carla 传感器

一、Blueprints和Actor之间的关系

Blueprints是carla生成Actor的模板，Actor包括Sensors\Spectator\Traffic signs and traffic lights\Vehicles\Walkers

Actor的操作包括生成、设置、销毁三种

#确定车辆模板
blueprint_library = world.get_blueprint_library()
vehicle_bp = random.choice(blueprint_library.filter('vehicle.*.*'))
#从地图中获得Actor的生成点
spawn_points = world.get_map().get_spawn_points()
spawn_point=random.choice(spawn_points)
#生成车辆1
vehicle_1 = world.spawn_actor(vehicle_bp, spawn_point)
#自定义生成点
transform = carla.Transform(Location(x=230, y=195, z=40), Rotation(yaw=180))
#生成车辆2
vehicle_2 = world.spawn_actor(vehicle_bp, transform)
#对车辆进行操作
location = vehicle_2.get_location()
location.z += 10.0
vehicle_2.set_location(location)
#销毁Actor 
destroyed_sucessfully = vehicle_2.destroy() # Returns True if successful

二、传感器

传感器类型包括Cameras、Detectors、Others

三、camera.rgb介绍  （ sensor-reference）

• Blueprint: sensor.camera.rgb
• Output: carla.Image per step (unless sensor_tick says otherwise)..

1.camera.rgb 模板属性--基础属性

2.rgb输出属性

camera_bp = blueprint_library.find('sensor.camera.rgb'camera_bp = blueprint_library.find('sensor.camera.rgb')
camera_bp.set_attribute('fov', '110')
camera_bp.set_attribute('image_size_x','1920')
camera_bp.set_attribute('image_size_y','1080')
camera_bp.set_attribute('sensor_tick','0.1')#固定采样周期，默认为零，表示尽快采样。单位：秒
relative_transform_1 = carla.Transform(carla.Location(x=1.3, y=-0.5, z=1), carla.Rotation(yaw=0))
relative_transform_2 = carla.Transform(carla.Location(x=1.3, y= 0.5, z=1), carla.Rotation(yaw=0))
self.camera_1 = world.spawn_actor(camera_bp, relative_transform_1, attach_to=self.ego_car)
self.camera_2 = world.spawn_actor(camera_bp, relative_transform_2, attach_to=self.ego_car)
self.camera_1.listen(lambda image: self.camera_listening_1(image))
self.camera_2.listen(lambda image: self.camera_listening_2(image))            

def camera_listening_1(self,carla_image):
     image.save_to_disk('output/%06d.png' % carla_image.frame)