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Actor Sensor: FOV sensor

Actor Sensor is a module that allows you to filter other actors in the environment based on your own actor's location and field of view. It is built using the CARLA simulator and its Python API.

To Run demo example

You need to get ego vehicle actor ID and set ego_player_id in demo.py accordingly, then run example.

python3 demo.py

alt text

Requirements

  • CARLA simulator (version 0.9.13)
  • Python 3.x
  • carla Python module (version 0.9.13)

Installation

  1. Download and install the CARLA simulator.
  2. Clone or download the actor_sensor.py file from this repository.
  3. Place the actor_sensor.py file in your CARLA Python client directory.

Usage

  1. CARLA_EGG_FILE_PATH: Update this variable to your carla .egg file in actor_sensor.py
  2. Import the actor_sensor function from actor_sensor.py:
from actor_sensor import actor_sensor

The actor_sensor() function takes the following arguments:

  • ego_player_id: The ID of the ego vehicle.
  • world: The CARLA world.
  • h_fov: The horizontal field of view (in degrees). Default is 45.
  • v_fov: The vertical field of view (in degrees). Default is 1.
  • show_transform: If set to True, draws lines to show the transforms of the actors within the field of view. Default is False.
  • range_: The range (in meters) of the field of view. Default is 50.
  • actor_filter: The actor filter to use. Default is 'vehicle.*'.
  • Return the array containing filtered actors