..  _sensors:

******************
Sensors Reference
******************

Scenic sensors provide observations from the selected simulator during a simulation.
Use these abstract classes in :specifier:`with sensors { ... }` blocks; the selected simulator
(CARLA, MetaDrive, etc.) supplies the concrete implementation.

.. note::

    The sensors API is a prototype and may undergo changes.

.. versionadded:: 3.1

.. contents:: :local:

Built-in Sensors
----------------

.. autoclass:: scenic.core.sensors.RGBSensor
    :noindex:
    :no-show-inheritance:
    :no-members:

.. autoclass:: scenic.core.sensors.SSSensor
    :noindex:
    :no-show-inheritance:
    :no-members:

Usage
-----

.. code-block:: scenic

    param map = localPath('../../assets/maps/CARLA/Town05.xodr')
    param carla_map = 'Town05'
    model scenic.domains.driving.model

    # Sample a lane at random
    lane = Uniform(*network.lanes)

    spot = new OrientedPoint on lane.centerline

    attrs = {"convert": "CityScapesPalette"}  # Used by CARLA

    # Spawn car on that spot with follow lane behavior and
    # - an RGB Camera pointing forward
    # - a semantic segmentation sensor
    ego = new Car at spot,
        with behavior FollowLaneBehavior(),
        with sensors {"front_ss": SSSensor(offset=(1.6, 0, 1.7), width=1056, height=704, attributes=attrs),
                  "front_rgb": RGBSensor(offset=(1.6, 0, 1.7), width=1056, height=704, attributes=attrs)
                    }

    other = new Car offset by 0 @ Range(10, 30),
        with behavior FollowLaneBehavior()

    param recordFolder = "out/{simulation}"
    record ego.observations["front_ss"] every 0.5 seconds after 5 seconds to "frontss_{time}.jpg"
    record ego.observations["front_rgb"] after 5 seconds to "frontrgb.mp4"

    terminate after 15 seconds