QCars

../_images/banner_qcar.png

Description

QCars are considered “actors” in Quanser Interactive Labs.The QCar library can be used to acquire sensor data from the virtual environment and controls the motion of the vehicles.

See the QCar QCar Tutorial to get a better understanding of using QCars in Quanser Interactive Labs.

Library

class qvl.qcar.QLabsQCar(qlabs, verbose=False)[source]

This class is for spawning QCars.

Constants

QLabsQCar.ID_QCAR = 160

Class ID

Note

CSI camera resolution is 820x410.

QLabsQCar.CAMERA_CSI_RIGHT = 0
QLabsQCar.CAMERA_CSI_BACK = 1
QLabsQCar.CAMERA_CSI_LEFT = 2
QLabsQCar.CAMERA_CSI_FRONT = 3

Note

RGB and depth resolution is 640x480.

QLabsQCar.CAMERA_RGB = 4
QLabsQCar.CAMERA_DEPTH = 5

Note

Overhead and trailing cameras support user zoom using the mouse wheel.

QLabsQCar.CAMERA_OVERHEAD = 6
QLabsQCar.CAMERA_TRAILING = 7

Member Variables

QLabsQCar.actorNumber = None

The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsQCar.__init__(qlabs, verbose=False)[source]

Constructor Method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

  • verbose (boolean) – (Optional) Print error information to the console.

QLabsQCar.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)[source]

Spawns a new QCar actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used and only uniform scaling is recommended. Sensor scaling will be based on scale[0].

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsQCar.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)[source]

Spawns a new QCar actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used and only uniform scaling is recommended. Sensor scaling will be based on scale[0].

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsQCar.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)[source]

Spawns a new QCar actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used and only uniform scaling is recommended. Sensor scaling will be based on scale[0].

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsQCar.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)[source]

Spawns a new QCar actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used and only uniform scaling is recommended. Sensor scaling will be based on scale[0].

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsQCar.set_transform_and_request_state(location, rotation, enableDynamics, headlights, leftTurnSignal, rightTurnSignal, brakeSignal, reverseSignal, waitForConfirmation=True)[source]

Sets the location, rotation, and other car properties. Note that setting the location ignores collisions so ensure that the location is free of obstacles that may trap the actor if it is subsequently used in a dynamic mode. This transform can also be used to “playback” previously recorded position data without the need for a full dynamic model.

Parameters

  • location (float array[3]) – An array of floats for x, y and z coordinates in full-scale units. Multiply physical QCar locations by 10 to get full scale locations.

  • rotation (float array[3]) – An array of floats for the roll, pitch, and yaw in radians

  • enableDynamics (boolean) – (default True) Enables or disables gravity for set transform requests.

  • headlights (boolean) – Enable the headlights

  • leftTurnSignal (boolean) – Enable the left turn signal

  • rightTurnSignal (boolean) – Enable the right turn signal

  • brakeSignal (boolean) – Enable the brake lights (does not affect the motion of the vehicle)

  • reverseSignal (boolean) – Play a honking sound

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation before proceeding. This makes the method a blocking operation. NOTE: Return data will only be valid if waitForConfirmation is True.

Returns

  • status - True if successful or False otherwise

  • location - in full scale

  • rotation - in radians

  • forward vector - unit scale vector

  • up vector - unit scale vector

  • front bumper hit - True if in contact with a collision object, False otherwise

  • rear bumper hit - True if in contact with a collision object, False otherwise

Return type

boolean, float array[3], float array[3], float array[3], float array[3], boolean, boolean

QLabsQCar.set_transform_and_request_state_degrees(location, rotation, enableDynamics, headlights, leftTurnSignal, rightTurnSignal, brakeSignal, reverseSignal, waitForConfirmation=True)[source]

Sets the location, rotation, and other car properties. Note that setting the location ignores collisions so ensure that the location is free of obstacles that may trap the actor if it is subsequently used in a dynamic mode. This transform can also be used to “playback” previously recorded position data without the need for a full dynamic model.

Parameters

  • location (float array[3]) – An array of floats for x, y and z coordinates in full-scale units. Multiply physical QCar locations by 10 to get full scale locations.

  • rotation (float array[3]) – An array of floats for the roll, pitch, and yaw in degrees

  • enableDynamics (boolean) – (default True) Enables or disables gravity for set transform requests.

  • headlights (boolean) – Enable the headlights

  • leftTurnSignal (boolean) – Enable the left turn signal

  • rightTurnSignal (boolean) – Enable the right turn signal

  • brakeSignal (boolean) – Enable the brake lights (does not affect the motion of the vehicle)

  • reverseSignal (boolean) – Play a honking sound

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation before proceeding. This makes the method a blocking operation. NOTE: Return data will only be valid if waitForConfirmation is True.

Returns

  • status - True if successful or False otherwise

  • location - in full scale

  • rotation - in radians

  • forward vector - unit scale vector

  • up vector - unit scale vector

  • front bumper hit - True if in contact with a collision object, False otherwise

  • rear bumper hit - True if in contact with a collision object, False otherwise

Return type

boolean, float array[3], float array[3], float array[3], float array[3], boolean, boolean

QLabsQCar.set_velocity_and_request_state(forward, turn, headlights, leftTurnSignal, rightTurnSignal, brakeSignal, reverseSignal)[source]

Sets the velocity, turn angle in radians, and other car properties.

Parameters

  • forward – Speed in m/s of a full-scale car. Multiply physical QCar speeds by 10 to get full scale speeds.

  • turn (float) – Turn angle in radians. Positive values turn right.

  • headlights (boolean) – Enable the headlights

  • leftTurnSignal (boolean) – Enable the left turn signal

  • rightTurnSignal (boolean) – Enable the right turn signal

  • brakeSignal (boolean) – Enable the brake lights (does not affect the motion of the vehicle)

  • reverseSignal (boolean) – Play a honking sound

Returns

  • status - True if successful, False otherwise

  • location

  • rotation - in radians

  • front bumper hit - True if in contact with a collision object, False otherwise

  • rear bumper hit - True if in contact with a collision object, False otherwise

Return type

boolean, float array[3], float array[3], boolean, boolean

QLabsQCar.set_velocity_and_request_state_degrees(forward, turn, headlights, leftTurnSignal, rightTurnSignal, brakeSignal, reverseSignal)[source]

Sets the velocity, turn angle in degrees, and other car properties.

Parameters

  • forward – Speed in m/s of a full-scale car. Multiply physical QCar speeds by 10 to get full scale speeds.

  • turn (float) – Turn angle in degrees. Positive values turn right.

  • headlights (boolean) – Enable the headlights

  • leftTurnSignal (boolean) – Enable the left turn signal

  • rightTurnSignal (boolean) – Enable the right turn signal

  • brakeSignal (boolean) – Enable the brake lights (does not affect the motion of the vehicle)

  • reverseSignal (boolean) – Play a honking sound

Returns

  • status - True if successful, False otherwise

  • location

  • rotation - in radians

  • front bumper hit - True if in contact with a collision object, False otherwise

  • rear bumper hit - True if in contact with a collision object, False otherwise

Return type

boolean, float array[3], float array[3], boolean, boolean

QLabsQCar.possess(camera=CAMERA_TRAILING)[source]

Possess (take control of) a QCar in QLabs with the selected camera.

Parameters

camera (uint32) – Pre-defined camera constant. See CAMERA constants for available options. Default is the trailing camera.

Returns

  • status - True if possessing the camera was successful, False otherwise

Return type

boolean

QLabsQCar.ghost_mode(enable=True, color=[0, 1, 0])[source]

Ghost mode changes the selected QCar actor into a transparent colored version. This can be useful as a reference actor or indicating a change in state.

Parameters

  • enable (boolean) – Set the QCar to the defined transparent color, otherwise revert to the solid color scheme.

  • color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.

Returns

  • status - True if possessing the camera was successful, False otherwise

Return type

boolean

QLabsQCar.get_image(camera)[source]

Request a JPG image from one of the QCar cameras.

Parameters

camera (uint32) – Pre-defined camera constant. See CAMERA constants for available options. Trailing and Overhead cameras cannot be selected.

Returns

  • status - True and image data if successful, False and empty otherwise

  • imageData - Image in a JPG format

Return type

boolean, byte array with jpg data

QLabsQCar.get_lidar(samplePoints=400)[source]

Request LIDAR data from a QCar.

Parameters

samplePoints (uint32) – (Optional) Change the number of points per revolution of the LIDAR.

Returns

True, angles in radians, and distances in m if successful, False, none, and none otherwise

Return type

boolean, float array, float array

QLabsQCar.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsQCar.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsQCar.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsQCar.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsQCar.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

Configurations

There is only one configuration of the QCar actor.

../_images/qcar.png

Connection Points

../_images/qcar_connection_points.png

Reference Frame Number

Parent Frame

Relative Transform to Parent (Location, Rotation)

Description

0

The base frame is located at ground level, centered between the two rear wheels. This represents the location of the car with no filtering, suspension, or dynamics. Collision detection is connected to this reference frame.

1

0

[0,0,0] [0,0,0]

The filtered frame is co-located with connection point 0, but it is a filtered position to simulated the suspension and dynamic effects. All the visual elements and sensors of the QCar are connected to this frame.

Component Extrinsics

“Extrinsics” refer to the external relationship of an object with respect to a specific frame of reference (in this case the body center of the QCar). Sometimes it’s important to know specific distances and orientation of extrinsic components, for instance, this can be use for obstacle detection and camera calibration. You will find a list of the important extrinsics below.

Distances From Body Center

Distances of the QCar in its virtual environment are 10 times larger then in real life when scaled at [1,1,1]. Therefore the distances to important components have been scaled accordingly below to match a scale of [1,1,1]:

Component

x (m)

y (m)

z (m)

CG

0.248

-0.074

0.606

Front axle

1.300

0

0.207

Rear axle

-1.300

0

0.207

CSI front

1.930

0

0.850

CSI left

0.140

0.438

0.850

CSI rear

-1.650

0

0.850

CSI right

0.140

-0.674

0.850

IMU

1.278

0.223

0.792

RealSense

0.822

0.003

1.479

RPLIDAR

-0.108

-0.001

1.696

Transformation Matrices

../_images/bodyframe.png

All transformation matrices are built off of the body frame and camera frames for the QCar. To read more about this check out our documentation here by clicking on resources button and looking inside the zip folder for User Guides/System Hardware.pdf

../_images/qcar_extrinsic_matrices.png

QCar Tutorial

Example

Raw to download this tutorial: QCar Tutorial.

  1"""
  2QCar Library Example
  3----------------------
  4This example will show you how to spawn cars, and use the qvl library commands
  5to control the car and its related functions.
  6
  7.. note::
  8
  9    Make sure you have Quanser Interactive Labs open before running this
 10    example.  This example is designed to best be run in QCar Cityscape.
 11
 12"""
 13
 14from qvl.qlabs import QuanserInteractiveLabs
 15from qvl.free_camera import QLabsFreeCamera
 16from qvl.basic_shape import QLabsBasicShape
 17from qvl.qcar import QLabsQCar
 18from qvl.environment_outdoors import QLabsEnvironmentOutdoors
 19
 20import time
 21import math
 22import numpy as np
 23import cv2
 24import os
 25
 26import pyqtgraph as pg
 27from pyqtgraph.Qt import QtWidgets
 28
 29lidar_rate = 0.01
 30
 31def main():
 32    os.system('cls')
 33
 34    #Communications with qlabs
 35
 36    qlabs = QuanserInteractiveLabs()
 37    cv2.startWindowThread()
 38
 39    print("Connecting to QLabs...")
 40    try:
 41        qlabs.open("localhost")
 42    except:
 43        print("Unable to connect to QLabs")
 44        return
 45
 46    print("Connected")
 47
 48    qlabs.destroy_all_spawned_actors()
 49
 50    ### QCar
 51
 52    hCameraQCars = QLabsFreeCamera(qlabs)
 53    hCameraQCars.spawn_id(actorNumber=1, location=[-15.075, 26.703, 6.074], rotation=[0, 0.564, -1.586])
 54    hCameraQCars.possess()
 55
 56    print("\n\n---QCar---")
 57
 58    #spawning the QCar with radians
 59    hQCar0 = QLabsQCar(qlabs)
 60    hQCar0.spawn_id(actorNumber=0, location=[-8.700, 14.643, 0.005], rotation=[0,0,math.pi/2], waitForConfirmation=True)
 61
 62    #Spawn and destroy the existing QCar
 63    hQCar1 = QLabsQCar(qlabs)
 64    hQCar1.spawn_id(actorNumber=1, location=[-15.075, 26.703, 6.074], rotation=[0,0,math.pi/2], waitForConfirmation=True)
 65    hQCar1.destroy()
 66
 67    #spawn a QCar with degrees
 68    hQCar2 = QLabsQCar(qlabs)
 69    x = hQCar2.spawn_id_degrees(actorNumber=2, location=[-11.048, 14.643, 0.005], rotation=[0,0,90], waitForConfirmation=True)
 70
 71    #pinging the QCar
 72    hQCar2.ping()
 73
 74    # change the lighting in qlabs to turn on the car lights
 75    hEnvironmentOutdoors = QLabsEnvironmentOutdoors(qlabs)
 76    for env_time in range(60):
 77        hEnvironmentOutdoors.set_time_of_day(12+env_time/10*2)
 78
 79    time.sleep(0.5)
 80
 81    # Set the velocity and direction of the QCar in radians while also turning on the headlights and right turn signal
 82    hQCar2.set_velocity_and_request_state(forward=1, turn = -math.pi/6, headlights=True, leftTurnSignal=False, rightTurnSignal=True, brakeSignal=False, reverseSignal=False)
 83    time.sleep(1)
 84    # Set the velocity to 0 and direction of the QCar in radians while keeping the headlights on and right turn signal on
 85    hQCar2.set_velocity_and_request_state(forward=0.0, turn = -math.pi/6, headlights=True, leftTurnSignal=False, rightTurnSignal=True, brakeSignal=False, reverseSignal=False)
 86    # Set the velocity to 1 and direction of the QCar in degrees while keeping the headlights on and turning on the left turn signal
 87    hQCar2.set_velocity_and_request_state_degrees(forward=1, turn = 30, headlights=True, leftTurnSignal=True, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
 88    time.sleep(1)
 89    # Set the velocity to 0 and direction of the QCar in degrees while keeping the headlights on and left turn signal on
 90    success, location, rotation, frontHit, rearHit = hQCar2.set_velocity_and_request_state_degrees(forward=0.0, turn = 30, headlights=True, leftTurnSignal=True, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
 91
 92    # Possess another QCar
 93    x = hQCar2.possess()
 94
 95    time.sleep(0.1)
 96    # Set the velocity to 1 of the QCar in radians while keeping the headlights, brakeSignal and reverseSignal on
 97    hQCar2.set_velocity_and_request_state(forward=1, turn = 0, headlights=True, leftTurnSignal=True, rightTurnSignal=True, brakeSignal=True, reverseSignal=True)
 98    time.sleep(1)
 99    # Set the velocity to 0 while keeping the headlights, brakeSignal and reverseSignal on and turning on the left turn signal and right turn signal
100    hQCar2.set_velocity_and_request_state(forward=0.0, turn = 0, headlights=True, leftTurnSignal=True, rightTurnSignal=True, brakeSignal=True, reverseSignal=True)
101
102    # Turn all the lights off
103    hQCar2.set_velocity_and_request_state(forward=0, turn = 0, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
104
105    # Set the time of day to change to light outside again
106    for env_time in range(60):
107        hEnvironmentOutdoors.set_time_of_day(env_time/10*2)
108
109    # Car bumper test
110    print("Testing bumper response...")
111    hCameraQCars.possess()
112    # Change the camera view to see the bumper test
113    hCameraQCars.set_transform(location=[-17.045, 32.589, 6.042], rotation=[0, 0.594, -1.568])
114
115    # Spawn some shapes for our bumper test
116    hCubeQCarBlocks = QLabsBasicShape(qlabs)
117    hCubeQCarBlocks .spawn_id(100, [-11.919, 26.289, 0.5], [0,0,0], [1,1,1], configuration=hCubeQCarBlocks.SHAPE_CUBE, waitForConfirmation=True)
118    hCubeQCarBlocks .spawn_id(101, [-19.919, 26.289, 0.5], [0,0,0], [1,1,1], configuration=hCubeQCarBlocks.SHAPE_CUBE, waitForConfirmation=True)
119
120    # Create another QCar
121    hQCar3 = QLabsQCar(qlabs)
122    hQCar3.spawn_id(actorNumber=3, location=[-13.424, 26.299, 0.005], rotation=[0,0,math.pi])
123
124    # Have the QCar drive forward to hit the front block
125    for count in range(10):
126        x, location, rotation, frontHit, rearHit  = hQCar3.set_velocity_and_request_state(forward=2, turn = 0, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
127        time.sleep(0.25)
128
129    # Put the QCar in ghost mode
130    hQCar3.ghost_mode()
131
132    # Have the QCar drive backwards to hit the back bumper
133    for count in range(10):
134        x, location, rotation, frontHit, rearHit  = hQCar3.set_velocity_and_request_state(forward=-2, turn = 0, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
135        time.sleep(0.25)
136
137    # Change the color of ghost mode to red
138    hQCar3.ghost_mode(enable=True, color=[1,0,0])
139    time.sleep(0.50)
140
141    # Set the velocity to 0 and turn all lights off
142    hQCar3.set_velocity_and_request_state(forward=0, turn = 0, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
143
144    # Set the location of the QCar and request the state of the car.  If x== True and frontHit==True then the front bumper hit the block correctly.
145    x, location, rotation, forward_vector, up_vector, frontHit, rearHit = hQCar3.set_transform_and_request_state(location=[-16.1, 26.299, 0.005], rotation=[0,0,math.pi-0.01], enableDynamics=True, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
146    time.sleep(0.50)
147
148    # Getting and saving the world transform of the QCar in Quanser Interactive Labs
149    x, loc, rot, scale = hQCar3.get_world_transform()
150
151    # Set the location of the QCar and request the state of the car.  If x== True and rearHit==True then the back bumper hit the block correctly.
152    x, location, rotation, forward_vector, up_vector, frontHit, rearHit = hQCar3.set_transform_and_request_state_degrees(location=[-13.1, 26.299, 0.005], rotation=[0,0,179], enableDynamics=True, headlights=False, leftTurnSignal=False, rightTurnSignal=False, brakeSignal=False, reverseSignal=False)
153    time.sleep(0.50)
154
155    #Turning off ghost mode for the QCar
156    hQCar3.ghost_mode(enable=False, color=[1,0,0])
157
158
159    # QCar Camera Tests
160    print("\nQCar Camera Tests...")
161    
162    # Possessing the overhead camera on the QCar
163    hQCar2.possess(hQCar2.CAMERA_OVERHEAD)
164    time.sleep(0.5)
165    
166    # Possessing the trailing camera on the QCar
167    hQCar2.possess(hQCar2.CAMERA_TRAILING)
168    time.sleep(0.5)
169    
170    #Possessing the front csi camera on the QCar
171    hQCar2.possess(hQCar2.CAMERA_CSI_FRONT)
172    time.sleep(0.5)
173
174    # Possessing the right csi camera on the QCar
175    hQCar2.possess(hQCar2.CAMERA_CSI_RIGHT)
176    time.sleep(0.5)
177
178    # Possessing the back csi camera on the QCar
179    hQCar2.possess(hQCar2.CAMERA_CSI_BACK)
180    time.sleep(0.5)
181
182    # Possessing the left csi camera on the QCar
183    hQCar2.possess(hQCar2.CAMERA_CSI_LEFT)
184    time.sleep(0.5)
185
186    # Possessing the front Realsense RGB camera on the QCar
187    hQCar2.possess(hQCar2.CAMERA_RGB)
188    time.sleep(0.5)
189
190    # Possessing the Realsense depth camera on the QCar
191    hQCar2.possess(hQCar2.CAMERA_DEPTH)
192    time.sleep(0.5)
193
194    # Getting images from the different cameras 
195    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_CSI_FRONT)
196    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_CSI_RIGHT)
197    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_CSI_BACK)
198    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_CSI_LEFT)
199    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_RGB)
200    x, camera_image = hQCar2.get_image(camera=hQCar2.CAMERA_DEPTH)
201
202
203    #LIDAR
204
205    hQCar3.possess(hQCar3.CAMERA_OVERHEAD)
206
207    # Creating a plot to plot the LIDAR data 
208    lidarPlot = pg.plot(title="LIDAR")
209    squareSize = 100
210    lidarPlot.setXRange(-squareSize, squareSize)
211    lidarPlot.setYRange(-squareSize, squareSize)
212    lidarData = lidarPlot.plot([], [], pen=None, symbol='o', symbolBrush='r', symbolPen=None, symbolSize=2)
213
214    time.sleep(1)
215
216    print("Reading from LIDAR... if QLabs crashes or output isn't great, make sure FPS > 100 or fix the crash bug!")
217
218    # Obtaining and plotting lidar data for 0.2s
219    for count in range(20):
220
221        success, angle, distance = hQCar3.get_lidar(samplePoints=400)
222
223        x = np.sin(angle)*distance
224        y = np.cos(angle)*distance
225    
226        lidarData.setData(x,y)
227        QtWidgets.QApplication.instance().processEvents()
228        time.sleep(lidar_rate) #lidar_rate is set at the top of this example
229
230    print("LIDAR successful")
231    print(lidar_rate == 0.01, "Passed LIDAR test with 100Hz (lidar_rate = 0.01 expected)")
232
233    time.sleep(5)
234
235    # Closing qlabs
236    qlabs.close()
237    print("Done!")
238
239
240main()