Carla Sensor Visualization

Allows to visualize an ego vehicle's sensors using PyGame.

It is dynamic, being able to create new vehicle configurations based on Json files.

---

To Run the Project

1. It is recommended to use a virtual environment with python 3.8.
2. Install the requirements with pip install -r requirements.txt
3. Run the CARLA server with the desired map
4. Run the project with python main.py

---

Modules

• main.py: Main file, controls the entire process
• display.py: Contains the methods to display the sensors in a PyGame window
• vehicle.py: Contains the methods responsible for creating the ego vehicle, attaching sensors to it, destroying it, and in future versions, controlling it
• sensors.py: Contains classes for each sensor, with methods to attach them to the vehicle, and to get their data through callbacks
• 'config.py': Contains option parameters for the simulation

These modules are coded to be extremely dynamic, allowing their integration with any other project.

---

Sensors

Available sensors:

• RGB Camera
• LiDAR
• Radar
• GNSS
• IMU
• Collision
• Lane Invasion

Future sensors:

• Semantic Segmentation Camera
• Instance Segmentation Camera
• Depth Camera
• Lidar Semantic Segmentation
• Obstacle Detection
• Optical Flow Camera (AKA: Motion Camera)

The collision and lane invasion sensors are special in the way that they are only triggered when the vehicle collides with something or invades a lane, respectively. And their information is not displayed in the PyGame window, but in the terminal.

---

TODO

• Maybe make a web client of this that lets you chose different vehicles and verify if they have sensors and all. Cool idea.

• Add the rest of the available CARLA sensors

• Make the window dynamic based on the amount of sensors