3D scenes available#

Parrot Sphinx comes with several UE4 applications. Each of them contains a world that has its own characteristics, its own features. Let us have a look at some of them.

Packaged applications#

The most recommended applications can be easily installed using apt. They are described in this section.

Each world comes generally with several levels, meaning several different scenes, which are some variations around a common environment. Take a look at interact with sky section to be able to create advanced lighting scenarios. For example, a scenario in which lights are aggressive enough to create a realistic environment for stereo camera, which can easily saturate shaded and highly-lit areas.

Empty#

This is the tiniest world we have. It is appropriate if your PC is not that powerful, or you just want to perform basic and simple tests.

Map ‘Empty’

_images/empty.jpg

Forest#

Map ‘main’

This world represents a small forest of fir trees and poplar trees.

_images/forest.jpg _images/forest_2.jpg

Map ‘sparse’

Same as the main map but with lower tree density and better distribution.

_images/forest_sparse_1.jpg _images/forest_sparse_2.jpg _images/forest_sparse_3.jpg

Meadow#

Map ‘main’

A hole meadow environment including grass, dirty and wet roads, trees, rocks, cliffs, bushes, flowers, details like leaves.

_images/meadow_1.jpg _images/meadow_2.jpg _images/meadow_3.jpg

Landscape ecosystem#

This ecosystem is based on the “temperate broadleaf forest” biomes. The forest is made up of pine trees and birch trees. This world contains roads and train rails. It includes two different seasons.

Map ‘main’

A huge forest with different trees, plants and rocks and a road in the middle.

_images/ple_1.jpg _images/ple_2.jpg _images/ple_3.jpg

Map ‘winter’

A snowy map with different trees and plants covered with snow. This map contains a road, a railway, electricity poles, traffic signs and barriers.

_images/ple_snow_1.jpg _images/ple_snow_2.jpg

Map ‘intense_lights_winter’

_images/winter_intense.jpg

Map ‘transmission_towers’

A landscape with transmission towers linked one to another with cables. Each set of towers is surrounded by a certain density and size of trees.

_images/transmission_towers_1.jpg _images/transmission_towers_2.jpg

Map ‘pylons’

A landscape with pylons placed in different locations. Each pylon is surrounded by a certain density of trees.

_images/pylons_1.jpg _images/pylons_2.jpg _images/pylons_3.jpg

Landscape mountains#

Map ‘main’

This snowy, mountainous environment is roughly 5km by 5km in size, consisting of tall peaks, winding valleys, frozen lakes and forests made up of thousands of trees.

_images/landscape_1.jpg _images/landscape_2.jpg _images/landscape_3.jpg

Dark forest#

Map ‘main’

This world represents a forest filled with dead trees and roots. The environment also contains a house and a road.

_images/dark_forest_main_1.jpg _images/dark_forest_main_2.jpg _images/dark_forest_main_3.jpg

Map ‘Demo_Day’

Same as the main map but with higher tree density and plants all over the ground.

_images/dark_forest_demo_day_1.jpg _images/dark_forest_demo_day_2.jpg _images/dark_forest_demo_day_3.jpg

Sphx tests#

This project is a remake of some of gazebo’s test worlds. There are six different maps.

Map ‘main’

_images/sphxtest_1.jpg

Map ‘video’

_images/sphxtest_2.jpg _images/h_panel.jpg _images/4_panel.jpg

Map ‘magic_carpet’

_images/sphxtest_3.jpg

Map ‘autotests’

_images/sphxtest_4.jpg

Map ‘obstacle_avoidance’

A map containing different types of obstacles.

_images/sphxtest_oa.jpg

Carla#

CARLA is an open-source simulator for autonomous driving research. It provides digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely.

The Carla project contains 8 maps. Each map represents a town with different assets and visual effects.

Map ‘main’

A town with buildings, trees and a channel in the middle.

_images/carla_town_1.jpg

Map ‘town_02’

A small village with buildings, trees and cars.

_images/carla_town_2.jpg

Map ‘town_03’

A town with different buildings, trees and roads.

_images/carla_town_3.jpg _images/carla_town_3_2.jpg

Map ‘town_04’

A town that contains different buildings, a gas station. Encompassed by a complex road network.

_images/carla_town_4.jpg

Map ‘town_05’

A small town with high-rise buildings.

_images/carla_town_5.jpg

Map ‘town_06’

A small town in a valley.

_images/carla_town_6.jpg

Map ‘town_07’

A farm with buildings, trees and a channel. Surrounded by a forest.

_images/carla_town_7.jpg

Map ‘town_10’

A town that contains different buildings and monuments, with HD assets.

_images/carla_town_10.jpg _images/carla_town_10_2.jpg _images/carla_town_10_3.jpg

Earth#

Earth is a multi-level project containing 3D scans of various places existing in the world. We do not list here all the offered places. There are too many (more than 20).

The data come from Google Earth.

Each level comes with the exact GPS coordinates of the real place. That way, the simulated drone gets even more realistic GPS inputs, which is useful in particular for photogrammetry testing.

_images/earth_1.jpg _images/earth_2.jpg

Factory#

Factory is a large truck manufacturing line. It is an indoor world with different types of obstacles.

Map ‘main’

_images/factory.jpg _images/factory_2.jpg _images/factory_3.jpg

Map ‘original_map’

_images/factory_original.jpg _images/factory_original_2.jpg _images/factory_original_3.jpg

Industrial city#

Map ‘main’

An urban environment populated with buildings, electric poles, roads, trees, cables and many other different objects.

_images/industrial_city_1.jpg _images/industrial_city_2.jpg

Map ‘building_with_trees’

This is a duplicate of ‘IndustrialCity’ map with less buildings and more trees.

_images/industrial_city_trees_1.jpg _images/industrial_city_trees_2.jpg

Map ‘building_with_cables’

This is a duplicate of ‘IndustrialCity’ map with many electric poles and much more electric cables.

_images/industrial_city_cables_1.jpg _images/industrial_city_cables_2.jpg

Map ‘Towers’

This is a duplicate of ‘IndustrialCity’ map with some cranes and pylons.

_images/industrial_city_towers_1.jpg _images/industrial_city_towers_2.jpg

Map ‘building_only’

This is a duplicate of ‘IndustrialCity’ map while deleting every single object except one building.

_images/industrial_city_building_only_1.jpg _images/industrial_city_building_only_2.jpg

About the available paths#

This table resumes the different available paths in each world of the packaged ones and whether we can spawn Characters or Vehicles on each one:

World

Map

Path

Characters

Vehicles

Empty

Empty

DefaultPath

Y

N

RunPath

Y

N

Forest

main

DefaultPath

Y

Y

Landscape Ecosystem

main

DefaultPath

Y

Y

FollowMe

Y

N

Landscape Mountains

main

DefaultPath

Y

Y

WalkPath

Y

N

RunPath

Y

N

FollowMeLong

Y

N

FollowMeShort

Y

N

Road

Y

Y

Sphx Test

main

DefaultPath

Y

Y

SquarePath

Y

Y

LongPath

Y

Y

autotests

SquarePath

Y

Y

Carla

main

DefaultPath

Y

Y

PedestrianBridge

Y

N

town_03

DefaultPath

Y

N

Road

Y

Y

town_05

DefaultPath

Y

N

Road

Y

Y

town_07

DefaultPath

Y

Y

town_10

DefaultPath

Y

Y