Why the images from camera are not continuous? about carla HOT 7 OPEN

@huangchunan The manual_control script does not guarantee the continuity of the data, even in synchronous mode.

To guarantee the continuity of the data, besides running the server in synchronous mode, you need to implement a sensor barrier. The sensor barrier is a client side mechanism that waits until all data has been received and processed to tick again the server. This mechanism is implemented in all our scripts that need to guarantee sensor continuity for all frames (e.g., leaderboard).

Please take a look to this script that introduces this mechanism: https://github.com/carla-simulator/carla/blob/dev/PythonAPI/examples/sensor_synchronization.py

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To guarantee the continuity of images, you should instead run the client is synchronous mode. There is a working example of this in "examples\synchronous_mode.py". This will ask the server to wait until the client recieves a frame, and only continues the simulation when recieving confirmation.

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To guarantee the continuity of images, you should instead run the client is synchronous mode. There is a working example of this in "examples\synchronous_mode.py". This will ask the server to wait until the client recieves a frame, and only continues the simulation when recieving confirmation.

I have used 'python3 manual_control.py --sync' to guarantee the continuity. Does it not work? It seems to lost some images. For example, I ran the simulation for 15 seconds, but it only generated the first 5 seconds images.

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It should guarantee... We will look at that

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@huangchunan The manual_control script does not guarantee the continuity of the data, even in synchronous mode.

To guarantee the continuity of the data, besides running the server in synchronous mode, you need to implement a sensor barrier. The sensor barrier is a client side mechanism that waits until all data has been received and processed to tick again the server. This mechanism is implemented in all our scripts that need to guarantee sensor continuity for all frames (e.g., leaderboard).

Please take a look to this script that introduces this mechanism: https://github.com/carla-simulator/carla/blob/dev/PythonAPI/examples/sensor_synchronization.py

@joel-mb I tried and it worked. However, the fps is very low, about 2 fps. I found the core problem is the speed of generating images is far too slow than the simulation speed. Anyway to accelerate the speed?
Maybe The manual_control script could guarantee the continuity of the data in synchronous mode, but the speed of generating images is too slow.

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