Implementation:CARLA simulator Carla Interpolate Camera Example

Knowledge Sources	CARLA
Domains	Camera Control, Example Scripts
Last Updated	2026-02-15 05:00 GMT

Overview

A Python example script that smoothly moves the CARLA spectator camera along an interpolated path defined by keypoints in an XML file.

Description

This script reads camera keypoints from an XML file using parse_key_points(file, id), which extracts time, location (x, y, z), and rotation (pitch, yaw, roll) data for a specified interpolation ID. The interpolate_data(points, max_order) function performs temporal interpolation using scipy.interpolate.interp1d with adaptive interpolation order (cubic, quadratic, linear, or zero depending on available points and the specified max_order). It handles angle normalization to prevent discontinuities at 360-degree boundaries. The interpolated transforms are discretized at 30 FPS. The main() function connects to a CARLA server, optionally enables synchronous mode, and either drives the spectator through the interpolated path or renders debug visualization (keypoints, interpolated points with rotation arrows, and speed annotations). Command-line arguments control host, port, XML file path, interpolation ID, start time, sync mode, and debug visualization.

Usage

Use this script to create cinematic camera flyovers or to replay predefined camera movements in CARLA for recording demonstrations, screenshots, or visual debugging.

Code Reference

Source Location

• Repository: CARLA
• File: PythonAPI/examples/interpolate_camera.py

Signature

def parse_key_points(file, id):
    """Parse XML keypoints for the given interpolation id."""

def interpolate_data(points, max_order):
    """Interpolate keypoints into a list of carla.Transform at 30 FPS."""

def main():
    """Connect to CARLA and animate spectator camera."""

Import

# Run as standalone script
python interpolate_camera.py -f keypoints.xml --id camera1

I/O Contract

Inputs

Name	Type	Required	Description
--host	str	No	CARLA server IP (default: 127.0.0.1)
--port	int	No	CARLA server port (default: 2000)
--file	str	Yes	Path to XML keypoints file
--id	str	Yes	Interpolation ID within the XML file
--start-time	int	No	Starting time offset in seconds (default: 0)
--sync	flag	No	Enable synchronous mode
--debug	flag	No	Visualize keypoints and interpolation data

Outputs

Name	Type	Description
Camera animation	Visual	Spectator camera follows interpolated path
Debug visualization	Visual	Keypoints, arrows, and speed annotations drawn in world

Usage Examples

# Run from command line
# python interpolate_camera.py -f camera_path.xml --id flyover1 --sync

# XML keypoint format:
# <interpolations>
#   <interpolation id="flyover1" order="3">
#     <point time="0" x="0" y="0" z="50" pitch="-90" yaw="0" roll="0"/>
#     <point time="5" x="100" y="0" z="50" pitch="-45" yaw="0" roll="0"/>
#     <point time="10" x="200" y="50" z="30" pitch="-15" yaw="45" roll="0"/>
#   </interpolation>
# </interpolations>

Related Pages

• Environment:CARLA_simulator_Carla_Python_API_Runtime