Implementation:CARLA simulator Carla Python LightManager Bindings

Knowledge Sources	CARLA
Domains	Python Bindings, Lighting, Scene Management
Last Updated	2026-02-15 05:00 GMT

Overview

LightManager.cpp provides Boost.Python bindings for CARLA's light management system, exposing functions to control scene lighting properties (on/off state, color, intensity, light group, and light state) from Python.

Description

This binding file wraps the carla::client::LightManager class with Python-compatible helper functions organized into functional groups:

Active State Management

• LightManagerTurnOn / LightManagerTurnOff -- Turn lights on or off, converting Python iterables to std::vector<cc::Light>.
• LightManagerSetActive -- Sets active state per light using paired lists of lights and booleans.
• LightManagerIsActive -- Returns a Python list of boolean active states, using explicit static_cast<bool> to avoid bit_ref conversion issues.

Color Management

• LightManagerSetColor -- Sets a uniform color for all specified lights.
• LightManagerSetVectorColor -- Sets individual colors per light from paired lists.
• LightManagerGetColor -- Returns a Python list of colors for specified lights.

Intensity Management

• LightManagerSetIntensity -- Sets a uniform intensity for all specified lights.
• LightManagerSetVectorIntensity -- Sets individual intensities per light from paired lists.
• LightManagerGetIntensity -- Returns a Python list of intensity values.

Light Group Management

• LightManagerSetLightGroup -- Sets a uniform light group for all specified lights.
• LightManagerSetVectorLightGroup -- Sets individual light groups per light.
• LightManagerGetLightGroup -- Returns a Python list of light group values.

Light State Management

• LightManagerSetLightState -- Sets a uniform light state for all specified lights.
• LightManagerSetVectorLightState -- Sets individual light states per light.
• LightManagerGetLightState -- Returns a Python list of light state objects.

All helper functions follow a consistent pattern: extract Python iterables into C++ vectors using boost::python::stl_input_iterator, then delegate to the corresponding C++ LightManager method.

Usage

Access the light manager from a CARLA world instance in Python to query and modify scene lighting. The bindings support bulk operations on multiple lights simultaneously.

Code Reference

Source Location

• Repository: CARLA
• File: PythonAPI/carla/src/LightManager.cpp (353 lines)

Signature

namespace cc = carla::client;
namespace cr = carla::rpc;
namespace csd = carla::sensor::data;

// Active state
static void LightManagerTurnOn(cc::LightManager& self, const boost::python::object& py_lights);
static void LightManagerTurnOff(cc::LightManager& self, const boost::python::object& py_lights);
static void LightManagerSetActive(cc::LightManager& self, const boost::python::object& py_lights,
                                  const boost::python::object& py_active);
static boost::python::list LightManagerIsActive(cc::LightManager& self, const boost::python::object& py_lights);

// Color
static void LightManagerSetColor(cc::LightManager& self, const boost::python::object& py_lights,
                                 const csd::Color color);
static void LightManagerSetVectorColor(cc::LightManager& self, const boost::python::object& py_lights,
                                       const boost::python::object& py_colors);
static boost::python::list LightManagerGetColor(cc::LightManager& self, const boost::python::object& py_lights);

// Intensity
static void LightManagerSetIntensity(cc::LightManager& self, const boost::python::object& py_lights,
                                     const float intensity);
static void LightManagerSetVectorIntensity(cc::LightManager& self, const boost::python::object& py_lights,
                                           const boost::python::object& py_intensities);
static boost::python::list LightManagerGetIntensity(cc::LightManager& self, const boost::python::object& py_lights);

Import

#include <PythonAPI.h>

I/O Contract

Inputs

Name	Type	Required	Description
self	cc::LightManager&	Yes	The LightManager instance to operate on
py_lights	boost::python::object (iterable)	Yes	Python iterable of Light objects
color	csd::Color	No	Single color to apply uniformly
py_colors	boost::python::object (iterable)	No	Python iterable of Color objects for per-light assignment
intensity	float	No	Single intensity value to apply uniformly
py_active	boost::python::object (iterable)	No	Python iterable of booleans for per-light active state

Outputs

Name	Type	Description
result	boost::python::list	Python list of queried values (colors, intensities, active states, etc.)

Usage Examples

import carla

client = carla.Client('localhost', 2000)
world = client.get_world()
light_manager = world.get_lightmanager()

# Get all street lights
lights = light_manager.get_all_lights(carla.LightGroup.Street)

# Turn all lights on
light_manager.turn_on(lights)

# Set uniform color
light_manager.set_color(lights, carla.Color(255, 200, 150))

# Set uniform intensity
light_manager.set_intensity(lights, 1000.0)

# Query active states
active_states = light_manager.is_active(lights)

Related Pages

• Environment:CARLA_simulator_Carla_Simulation_Runtime
• CARLA_simulator_Carla_PythonAPI_Header - Master header included by this file
• CARLA_simulator_Carla_LightManager_Class - C++ LightManager class being wrapped
• CARLA_simulator_Carla_Python_World_Bindings - World bindings that expose the light manager