| 79 | |
| 80 | |
| 81 | def define_sensors(): |
| 82 | list_sensor_specs = [] |
| 83 | |
| 84 | if args.tm: |
| 85 | sensors00 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 86 | 'width': 300, 'height': 200, 'fov': 100, 'label': '1. cam-300x200'}] |
| 87 | |
| 88 | list_sensor_specs.append(sensors00) |
| 89 | |
| 90 | else: |
| 91 | sensors00 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 92 | 'width': 300, 'height': 200, 'fov': 100, 'label': '1. cam-300x200'}] |
| 93 | |
| 94 | sensors01 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 95 | 'width': 800, 'height': 600, 'fov': 100, 'label': '2. cam-800x600'}] |
| 96 | |
| 97 | sensors02 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 98 | 'width': 1900, 'height': 1080, 'fov': 100, 'label': '3. cam-1900x1080'}] |
| 99 | |
| 100 | sensors03 = [{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 101 | 'width': 300, 'height': 200, 'fov': 100, 'label': '4. cam-300x200'}, |
| 102 | {'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0, |
| 103 | 'width': 300, 'height': 200, 'fov': 100, 'label': 'cam-300x200'}, |
| 104 | ] |
| 105 | |
| 106 | sensors04 = [{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0, |
| 107 | 'label': '5. LIDAR'}] |
| 108 | |
| 109 | list_sensor_specs.append(sensors00) |
| 110 | list_sensor_specs.append(sensors01) |
| 111 | list_sensor_specs.append(sensors02) |
| 112 | list_sensor_specs.append(sensors03) |
| 113 | list_sensor_specs.append(sensors04) |
| 114 | |
| 115 | return list_sensor_specs |
| 116 | |
| 117 | def define_environments(): |
| 118 | list_env_specs = [] |