scenic.simulators.gta.interface¶

Python supporting code for the GTA model.

Summary of Module Members¶

Classes

`CarColor`	A car color as an RGB tuple.
`CarColorMutator`	Mutator that adds Gaussian HSL noise to the `color` property.
`CarModel`	A model of car in GTA.
`GTA`
`Map`	Represents roads and obstacles in GTA, extracted from a map image.
`MapWorkspace`	Workspace whose rendering is handled by a Map
`NoisyColorDistribution`	A distribution given by HSL noise around a base color.

Member Details¶

class Map(imagePath, Ax, Ay, Bx, By)[source]¶

Bases: object

Represents roads and obstacles in GTA, extracted from a map image.

This code handles images from the GTA V Interactive Map, rendered with the “Road” setting.

Parameters

imagePath (str) – path to image file
Ax (float) – width of one pixel in GTA coordinates
Ay (float) – height of one pixel in GTA coordinates
Bx (float) – GTA X-coordinate of bottom-left corner of image
By (float) – GTA Y-coordinate of bottom-left corner of image

class MapWorkspace(mappy, region)[source]¶

Bases: scenic.core.workspaces.Workspace

Workspace whose rendering is handled by a Map

class CarModel(name, width, height, viewAngle=1.5707963267948966)[source]¶

Bases: object

A model of car in GTA.

Attributes

name (str) – name of model in GTA
width (float) – width of this model of car
height (float) – height of this model of car
viewAngle (float) – view angle in radians (default is 90 degrees)

Class Attributes

models – dict mapping model names to the corresponding CarModel

class CarColor[source]¶

Bases: scenic.simulators.gta.interface.CarColor

A car color as an RGB tuple.

static uniformColor()[source]¶: Return a uniformly random color.

static defaultColor()[source]¶

Default color distribution for cars.

The distribution starts with a base distribution over 9 discrete colors, then adds Gaussian HSL noise. The base distribution uses color popularity statistics from a 2012 DuPont survey.

class NoisyColorDistribution(baseColor, hueNoise, satNoise, lightNoise)[source]¶

Bases: scenic.core.distributions.Distribution

A distribution given by HSL noise around a base color.

Parameters

baseColor (RGB tuple) – base color
hueNoise (float) – noise to add to base hue
satNoise (float) – noise to add to base saturation
lightNoise (float) – noise to add to base lightness

class CarColorMutator[source]¶

Bases: scenic.core.object_types.Mutator

Mutator that adds Gaussian HSL noise to the color property.