120 lines
4.2 KiB
INI
120 lines
4.2 KiB
INI
; Example of settings file for CARLA.
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;
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; This file can be loaded with the Python client to be sent to the server. It
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; defines the parameters to be used when requesting a new episode.
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;
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; Note that server specific variables are only loaded when launching the
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; simulator. Use it with `./CarlaUE4.sh -carla-settings=Path/To/This/File`.
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[CARLA/Server]
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; If set to false, a mock controller will be used instead of waiting for a real
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; client to connect. (Server only)
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UseNetworking=false
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; Ports to use for the server-client communication. This can be overridden by
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; the command-line switch `-world-port=N`, write and read ports will be set to
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; N+1 and N+2 respectively. (Server only)
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WorldPort=2000
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; Time-out in milliseconds for the networking operations. (Server only)
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ServerTimeOut=10000
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; In synchronous mode, CARLA waits every frame until the control from the client
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; is received.
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SynchronousMode=true
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; Send info about every non-player agent in the scene every frame, the
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; information is attached to the measurements message. This includes other
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; vehicles, pedestrians and traffic signs. Disabled by default to improve
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; performance.
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SendNonPlayerAgentsInfo=false
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; If set to true, all cameras and HUD will stop rendering. By default rendering
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; is enabled.
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DisableRendering=false
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[CARLA/QualitySettings]
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; Quality level of the graphics, a lower level makes the simulation run
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; considerably faster. Available: Low or Epic.
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QualityLevel=Epic
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[CARLA/LevelSettings]
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; Path of the vehicle class to be used for the player. Leave empty for default.
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; Paths follow the pattern "/Game/Blueprints/Vehicles/Mustang/Mustang.Mustang_C"
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PlayerVehicle=
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; Number of non-player vehicles to be spawned into the level.
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NumberOfVehicles=15
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; Number of non-player pedestrians to be spawned into the level.
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NumberOfPedestrians=30
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; Index of the weather/lighting presets to use. If negative, the default presets
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; of the map will be used.
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WeatherId=1
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; Seeds for the pseudo-random number generators.
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SeedVehicles=123456789
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SeedPedestrians=123456789
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; Disable bikes and motorbikes, if true only four-wheeled vehicles will be
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; spawned.
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DisableTwoWheeledVehicles=false
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[CARLA/Sensor]
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; Names of the sensors to be attached to the player, comma-separated, each of
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; them should be defined in its own subsection.
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; Uncomment next line to add a camera called MyCamera to the vehicle
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; Sensors=MyCamera
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; or uncomment next line to add a camera and a Lidar
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; Sensors=MyCamera,MyLidar
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; or uncomment next line to add a regular camera and a depth camera
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; Sensors=MyCamera,MyCamera/Depth
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; Now, every camera we added needs to be defined it in its own subsection.
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[CARLA/Sensor/MyCamera]
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; Type of the sensor. The available types are:
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; * CAMERA A scene capture camera.
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; * LIDAR_RAY_CAST A Lidar implementation based on ray-casting.
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SensorType=CAMERA
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; Post-processing effect to be applied to this camera. Valid values:
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; * None No effects applied.
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; * SceneFinal Post-processing present at scene (bloom, fog, etc).
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; * Depth Depth map ground-truth only.
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; * SemanticSegmentation Semantic segmentation ground-truth only.
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PostProcessing=SceneFinal
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; Size of the captured image in pixels.
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ImageSizeX=800
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ImageSizeY=600
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; Camera (horizontal) field of view in degrees.
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FOV=90
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; Position of the camera relative to the car in meters.
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PositionX=0.20
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PositionY=0
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PositionZ=1.30
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; Rotation of the camera relative to the car in degrees.
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RotationPitch=8
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RotationRoll=0
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RotationYaw=0
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[CARLA/Sensor/MyCamera/Depth]
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; The sensor can be defined in a subsection of MyCamera so it inherits the
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; values in MyCamera. This adds a camera similar to MyCamera but generating
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; depth map images instead.
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PostProcessing=Depth
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[CARLA/Sensor/MyLidar]
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SensorType=LIDAR_RAY_CAST
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; Number of lasers.
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Channels=32
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; Measure distance in meters.
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Range=50.0
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; Points generated by all lasers per second.
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PointsPerSecond=100000
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; Lidar rotation frequency.
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RotationFrequency=10
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; Upper and lower laser angles, positive values means above horizontal line.
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UpperFOVLimit=10
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LowerFOVLimit=-30
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; Position and rotation relative to the vehicle.
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PositionX=0
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PositionY=0
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PositionZ=1.40
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RotationPitch=0
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RotationYaw=0
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RotationRoll=0
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