classes.sensors package

This package implements different sensors classes to be used with the HUD for the pygame user interface, as well as the rss_sensor.RssSensor.

class classes.sensors.CustomSensorInterface

Bases: object

This is a mixin for classes like the camera_manager.CameraManager or the classes.sensors.rss_sensor.RssSensor that either wrap around a carla.Sensor or should have a similar interface.

Attention

Not to be confused with srunner.autoagents.sensor_interface.SensorInterface.

sensor: carla.Sensor

destroy() → bool | Literal['Actor was probably destroyed by the CarlaDataProvider'] | None

Stops and destroys the actor of the sensor

Return type:

bool | Literal[“Actor was probably destroyed by the CarlaDataProvider”] | None

stop() → None

Stop the sensor if its in listening mode. If it is a carla.Sensor, calls the simulator.

Return type:

None

Subpackages

• classes.sensors.carla_originals package
  • CollisionSensor
  • GnssSensor
  • IMUSensor
  • LaneInvasionSensor
  • RadarSensor

Submodules

classes.sensors.rss_sensor module

class classes.sensors.rss_sensor.RssStateInfo(rss_state: carla.ad.rss.state.RssState, ego_dynamics_on_route: carla.RssEgoDynamicsOnRoute, world_model: carla.ad.rss.world.WorldModel)

Bases: object

Parameters:

• rss_state (ad.rss.state.RssState)

• ego_dynamics_on_route (carla.RssEgoDynamicsOnRoute)

• world_model (ad.rss.world.WorldModel)

__init__(rss_state: carla.ad.rss.state.RssState, ego_dynamics_on_route: carla.RssEgoDynamicsOnRoute, world_model: carla.ad.rss.world.WorldModel) → None

Parameters:

• rss_state (carla.ad.rss.state.RssState)

• ego_dynamics_on_route (carla.RssEgoDynamicsOnRoute)

• world_model (carla.ad.rss.world.WorldModel)

Return type:

None

get_actor(world: carla.World) → carla.Actor | None

Parameters:

world (carla.World)

Return type:

carla.Actor | None

class classes.sensors.rss_sensor.RssSensor(parent_actor: carla.Vehicle, unstructured_scene_visualizer: RssUnstructuredSceneVisualizer, bounding_box_visualizer: RssBoundingBoxVisualizer, state_visualizer: RssStateVisualizer, *, visualizer_mode: RssDebugVisualizationMode = RssDebugVisualizationMode.Off, routing_targets: Iterable[carla.Transform] | None = None, log_level: carla.RssLogLevel = RssLogLevel.off)

Bases: CustomSensorInterface

Parameters:

• parent_actor (carla.Vehicle)

• unstructured_scene_visualizer (RssUnstructuredSceneVisualizer)

• bounding_box_visualizer (RssBoundingBoxVisualizer)

• state_visualizer (RssStateVisualizer)

• visualizer_mode (RssDebugVisualizationMode)

• routing_targets (Iterable[carla.Transform] | None)

• log_level (carla.RssLogLevel)

__init__(parent_actor: carla.Vehicle, unstructured_scene_visualizer: RssUnstructuredSceneVisualizer, bounding_box_visualizer: RssBoundingBoxVisualizer, state_visualizer: RssStateVisualizer, *, visualizer_mode: RssDebugVisualizationMode = RssDebugVisualizationMode.Off, routing_targets: Iterable[carla.Transform] | None = None, log_level: carla.RssLogLevel = RssLogLevel.off)

Parameters:

• parent_actor (carla.Vehicle)

• unstructured_scene_visualizer (RssUnstructuredSceneVisualizer)

• bounding_box_visualizer (RssBoundingBoxVisualizer)

• state_visualizer (RssStateVisualizer)

• visualizer_mode (RssDebugVisualizationMode)

• routing_targets (Iterable[carla.Transform] | None)

• log_level (carla.RssLogLevel)

sensor: carla.RssSensor

destroy()

Stops and destroys the actor of the sensor

toggle_debug_visualization_mode()

increase_log_level()

decrease_log_level()

increase_map_log_level()

decrease_map_log_level()

drop_route()

stop() → None

Stop the sensor if its in listening mode. If it is a carla.Sensor, calls the simulator.

Return type:

None

static get_default_parameters() → carla.ad.rss.world.RssDynamics

Return type:

carla.ad.rss.world.RssDynamics

set_default_parameters()

static get_pedestrian_parameters() → carla.ad.rss.world.RssDynamics

Return type:

carla.ad.rss.world.RssDynamics

get_steering_ranges() → List[Tuple[float, float]]

Return type:

List[Tuple[float, float]]

classes.sensors.rss_visualization module

This module is based on the RSS example shipped with CARLA.

class classes.sensors.rss_visualization.Color

Bases: object

black = (0, 0, 0)

gray = (128, 128, 128)

white = (255, 255, 255)

red = (255, 0, 0)

green = (0, 255, 0)

blue = (0, 0, 255)

carla_gray = 150

carla_red = 255

carla_green = 0

carla_blue = 0

class classes.sensors.rss_visualization.RssUnstructuredSceneVisualizerMode(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

disabled = 1

window = 2

fullscreen = 3

class classes.sensors.rss_visualization.RssUnstructuredSceneVisualizer(parent_actor: carla.Actor, world, display_dimensions: tuple[int, int], gamma_correction: float = 2.2)

Bases: CanBeDummy, CustomSensorInterface

Provides a top-view over the setting?

Parameters:

• parent_actor (carla.Actor)

• display_dimensions (tuple[int, int])

• gamma_correction (float)

__init__(parent_actor: carla.Actor, world, display_dimensions: tuple[int, int], gamma_correction: float = 2.2)

Parameters:

• parent_actor (carla.Actor)

• display_dimensions (tuple[int, int])

• gamma_correction (float)

property sensor: carla.Sensor

destroy()

Stops and destroys the actor of the sensor

restart(mode)

update_surface(cam_frame: int | None, rss_frame: int | None)

Parameters:

• cam_frame (int | None)

• rss_frame (int | None)

toggle_camera()

static rotate_around_point(xy, radians, origin)

Rotate a point around a given point.

tick(frame, rss_response, allowed_heading_ranges)

render(display)

static draw_heading_range(heading_range, ego_dynamics_on_route)

static get_trajectory_sets(rss_state_snapshot: carla.ad.rss.state.RssStateSnapshot, camera_transform, calibration)

Creates 3D bounding boxes based on carla vehicle list and camera.

Parameters:

rss_state_snapshot (carla.ad.rss.state.RssStateSnapshot)

static draw_lines(surface, lines)

Draws lines on pygame display.

static draw_polygons(surface, polygons)

Draws polygons on pygame display.

static transform_points(world_cords, camera_transform, calibration)

Returns trajectory set projected to camera view

classmethod is_dummy(obj: Any) → TypeGuard[MockDummy]

TypeGuard check if a variable is a duck-typed dummy object.

Objects might be dummy objects that have no function if LaunchConfig.pygame is set to False.

Parameters:

obj (Any)

Return type:

TypeGuard[MockDummy]

is_dummy_: bool = False

stop() → None

Stop the sensor if its in listening mode. If it is a carla.Sensor, calls the simulator.

Return type:

None

class classes.sensors.rss_visualization.RssDebugVisualizationMode(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

Off = 1

RouteOnly = 2

VehicleStateOnly = 3

VehicleStateAndRoute = 4

All = 5

class classes.sensors.rss_visualization.RssDebugVisualizer(player: carla.Vehicle, world: carla.World, visualization_mode: RssDebugVisualizationMode | str | int = RssDebugVisualizationMode.Off)

Bases: object

Parameters:

• player (carla.Vehicle)

• world (carla.World)

• visualization_mode (Union[RssDebugVisualizationMode, str, int])

__init__(player: carla.Vehicle, world: carla.World, visualization_mode: RssDebugVisualizationMode | str | int = RssDebugVisualizationMode.Off)

Parameters:

• player (carla.Vehicle)

• world (carla.World)

• visualization_mode (RssDebugVisualizationMode | str | int)

toggleMode()

tick(route, dangerous, individual_rss_states, ego_dynamics_on_route)

visualize_route(dangerous: bool, route: ad.map.route.FullRoute | None)

Parameters:

• dangerous (bool)

• route (Optional[ad.map.route.FullRoute])

visualize_enu_edge(edge, color, z_offset)

visualize_rss_results(state_snapshot: Iterable[RssStateInfo])

Parameters:

state_snapshot (Iterable[RssStateInfo])

visualize_ego_dynamics(ego_dynamics_on_route)