867 lines
36 KiB
YAML
867 lines
36 KiB
YAML
---
|
|
- module_name: carla
|
|
# - CLASSES ------------------------------
|
|
classes:
|
|
- class_name: SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Base class for all the objects containing data generated by a carla.Sensor. This objects should be the argument of the function said sensor is listening to, in order to work with them. Each of these sensors needs for a specific type of sensor data. Hereunder is a list of the sensors and their corresponding data.<br>
|
|
- Cameras (RGB, depth and semantic segmentation): carla.Image.<br>
|
|
- Collision detector: carla.CollisionEvent.<br>
|
|
- GNSS sensor: carla.GnssMeasurement.<br>
|
|
- IMU sensor: carla.IMUMeasurement.<br>
|
|
- Lane invasion detector: carla.LaneInvasionEvent.<br>
|
|
- LIDAR sensor: carla.LidarMeasurement.<br>
|
|
- Obstacle detector: carla.ObstacleDetectionEvent.<br>
|
|
- Radar sensor: carla.RadarMeasurement.<br>
|
|
- RSS sensor: carla.RssResponse.<br>
|
|
- Semantic LIDAR sensor: carla.SemanticLidarMeasurement.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: frame
|
|
type: int
|
|
doc: >
|
|
Frame count when the data was generated.
|
|
- var_name: timestamp
|
|
type: float
|
|
var_units: seconds
|
|
doc: >
|
|
Simulation-time when the data was generated.
|
|
- var_name: transform
|
|
type: carla.Transform
|
|
doc: >
|
|
Sensor's transform when the data was generated.
|
|
# --------------------------------------
|
|
|
|
- class_name: ColorConverter
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines conversion patterns that can be applied to a carla.Image in order to show information provided by carla.Sensor. Depth conversions cause a loss of accuracy, as sensors detect depth as <b>float</b> that is then converted to a grayscale value between 0 and 255. Take a look at the snipet in carla.Sensor.listen to see an example of how to create and save image data for <b>sensor.camera.semantic_segmentation</b>.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: CityScapesPalette
|
|
doc: >
|
|
Converts the image to a segmentated map using tags provided by the blueprint library. Used by the [semantic segmentation camera](ref_sensors.md#semantic-segmentation-camera).
|
|
- var_name: Depth
|
|
doc: >
|
|
Converts the image to a linear depth map. Used by the [depth camera](ref_sensors.md#depth-camera).
|
|
- var_name: LogarithmicDepth
|
|
doc: >
|
|
Converts the image to a depth map using a logarithmic scale, leading to better precision for small distances at the expense of losing it when further away.
|
|
- var_name: Raw
|
|
doc: >
|
|
No changes applied to the image. Used by the [RGB camera](ref_sensors.md#rgb-camera).
|
|
|
|
- class_name: CityObjectLabel
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Enum declaration that contains the different tags available to filter the bounding boxes returned by carla.World.get_level_bbs(). These values correspond to the [semantic tag](ref_sensors.md#semantic-segmentation-camera) that the elements in the scene have.
|
|
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: None
|
|
- var_name: Buildings
|
|
- var_name: Fences
|
|
- var_name: Other
|
|
- var_name: Pedestrians
|
|
- var_name: Poles
|
|
- var_name: RoadLines
|
|
- var_name: Roads
|
|
- var_name: Sidewalks
|
|
- var_name: TrafficSigns
|
|
- var_name: Vegetation
|
|
- var_name: Vehicles
|
|
- var_name: Walls
|
|
- var_name: Sky
|
|
- var_name: Ground
|
|
- var_name: Bridge
|
|
- var_name: RailTrack
|
|
- var_name: GuardRail
|
|
- var_name: TrafficLight
|
|
- var_name: Static
|
|
- var_name: Dynamic
|
|
- var_name: Water
|
|
- var_name: Terrain
|
|
- var_name: Any
|
|
|
|
- class_name: Image
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines an image of 32-bit BGRA colors that will be used as initial data retrieved by camera sensors. There are different camera sensors (currently three, RGB, depth and semantic segmentation) and each of these makes different use for the images. Learn more about them [here](ref_sensors.md).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: fov
|
|
type: float
|
|
var_units: degrees
|
|
doc: >
|
|
Horizontal field of view of the image.
|
|
- var_name: height
|
|
type: int
|
|
doc: >
|
|
Image height in pixels.
|
|
- var_name: width
|
|
type: int
|
|
doc: >
|
|
Image width in pixels.
|
|
- var_name: raw_data
|
|
type: bytes
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: convert
|
|
params:
|
|
- param_name: color_converter
|
|
type: carla.ColorConverter
|
|
doc: >
|
|
Converts the image following the `color_converter` pattern.
|
|
# --------------------------------------
|
|
- def_name: save_to_disk
|
|
params:
|
|
- param_name: path
|
|
type: str
|
|
doc: >
|
|
Path that will contain the image.
|
|
- param_name: color_converter
|
|
type: carla.ColorConverter
|
|
default: Raw
|
|
doc: >
|
|
Default <b>Raw</b> will make no changes.
|
|
doc: >
|
|
Saves the image to disk using a converter pattern stated as `color_converter`. The default conversion pattern is <b>Raw</b> that will make no changes to the image.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.Color that form the image.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: color
|
|
type: carla.Color
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: OpticalFlowImage
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines an optical flow image of 2-Dimension float (32-bit) vectors representing the optical flow detected in the field of view. The components of the vector represents the displacement of an object in the image plane. Each component outputs values in the normalized range [-2,2] which scales to [-2 size, 2 size] with size being the total resolution in the corresponding component.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: fov
|
|
type: float
|
|
var_units: degrees
|
|
doc: >
|
|
Horizontal field of view of the image.
|
|
- var_name: height
|
|
type: int
|
|
doc: >
|
|
Image height in pixels.
|
|
- var_name: width
|
|
type: int
|
|
doc: >
|
|
Image width in pixels.
|
|
- var_name: raw_data
|
|
type: bytes
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: get_color_coded_flow
|
|
return: carla.Image
|
|
doc: >
|
|
Visualization helper. Converts the optical flow image to an RGB image.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.OpticalFlowPixel that form the image.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: color
|
|
type: carla.Color
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: LidarMeasurement
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines the LIDAR data retrieved by a <b>sensor.lidar.ray_cast</b>. This essentially simulates a rotating LIDAR using ray-casting. Learn more about this [here](ref_sensors.md#lidar-raycast-sensor).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: channels
|
|
type: int
|
|
doc: >
|
|
Number of lasers shot.
|
|
# --------------------------------------
|
|
- var_name: horizontal_angle
|
|
type: float
|
|
var_units: radians
|
|
doc: >
|
|
Horizontal angle the LIDAR is rotated at the time of the measurement.
|
|
# --------------------------------------
|
|
- var_name: raw_data
|
|
type: bytes
|
|
doc: >
|
|
Received list of 4D points. Each point consists of [x,y,z] coordiantes plus the intensity computed for that point.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: save_to_disk
|
|
params:
|
|
- param_name: path
|
|
type: str
|
|
doc: >
|
|
Saves the point cloud to disk as a <b>.ply</b> file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated.
|
|
# --------------------------------------
|
|
- def_name: get_point_count
|
|
params:
|
|
- param_name: channel
|
|
type: int
|
|
doc: >
|
|
Retrieves the number of points sorted by channel that are generated by this measure. Sorting by channel allows to identify the original channel for every point.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.LidarDetection retrieved as data.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: detection
|
|
type: carla.LidarDetection
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
|
|
- class_name: LidarDetection
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Data contained inside a carla.LidarMeasurement. Each of these represents one of the points in the cloud with its location and its asociated intensity.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: point
|
|
type: carla.Location
|
|
var_units: meters
|
|
doc: >
|
|
Point in xyz coordinates.
|
|
# --------------------------------------
|
|
- var_name: intensity
|
|
type: float
|
|
doc: >
|
|
Computed intensity for this point as a scalar value between [0.0 , 1.0].
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: SemanticLidarMeasurement
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines the semantic LIDAR data retrieved by a <b>sensor.lidar.ray_cast_semantic</b>. This essentially simulates a rotating LIDAR using ray-casting. Learn more about this [here](ref_sensors.md#semanticlidar-raycast-sensor).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: channels
|
|
type: int
|
|
doc: >
|
|
Number of lasers shot.
|
|
# --------------------------------------
|
|
- var_name: horizontal_angle
|
|
type: float
|
|
var_units: radians
|
|
doc: >
|
|
Horizontal angle the LIDAR is rotated at the time of the measurement.
|
|
# --------------------------------------
|
|
- var_name: raw_data
|
|
type: bytes
|
|
doc: >
|
|
Received list of raw detection points. Each point consists of [x,y,z] coordinates plus the cosine of the incident angle, the index of the hit actor, and its semantic tag.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: save_to_disk
|
|
params:
|
|
- param_name: path
|
|
type: str
|
|
doc: >
|
|
Saves the point cloud to disk as a <b>.ply</b> file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open-source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated.
|
|
# --------------------------------------
|
|
- def_name: get_point_count
|
|
params:
|
|
- param_name: channel
|
|
type: int
|
|
doc: >
|
|
Retrieves the number of points sorted by channel that are generated by this measure. Sorting by channel allows to identify the original channel for every point.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.SemanticLidarDetection retrieved as data.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: detection
|
|
type: carla.SemanticLidarDetection
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: SemanticLidarDetection
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Data contained inside a carla.SemanticLidarMeasurement. Each of these represents one of the points in the cloud with its location, the cosine of the incident angle, index of the object hit, and its semantic tag.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: point
|
|
type: carla.Location
|
|
var_units: meters
|
|
doc: >
|
|
[x,y,z] coordinates of the point.
|
|
# --------------------------------------
|
|
- var_name: cos_inc_angle
|
|
type: float
|
|
doc: >
|
|
Cosine of the incident angle between the ray, and the normal of the hit object.
|
|
# --------------------------------------
|
|
- var_name: object_idx
|
|
type: uint
|
|
doc: >
|
|
ID of the actor hit by the ray.
|
|
# --------------------------------------
|
|
- var_name: object_tag
|
|
type: uint
|
|
doc: >
|
|
[Semantic tag](https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera) of the component hit by the ray.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: CollisionEvent
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines a collision data for <b>sensor.other.collision</b>. The sensor creates one of this for every collision detected which may be many for one simulation step. Learn more about this [here](ref_sensors.md#collision-detector).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: actor
|
|
type: carla.Actor
|
|
doc: >
|
|
The actor the sensor is attached to, the one that measured the collision.
|
|
- var_name: other_actor
|
|
type: carla.Actor
|
|
doc: >
|
|
The second actor involved in the collision.
|
|
- var_name: normal_impulse
|
|
type: carla.Vector3D
|
|
var_units: N*s
|
|
doc: >
|
|
Normal impulse resulting of the collision.
|
|
|
|
- class_name: ObstacleDetectionEvent
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines the obstacle data for <b>sensor.other.obstacle</b>. Learn more about this [here](ref_sensors.md#obstacle-detector).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: actor
|
|
type: carla.Actor
|
|
doc: >
|
|
The actor the sensor is attached to.
|
|
- var_name: other_actor
|
|
type: carla.Actor
|
|
doc: >
|
|
The actor or object considered to be an obstacle.
|
|
- var_name: distance
|
|
type: float
|
|
var_units: meters
|
|
doc: >
|
|
Distance between `actor` and `other`.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: LaneInvasionEvent
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines lanes invasion for <b>sensor.other.lane_invasion</b>. It works only client-side and is dependant on OpenDRIVE to provide reliable information. The sensor creates one of this every time there is a lane invasion, which may be more than once per simulation step. Learn more about this [here](ref_sensors.md#lane-invasion-detector).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: actor
|
|
type: carla.Actor
|
|
doc: >
|
|
Gets the actor the sensor is attached to, the one that invaded another lane.
|
|
- var_name: crossed_lane_markings
|
|
type: list(carla.LaneMarking)
|
|
doc: >
|
|
List of lane markings that have been crossed and detected by the sensor.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: GnssMeasurement
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines the Gnss data registered by a <b>sensor.other.gnss</b>. It essentially reports its position with the position of the sensor and an OpenDRIVE geo-reference.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: altitude
|
|
type: float
|
|
var_units: meters
|
|
doc: >
|
|
Height regarding ground level.
|
|
- var_name: latitude
|
|
type: float
|
|
var_units: degrees
|
|
doc: >
|
|
North/South value of a point on the map.
|
|
- var_name: longitude
|
|
type: float
|
|
var_units: degrees
|
|
doc: >
|
|
West/East value of a point on the map.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: IMUMeasurement
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines the data registered by a <b>sensor.other.imu</b>, regarding the sensor's transformation according to the current carla.World. It essentially acts as accelerometer, gyroscope and compass.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: accelerometer
|
|
type: carla.Vector3D
|
|
var_units: m/s<sup>2</sup>
|
|
doc: >
|
|
Linear acceleration.
|
|
- var_name: compass
|
|
type: float
|
|
var_units: radians
|
|
doc: >
|
|
Orientation with regard to the North ([0.0, -1.0, 0.0] in Unreal Engine).
|
|
- var_name: gyroscope
|
|
type: carla.Vector3D
|
|
var_units: rad/s
|
|
doc: >
|
|
Angular velocity.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RadarMeasurement
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines and gathers the measures registered by a <b>sensor.other.radar</b>, representing a wall of points in front of the sensor with a distance, angle and velocity in relation to it. The data consists of a carla.RadarDetection array. Learn more about this [here](ref_sensors.md#radar-sensor).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: raw_data
|
|
type: bytes
|
|
doc: >
|
|
The complete information of the carla.RadarDetection the radar has registered.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: get_detection_count
|
|
doc: >
|
|
Retrieves the number of entries generated, same as **<font color="#7fb800">\__str__()</font>**.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.RadarDetection retrieved as data.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: detection
|
|
type: carla.RadarDetection
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RadarDetection
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Data contained inside a carla.RadarMeasurement. Each of these represents one of the points in the cloud that a <b>sensor.other.radar</b> registers and contains the distance, angle and velocity in relation to the radar.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: altitude
|
|
type: float
|
|
var_units: radians
|
|
doc: >
|
|
Altitude angle of the detection.
|
|
# --------------------------------------
|
|
- var_name: azimuth
|
|
type: float
|
|
var_units: radians
|
|
doc: >
|
|
Azimuth angle of the detection.
|
|
# --------------------------------------
|
|
- var_name: depth
|
|
type: float
|
|
var_units: meters
|
|
doc: >
|
|
Distance from the sensor to the detection position.
|
|
# --------------------------------------
|
|
- var_name: velocity
|
|
type: float
|
|
var_units: m/s
|
|
doc: >
|
|
The velocity of the detected object towards the sensor.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RssResponse
|
|
parent: carla.SensorData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that contains the output of a carla.RssSensor. This is the result of the RSS calculations performed for the parent vehicle of the sensor.
|
|
|
|
|
|
A carla.RssRestrictor will use the data to modify the carla.VehicleControl of the vehicle.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: response_valid
|
|
type: bool
|
|
doc: >
|
|
States if the response is valid. It is __False__ if calculations failed or an exception occured.
|
|
# --------------------------------------
|
|
- var_name: proper_response
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1state_1_1ProperResponse.html">ad.rss.state.ProperResponse</a>
|
|
doc: >
|
|
The proper response that the RSS calculated for the vehicle.
|
|
# --------------------------------------
|
|
- var_name: rss_state_snapshot
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1state_1_1RssStateSnapshot.html">ad.rss.state.RssStateSnapshot</a>
|
|
doc: >
|
|
Detailed RSS states at the current moment in time.
|
|
# --------------------------------------
|
|
- var_name: ego_dynamics_on_route
|
|
type: carla.RssEgoDynamicsOnRoute
|
|
doc: >
|
|
Current ego vehicle dynamics regarding the route.
|
|
# --------------------------------------
|
|
- var_name: world_model
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1world_1_1WorldModel.html">ad.rss.world.WorldModel</a>
|
|
doc: >
|
|
World model used for calculations.
|
|
# --------------------------------------
|
|
- var_name: situation_snapshot
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1situation_1_1SituationSnapshot.html">ad.rss.situation.SituationSnapshot</a>
|
|
doc: >
|
|
Detailed RSS situations extracted from the world model.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RssEgoDynamicsOnRoute
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Part of the data contained inside a carla.RssResponse describing the state of the vehicle. The parameters include its current dynamics, and how it is heading regarding the target route.
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: ego_speed
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Speed.html">ad.physics.Speed</a>
|
|
doc: >
|
|
The ego vehicle's speed.
|
|
# --------------------------------------
|
|
- var_name: min_stopping_distance
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Distance.html">ad.physics.Distance</a>
|
|
doc: >
|
|
The current minimum stopping distance.
|
|
# --------------------------------------
|
|
- var_name: ego_center
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/structad_1_1map_1_1point_1_1ENUPoint.html">ad.map.point.ENUPoint</a>
|
|
doc: >
|
|
The considered enu position of the ego vehicle.
|
|
# --------------------------------------
|
|
- var_name: ego_heading
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/classad_1_1map_1_1point_1_1ENUHeading.html">ad.map.point.ENUHeading</a>
|
|
doc: >
|
|
The considered heading of the ego vehicle.
|
|
# --------------------------------------
|
|
- var_name: ego_center_within_route
|
|
type: bool
|
|
doc: >
|
|
States if the ego vehicle's center is within the route.
|
|
# --------------------------------------
|
|
- var_name: crossing_border
|
|
type: bool
|
|
doc: >
|
|
States if the vehicle is already crossing one of the lane borders.
|
|
# --------------------------------------
|
|
- var_name: route_heading
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/classad_1_1map_1_1point_1_1ENUHeading.html">ad.map.point.ENUHeading</a>
|
|
doc: >
|
|
The considered heading of the route.
|
|
# --------------------------------------
|
|
- var_name: route_nominal_center
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/structad_1_1map_1_1point_1_1ENUPoint.html">ad.map.point.ENUPoint</a>
|
|
doc: >
|
|
The considered nominal center of the current route.
|
|
# --------------------------------------
|
|
- var_name: heading_diff
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/classad_1_1map_1_1point_1_1ENUHeading.html">ad.map.point.ENUHeading</a>
|
|
doc: >
|
|
The considered heading diff towards the route.
|
|
# --------------------------------------
|
|
- var_name: route_speed_lat
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Speed.html">ad.physics.Speed</a>
|
|
doc: >
|
|
The ego vehicle's speed component _lat_ regarding the route.
|
|
# --------------------------------------
|
|
- var_name: route_speed_lon
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Speed.html">ad.physics.Speed</a>
|
|
doc: >
|
|
The ego vehicle's speed component _lon_ regarding the route.
|
|
# --------------------------------------
|
|
- var_name: route_accel_lat
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Acceleration.html">ad.physics.Acceleration</a>
|
|
doc: >
|
|
The ego vehicle's acceleration component _lat_ regarding the route.
|
|
# --------------------------------------
|
|
- var_name: route_accel_lon
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Acceleration.html">ad.physics.Acceleration</a>
|
|
doc: >
|
|
The ego vehicle's acceleration component _lon_ regarding the route.
|
|
# --------------------------------------
|
|
- var_name: avg_route_accel_lat
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Acceleration.html">ad.physics.Acceleration</a>
|
|
doc: >
|
|
The ego vehicle's acceleration component _lat_ regarding the route smoothened by an average filter.
|
|
# --------------------------------------
|
|
- var_name: avg_route_accel_lon
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_physics/apidoc/html/classad_1_1physics_1_1Acceleration.html">ad.physics.Acceleration</a>
|
|
doc: >
|
|
The ego acceleration component _lon_ regarding the route smoothened by an average filter.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RssActorConstellationData
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Data structure that is provided within the callback registered by RssSensor.register_actor_constellation_callback().
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: ego_match_object
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/structad_1_1map_1_1match_1_1Object.html">ad.map.match.Object</a>
|
|
doc: >
|
|
The ego map matched information.
|
|
# --------------------------------------
|
|
- var_name: ego_route
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/structad_1_1map_1_1route_1_1FullRoute.html">ad.map.route.FullRoute</a>
|
|
doc: >
|
|
The ego route.
|
|
# --------------------------------------
|
|
- var_name: ego_dynamics_on_route
|
|
type: carla.RssEgoDynamicsOnRoute
|
|
doc: >
|
|
Current ego vehicle dynamics regarding the route.
|
|
# --------------------------------------
|
|
- var_name: other_match_object
|
|
type: <a href="https://ad-map-access.readthedocs.io/en/latest/ad_map_access/apidoc/html/structad_1_1map_1_1match_1_1Object.html">ad.map.match.Object</a>
|
|
doc: >
|
|
The other object's map matched information. This is only valid if 'other_actor' is not 'None'.
|
|
# --------------------------------------
|
|
- var_name: other_actor
|
|
type: carla.Actor
|
|
doc: >
|
|
The other actor. This is 'None' in case of query of default parameters or articial objects of kind <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/namespacead_1_1rss_1_1world.html#a6432f1ef8d0657b4f21ed5966aca1625">ad.rss.world.ObjectType.ArtificialObject</a>
|
|
with no dedicated 'carla.Actor' (as e.g. for the [road boundaries](ref_sensors.md#rss-sensor) at the moment)
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: RssActorConstellationResult
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Data structure that should be returned by the callback registered by RssSensor.register_actor_constellation_callback().
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: rss_calculation_mode
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss_map_integration/namespacead_1_1rss_1_1map.html#adcb01232986ed83a0c540cd5d03ef495">ad.rss.map.RssMode</a>
|
|
doc: >
|
|
The calculation mode to be applied with the actor.
|
|
# --------------------------------------
|
|
- var_name: restrict_speed_limit_mode
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss_map_integration/classad_1_1rss_1_1map_1_1RssSceneCreation.html#a403aae6dce3c77a8aec01dd9808dd964">ad.rss.map.RestrictSpeedLimitMode</a>
|
|
doc: >
|
|
The mode for restricting speed limit.
|
|
# --------------------------------------
|
|
- var_name: ego_vehicle_dynamics
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1world_1_1RssDynamics.html">ad.rss.world.RssDynamics</a>
|
|
doc: >
|
|
The RSS dynamics to be applied for the ego vehicle.
|
|
# --------------------------------------
|
|
- var_name: actor_object_type
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/namespacead_1_1rss_1_1world.html#a6432f1ef8d0657b4f21ed5966aca1625">ad.rss.world.ObjectType</a>
|
|
doc: >
|
|
The RSS object type to be used for the actor.
|
|
# --------------------------------------
|
|
- var_name: actor_dynamics
|
|
type: <a href="https://intel.github.io/ad-rss-lib/doxygen/ad_rss/structad_1_1rss_1_1world_1_1RssDynamics.html">ad.rss.world.RssDynamics</a>
|
|
doc: >
|
|
The RSS dynamics to be applied for the actor.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: DVSEvent
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines a DVS event. An event is a quadruple, so a tuple of 4 elements, with `x`, `y` pixel coordinate location, timestamp `t` and polarity `pol` of the event. Learn more about them [here](ref_sensors.md).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: x
|
|
type: int
|
|
doc: >
|
|
X pixel coordinate.
|
|
# --------------------------------------
|
|
- var_name: 'y'
|
|
type: int
|
|
doc: >
|
|
Y pixel coordinate.
|
|
# --------------------------------------
|
|
- var_name: t
|
|
type: int
|
|
doc: >
|
|
Timestamp of the moment the event happened.
|
|
# --------------------------------------
|
|
- var_name: pol
|
|
type: bool
|
|
doc: >
|
|
Polarity of the event. __True__ for positive and __False__ for negative.
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
|
|
- class_name: DVSEventArray
|
|
# - DESCRIPTION ------------------------
|
|
doc: >
|
|
Class that defines a stream of events in carla.DVSEvent. Such stream is an array of arbitrary size depending on the number of events. This class also stores the field of view, the height and width of the image and the timestamp from convenience. Learn more about them [here](ref_sensors.md).
|
|
# - PROPERTIES -------------------------
|
|
instance_variables:
|
|
- var_name: fov
|
|
type: float
|
|
var_units: degrees
|
|
doc: >
|
|
Horizontal field of view of the image.
|
|
# --------------------------------------
|
|
- var_name: height
|
|
type: int
|
|
doc: >
|
|
Image height in pixels.
|
|
# --------------------------------------
|
|
- var_name: width
|
|
type: int
|
|
doc: >
|
|
Image width in pixels.
|
|
# --------------------------------------
|
|
- var_name: raw_data
|
|
type: bytes
|
|
# - METHODS ----------------------------
|
|
methods:
|
|
- def_name: to_image
|
|
doc: >
|
|
Converts the image following this pattern: blue indicates positive events, red indicates negative events.
|
|
# --------------------------------------
|
|
- def_name: to_array
|
|
doc: >
|
|
Converts the stream of events to an array of int values in the following order <code>[x, y, t, pol]</code>.
|
|
# --------------------------------------
|
|
- def_name: to_array_x
|
|
doc: >
|
|
Returns an array with X pixel coordinate of all the events in the stream.
|
|
# --------------------------------------
|
|
- def_name: to_array_y
|
|
doc: >
|
|
Returns an array with Y pixel coordinate of all the events in the stream.
|
|
# --------------------------------------
|
|
- def_name: to_array_t
|
|
doc: >
|
|
Returns an array with the timestamp of all the events in the stream.
|
|
# --------------------------------------
|
|
- def_name: to_array_pol
|
|
doc: >
|
|
Returns an array with the polarity of all the events in the stream.
|
|
# --------------------------------------
|
|
- def_name: __getitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
# --------------------------------------
|
|
- def_name: __iter__
|
|
doc: >
|
|
Iterate over the carla.DVSEvent retrieved as data.
|
|
# --------------------------------------
|
|
- def_name: __len__
|
|
# --------------------------------------
|
|
- def_name: __setitem__
|
|
params:
|
|
- param_name: pos
|
|
type: int
|
|
- param_name: color
|
|
type: carla.Color
|
|
# --------------------------------------
|
|
- def_name: __str__
|
|
# --------------------------------------
|
|
...
|