def setup_sensors(self, vehicle, debug_mode=False):
"""
Create the sensors defined by the user and attach them to the ego-vehicle
:param vehicle: ego vehicle
:return:
"""
bp_library = CarlaDataProvider.get_world().get_blueprint_library()
for sensor_spec in self._agent.sensors():
# These are the pseudosensors (not spawned)
if sensor_spec['type'].startswith('sensor.opendrive_map'):
# The HDMap pseudo sensor is created directly here
sensor = OpenDriveMapReader(vehicle, sensor_spec['reading_frequency'])
elif sensor_spec['type'].startswith('sensor.speedometer'):
delta_time = CarlaDataProvider.get_world().get_settings().fixed_delta_seconds
frame_rate = 1 / delta_time
sensor = SpeedometerReader(vehicle, frame_rate)
# These are the sensors spawned on the carla world
else:
bp = bp_library.find(str(sensor_spec['type']))
if sensor_spec['type'].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(sensor_spec['width']))
bp.set_attribute('image_size_y', str(sensor_spec['height']))
bp.set_attribute('fov', str(sensor_spec['fov']))
bp.set_attribute('lens_circle_multiplier', str(3.0))
bp.set_attribute('lens_circle_falloff', str(3.0))
bp.set_attribute('chromatic_aberration_intensity', str(0.5))
bp.set_attribute('chromatic_aberration_offset', str(0))
# Change __call__ in autonomous agent if you change sensor_tick.
bp.set_attribute('sensor_tick', '0.05')
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.lidar'):
bp.set_attribute('range', str(85))
bp.set_attribute('rotation_frequency', str(20))
bp.set_attribute('channels', str(64))
bp.set_attribute('upper_fov', str(10))
bp.set_attribute('lower_fov', str(-30))
bp.set_attribute('points_per_second', str(600000))
# bp.set_attribute('atmosphere_attenuation_rate', str(0.004))
# bp.set_attribute('dropoff_general_rate', str(0.45))
# bp.set_attribute('dropoff_intensity_limit', str(0.8))
# bp.set_attribute('dropoff_zero_intensity', str(0.4))
bp.set_attribute('sensor_tick', '0.05')
sensor_location = carla.Location(x=sensor_spec['x'], y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.radar'):
bp.set_attribute('horizontal_fov', str(sensor_spec['fov'])) # degrees
bp.set_attribute('vertical_fov', str(sensor_spec['fov'])) # degrees
bp.set_attribute('points_per_second', '1500')
bp.set_attribute('range', '100') # meters
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.gnss'):
bp.set_attribute('noise_alt_stddev', str(0.000005))
bp.set_attribute('noise_lat_stddev', str(0.000005))
bp.set_attribute('noise_lon_stddev', str(0.000005))
bp.set_attribute('noise_alt_bias', str(0.0))
bp.set_attribute('noise_lat_bias', str(0.0))
bp.set_attribute('noise_lon_bias', str(0.0))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation()
elif sensor_spec['type'].startswith('sensor.other.imu'):
bp.set_attribute('noise_accel_stddev_x', str(0.001))
bp.set_attribute('noise_accel_stddev_y', str(0.001))
bp.set_attribute('noise_accel_stddev_z', str(0.015))
bp.set_attribute('noise_gyro_stddev_x', str(0.001))
bp.set_attribute('noise_gyro_stddev_y', str(0.001))
bp.set_attribute('noise_gyro_stddev_z', str(0.001))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
# create sensor
sensor_transform = carla.Transform(sensor_location, sensor_rotation)
sensor = CarlaDataProvider.get_world().spawn_actor(bp, sensor_transform, vehicle)
# setup callback
sensor.listen(CallBack(sensor_spec['id'], sensor_spec['type'], sensor, self._agent.sensor_interface))
self._sensors_list.append(sensor)
# Tick once to spawn the sensors
CarlaDataProvider.get_world().tick()
def setup_sensors(self, vehicle, debug_mode=False, track=None):
"""
Create the sensors defined by the user and attach them to the ego-vehicle
:param vehicle: ego vehicle
:return:
"""
bp_library = CarlaDataProvider.get_world().get_blueprint_library()
for sensor_spec in self._agent.sensors():
# These are the pseudosensors (not spawned)
if sensor_spec['type'].startswith('sensor.opendrive_map'):
# The HDMap pseudo sensor is created directly here
sensor = OpenDriveMapReader(vehicle,
sensor_spec['reading_frequency'])
elif sensor_spec['type'].startswith('sensor.speedometer'):
sensor = SpeedometerReader(vehicle,
sensor_spec['reading_frequency'])
# These are the sensors spawned on the carla world
else:
bp = bp_library.find(str(sensor_spec['type']))
if sensor_spec['type'].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(sensor_spec['width']))
bp.set_attribute('image_size_y',
str(sensor_spec['height']))
bp.set_attribute('fov', str(sensor_spec['fov']))
bp.set_attribute('lens_circle_multiplier', str(3.0))
bp.set_attribute('lens_circle_falloff', str(3.0))
bp.set_attribute('chromatic_aberration_intensity',
str(0.5))
bp.set_attribute('chromatic_aberration_offset', str(0))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(
pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.lidar'):
bp.set_attribute('range', str(200))
bp.set_attribute('rotation_frequency', str(10))
bp.set_attribute('channels', str(64))
bp.set_attribute('upper_fov', str(10))
bp.set_attribute('lower_fov', str(-30))
bp.set_attribute('points_per_second', str(560000))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(
pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.radar'):
bp.set_attribute('horizontal_fov',
str(sensor_spec['fov'])) # degrees
bp.set_attribute('vertical_fov',
str(sensor_spec['fov'])) # degrees
bp.set_attribute('points_per_second', '1500')
bp.set_attribute('range', '100') # meters
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(
pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
elif sensor_spec['type'].startswith('sensor.other.gnss'):
bp.set_attribute('noise_alt_stddev', str(0.000005))
bp.set_attribute('noise_lat_stddev', str(0.000005))
bp.set_attribute('noise_lon_stddev', str(0.000005))
bp.set_attribute('noise_alt_bias', str(0.0))
bp.set_attribute('noise_lat_bias', str(0.0))
bp.set_attribute('noise_lon_bias', str(0.0))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation()
elif sensor_spec['type'].startswith('sensor.other.imu'):
bp.set_attribute('noise_accel_stddev_x', str(0.001))
bp.set_attribute('noise_accel_stddev_y', str(0.001))
bp.set_attribute('noise_accel_stddev_z', str(0.015))
bp.set_attribute('noise_gyro_stddev_x', str(0.001))
bp.set_attribute('noise_gyro_stddev_y', str(0.001))
bp.set_attribute('noise_gyro_stddev_z', str(0.001))
sensor_location = carla.Location(x=sensor_spec['x'],
y=sensor_spec['y'],
z=sensor_spec['z'])
sensor_rotation = carla.Rotation(
pitch=sensor_spec['pitch'],
roll=sensor_spec['roll'],
yaw=sensor_spec['yaw'])
# create sensor
sensor_transform = carla.Transform(sensor_location,
sensor_rotation)
sensor = CarlaDataProvider.get_world().spawn_actor(
bp, sensor_transform, vehicle)
# setup callback
sensor.listen(
CallBack(sensor_spec['id'], sensor,
self._agent.sensor_interface))
self._sensors_list.append(sensor)
self._validate_sensor_configuration(self._agent.track)
while not self._agent.all_sensors_ready():
if debug_mode:
print(" waiting for one data reading from sensors...")
CarlaDataProvider.get_world().tick()