setitem__
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params:
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- param_name: pos
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type: int
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- param_name: color
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type: carla.Color
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doc: >
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# --------------------------------------
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: LidarMeasurement
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Lidar sensor measurement data.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: horizontal_angle
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type: float
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doc: >
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Horizontal angle that the Lidar has rotated at the time of the measurement (in radians)
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- var_name: channels
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type: int
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doc: >
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Number of lasers
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- var_name: raw_data
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type: bytes
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doc: >
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List of 3D points
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# - METHODS ----------------------------
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methods:
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- def_name: get_point_count
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params:
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- param_name: channel
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type: int
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doc: >
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Retrieve the number of points that are generated by this channel.
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note: >
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Points are sorted by channel, so this method allows to identify the channel
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that generated each point.
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# --------------------------------------
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- def_name: save_to_disk
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params:
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- param_name: path
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type: str
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doc: >
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Save point cloud to disk
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# --------------------------------------
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- def_name: __len__
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doc: >
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# --------------------------------------
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- def_name: __iter__
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doc: >
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# --------------------------------------
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- def_name: __getitem__
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params:
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- param_name: pos
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type: int
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doc: >
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# --------------------------------------
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- def_name: __setitem__
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params:
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- param_name: pos
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type: int
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- param_name: location
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type: carla.Location
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doc: >
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# --------------------------------------
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: CollisionEvent
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Class that defines a registered collision.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: actor
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type: carla.Actor
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doc: >
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Get "self" actor. Actor that measured the collision.
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- var_name: other_actor
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type: carla.Actor
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doc: >
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Get the actor to which we collided.
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- var_name: normal_impulse
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type: carla.Vector3D
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doc: >
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Normal impulse result of the collision.
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- class_name: ObstacleDetectionEvent
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Obstacle detection sensor data
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: actor
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type: carla.Actor
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doc: >
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Get "self" actor. Actor that measured the collision.
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- var_name: other_actor
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type: carla.Actor
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doc: >
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Get the actor to which we collided.
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- var_name: distance
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type: float
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doc: >
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Get obstacle distance.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: LaneInvasionEvent
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Lane invasion sensor data.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: actor
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type: carla.Actor
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doc: >
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Get "self" actor. Actor that invaded another lane.
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- var_name: crossed_lane_markings
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type: list(carla.LaneMarking)
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doc: >
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List of lane markings that have been crossed.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: GnssMeasurement
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Gnss sensor data
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: latitude
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type: float
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doc: >
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North/South value of a point on the map.
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- var_name: longitude
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type: float
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doc: >
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West/East value of a point on the map.
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- var_name: altitude
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type: float
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doc: >
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Height regarding ground level.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: IMUMeasurement
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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IMU sensor data regarding the sensor World's transformation
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: accelerometer
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type: carla.Vector3D
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doc: >
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Measures linear acceleration in `m/s^2`.
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- var_name: gyroscope
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type: carla.Vector3D
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doc: >
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Measures angular velocity in `rad/sec`.
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- var_name: compass
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type: float
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doc: >
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Orientation with respect to the North (`(0.0, -1.0, 0.0)` in Unreal) in radians.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: RadarMeasurement
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parent: carla.SensorData
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# - DESCRIPTION ------------------------
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doc: >
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Measurement produced by a Radar. Consists of an array of carla.RadarDetection.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: raw_data
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type: bytes
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doc: >
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List of carla.RadarDetection.
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# - METHODS ----------------------------
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methods:
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- def_name: get_detection_count
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doc: >
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Retrieve the number of carla.RadarDetection that are generated.
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# --------------------------------------
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- def_name: __len__
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doc: >
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# --------------------------------------
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- def_name: __iter__
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doc: >
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# --------------------------------------
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- def_name: __getitem__
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params:
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- param_name: pos
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type: int
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doc: >
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# --------------------------------------
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- def_name: __setitem__
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params:
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- param_name: pos
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type: int
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- param_name: detection
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type: carla.RadarDetection
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doc: >
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# --------------------------------------
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: RadarDetection
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# - DESCRIPTION ------------------------
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doc: >
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Data contained by a carla.RadarMeasurement. Represents an object detection produced by the Radar sensor.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: velocity
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type: float
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doc: >
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The velocity of the detected object towards the sensor in meters per second.
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# --------------------------------------
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- var_name: azimuth
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type: float
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doc: >
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Azimuth angle of the detection in radians
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# --------------------------------------
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- var_name: altitude
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type: float
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doc: >
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Altitude angle of the detection in radians
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# --------------------------------------
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- var_name: depth
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type: float
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doc: >
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Distance in meters from the sensor to the detection position.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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doc: >
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# --------------------------------------
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...
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