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Chris1nexus · Dec 7, 2021 · 34675e9 · 34675e9
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 # carla-data-collector
 A tool to generate synthetic autonomous driving datasets from arbitrary sensor setups from the carla simulator
+
+
+Carla-simulator defines its coordinate frame as LEFT-HANDED:
+        X is forward
+        Y is right
+        Z is up
+
+To define a sensor setup
+proceed by creating a SimulationCfg object, and then adding new sensors to it
+
+cfg = SimulationCfg(sync_sim_stepsize=FIXED_DELTA_SECONDS)
+camera_setup_blueprints = [SenseBP.RGBCAMERA, SenseBP.DEPTH, SenseBP.SEGMENTATION]
+cfg.add_sensor('lidar',SenseBP.LIDAR,
+                   x=-0.595, z=1.73, 
+                   sensor_options=lidar_sensor_options )
+cfg.add_sensor('cam0',SenseBP.RGBCAMERA,x=-0.325, z=1.65, sensor_options=front_camera_attributes )
+
+
+                    
+After the definition above, simply call:
+
+cfg.write_to_file()
+
+To generate the simulated sensor setup that will be automatically 
+read when calling the script sensor_capture.py
+
+Usage:
+0 define your sensor setup in this notebook or on your custom python script.
+      Make sure to give your preferred path where the simulation setup will be generated.
+      In all cases, everything that concerns the simulation setup will fall under that directory,
+      in the folder 'simsetup'
+
+      Every attribute, pose or blueprint follows the naming convention provided by carla.
+      So to define your own custom sensor options, just referr to  
+              https://carla.readthedocs.io/en/latest/python_api/
+
+1 start CarlaUE4.sh
+2 python3 sensor_capture.py --help to see available options
+        DO NOT FORGET TO GIVE THE PATH OF THE DIRECTORY WHERE THE GENERATED SIMSETUP IS LOCATED 
+        (do not add 'simsetup' to the folder path, just give the directory path that contains it)
+3 data will be stored in a folder named according to the chosen simulation parameters 
+        (customizable by the command line args of sensor_capture.py)