To add an RGB color camera in the CARLA environment, use the following code:
# Create a RGB Camera Objectcamera1 = Camera('CameraRGB')# Set the RGB camera image resolution in pixelscamera1.set_image_size(640, 480)# Set the camera/sensor position relative to the car in meterscamera1.set_positions(0.25, 0, 1.30)# Add the sensor to the Carla Settings objectsettings.add_sensor(camera1)
You can also add a depth measuring sensor or camera using the following code snippet:
# Create a depth camera object that can provide us the ground-truth depth of the driving scenecamera2 = Camera("CameraDepth",PostProcessing="Depth")# Set the depth camera image resolution in pixelscamera2.set_image_size(640, 480) ...
