is in the official repository for this project. Using CARLA. Below the visualizations is the code I used to generate the images in this blog post. capture the data right away, it may be lost forever once the next packet arrives. works perfectly and is quite extensible, if a little redundant in places. In which approach applied in carla autopilot mode? buffered_saver.py You can find all the code that I end Then I would not have to open thousands If I place my vehicle anywhere in the world in editor mode and rebuild Carla, I can see my vehicle in the simulator view, but it does not appear in the actor list (world.get_actors()) The actors need to be created with out spawn system otherwise they're not added to our actor registry. You do not need to understand all the code, and the API is pretty simple. version, but that version is riddled with bugs right now). I am trying to run carla Simulator on Azure ubuntu 18.04 machine, but as per the document we need to create an account in GitHub and Unreal engine, and we need to link those two accounts. The client sends commands to the server to control both the car and other parameters like weather, starting new episodes, etc. Contribute to carla-simulator/carlaviz development by creating an account on GitHub. this There are detailed instructions the data comes in as 32-bit integers that can be read as 8-bit integers to obtain BGRA images. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, ⦠easy because there would be no need to encode/decode from the PNG format, and besides, both opencv and which in turn makes it much easier to detect not only lanes but also other vehicles and objects in the camera branch: master. faster than saving it on disk. It actually saves images in BGR left, you will notice how the pole is in a different place in the semantic segmentation ground truth As discussed in the previous post, I do not want • Debian installation for CARLA. Changing between town 1 and town 2 in Carla Simulator. It was built from scratch to serve as a modular and flexible API to address a range of tasks involved in the problem of autonomous driving. CARLA grows fast and steady, widening the range of solutions provided and opening the way for the different approaches to autonomous driving. You want to use an image viewer? like this: And the following line must be present in the CarlaSettings object in the client code in order to three days trying to build CARLA version 0.9.2 from source on Windows). It is essential that you start the simulator in A Instead, I want to use more predictable algorithms that can be understood and explained, and whose If the sensor type happens to be a depth camera, it converts the information in the three channels into to be varied to fit the given axes. Everybody is free to explore with CARLA, find their own solutions and then share their achievements with the rest of the community. You can look here writing to it is very fast. Category Topics; Global. 9. CARLA is an open-source simulator built on top of the Unreal Engine 4 (UE4) gaming engine, with additional materials and features providing: a ⦠And the task of finding lanes and other obstacles in our path can be greatly simplified by using to figure out how to save data, I referenced the client_example.py file in the PythonClient directory. In that democratization is where CARLA finds its value. The simulation is recorded, ⦠There is also a build guide for Linux and Windows. Since the numpy array is in memory (RAM), one of the biggest reasons I chose CARLA is that it can generate ground truth data for semantic segmentation, You can criticize my software design decisions here, but my solution to all the aforementioned problems One of the main goals of CARLA is to help democratize autonomous driving R&D, serving as a tool that can be easily accessed and customized by users. directory which will allow you to painlessly visualize the saved data. then stores the incoming data. so it is best to use a Jupyter Notebook to interactively visualize them to make sure that there are no The great people working with Carla.org has developed and open sourced the Carla simulator empowering thousands of autonomous driving engineers to learn and design controllers and systems for free. But turns out, the technique used in that script to save the data is awful. CARLA is an open-source simulator for autonomous driving research. There is another documentation for the stable version 0.8 here, though it should only be used for specific queries. Talking about how CARLA grows means talking about a community of developers who dive together into the thorough question of autonomous driving. CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. matplotlib work with numpy arrays under the hood, so it does not make visualization any harder. The simulation tries to keep up with real-time. The client sends commands to the server to control both the 2020 While inconvenient, it is not impossible. When not running in synchronous mode, the simulator sends data This is particularly convenient, because Could you please help me out here. 2. Since I wanted to drive the car manually and collect data, I found it easiest to modify the Fixed time-step. And One of the main goals of CARLA is to help democratize autonomous driving R&D, serving as a tool that can be easily accessed and customized by users. What you will learn: Downloading CARLA the carla release. Visualize carla in the web browser. This is how to send a control message: Since we are sending the control signal after storing the sensor data, we are guaranteed not to drop CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. (frame) to disk as a .png file as it is coming in. It does so while never forgetting its open-source nature. We are supposed to figure out how to use CARLA by ourselves using that By default, the simulator starts in this mode. let me know if you want the data I have collected. The Python client process can then print the received Donât forget that ⦠The Carla Simulator. CARLA Simulator Scripts. News about the CARLA project, its features and tutorials. But going forward, finding lanes feed, and it has a lot of weather and lighting conditions, and a variety of vehicles and roads. fixed time-step mode. It features highly detailed virtual worlds with roadways, buildings, weather, and vehicle and pedestrian agents. To do so, the simulator has to meet the requirements of ⦠To do so, the simulator has to meet the requirements of different use cases within the general problem of driving (e.g. A new repository provides deb packages for the CARLA simulator and the ROS bridge, which can be easily installed using apt. If you have any questions, comments, criticism, or suggestions, feel free to leave them below. (What? CARLA leaderboard. Each BufferedImageSaver object able to run CARLA, or at least get reasonable framerates while collecting data. In that case, you can It was built from scratch to serve as a modular and flexible API to address a range of tasks involved in the problem of autonomous driving. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and ⦠The server is responsible for everything related with the simulation itself: sensor rendering, computation of physics, updates on the world-state and its actors and much more. write a few large files at once rather than writing many small files. To run the simulator this way you need to pass two parameters in ⦠Fig. on the documentation website. Clone. The BufferedImageSaver.process_by_type method takes in In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. CARLA Simulator / CARLA. (I actually discovered the problem of semantic segmentation ground truth not This will make CARLA from repository and allow to dive full-length into its features. Each instance also stores the sensor type associated with it to determine CARLA is an open-source simulator for autonomous driving research. any frames, and we get semantic segmentation ground-truth that is perfectly aligned with the camera images: As explained in the readme, if Note that if you donât have a computer with a dedicated graphics card, then you will most certainly not be By default all the communication between the client and the server So we Getting images from the simulator took much longer than I had originally anticipated (partly because I wasted here). A step-by-step guide on how to use the deb packages to get the latest CARLA release and the ROS bridge. Sagnick Bhattacharya The project is transparent, acting as a white box where anybody is granted access to the tools and the development community. This solves all the problems that I enumerated in the previous section. Clone via HTTPS Clone with Git or checkout with SVN using the repositoryâs web address. The basic idea is that the CARLA simulator itself acts as a server and waits for a client to connect. CARLA has been developed from the ground up to support the development, training, and validation of autonomous urban driving systems. a single âchannelâ of floating point data, applying processing similar to More than 50 million people use GitHub to discover, fork, and contribute to over 100 million projects. What is happening in these cases is that the Python client is not being able to read This makes the visualizations better in this case. CARLA is an open source simulator for autonomous driving research with an active community and has already been used for teledriving [16]. CARLA 0.9.5 connected at 127.0.0.1:2000. But these data are massive numpy arrays (.npy files), compared to the raw image. (sensor measurements and images) as soon as they are rendered, and if the Python client is not able to what processing to apply to incoming data. CARLA is an open-source simulator for autonomous driving research. Vulkan will prevent CARLA to run off-screen and in Docker, so to run them it is needed to use OpenGL. The client side consists of a sum of client modules controlling the logic of actors on scene and setting world conditions. the incoming images fast enough, and is, in a sense, dropping frames. A Python process connects to it as a client. Space for contributions. They are saving each image sagnibak.github.io, version 0.8.4 has two towns whereas version 0.8.2 has only one, there are two wheelers in version 0.8.4 in addition to four-wheelers. The only reason the data is not freely available is how to add an image to a BufferedImageSaver object. before sending the next packet of data. The data will be stored in a large numpy array as it comes in. Executing CARLA Simulator. Executing CARLA Simulator and connecting it to a python client. This is achieved by leveraging the CARLA API (in Python or C++), a layer that mediates between server and client that is constantly evolving to provide new functionalities. map_semseg_colors which outputs an RGB image that can then be saved using the pillow (PIL) library. Control over the simulation is granted through an API handled in Python and C++ that is constantly growing as the project does. Simulations are not repeatable. converting the categorical semantic segmentation ground truth to RGB using a custom color mapping function later. official repository for this project is here, and please all they have for us are five example scripts in the PythonClient directory and accompanying information Filter files. The first step in doing that, of course, is to get images of Installation issues. Connecting to a remote server would already be a teleop- erated driving simulation, but with the major drawback of But when i am running container using 0.9.10 image and trying to test connection to simulator it is not working. Look here for more In order to smooth the process of developing, training and validating driving systems, CARLA evolved to become an ecosystem of projects, built around the main platform by the community. This is exactly how not to save data when you want and we only have to fit the detected lanes, which is much easier than finding the lanes themselves. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. CARLA Simulator. in the readme for you to be able to use all the code. Variable time-step. This is a great time to read the section of the readme titled I have included a Jupyter Notebook called to drop to about 3-4 fps at best. here) into Install CARLA and check for the installation in the /opt/ folder. After every frame, the BufferedImageSaver.add_image method is called with the raw sensor data, which either It can be done easily by passing a To do so, the time-step is slightly adjusted each update. If the sensor is an RGB camera, it does not do But if it is semantic segmentation ground truth, then it removes all but the red channel, So we use opencv to convert the images from BGR to RGB understand everything over there, as most of the client-server communication is abstracted by the carla Disclaimer: Despite being an experimental build, Vulkan is the preferred API to run CARLA simulator. As per carla paper description it's used 3 different approaches: Modular pipeline, Imitation learning, Reinforcement learning. CARLA is an open-source autonomous driving simulator. Discussions on CARLA and its functionalities. recognize lane lines, cars, etc. What is CARLA Simulator? Update: The self-driving RC car project now has a GitHub repository! GitHub is where people build software. I CARLA Simulator. The visualization process is quite simple: we first load the numpy arrays from disk into memory. Carla Simulator. The next page contains Quick start instructions for those eager to install a CARLA release. verify_collected_data.ipynb CARLA is an open-source simulator for autonomous driving research. detrimental and might keep our semantic segmentation model from converging. In order Python process connects to it as a client. 4: CARLA simulator based streaming architecture for teleoperated driving. I plan on going through a series of step by ⦠While I had promised to use CARLA version 0.8.2 in the previous up writing in this repo. This means you need to use the -benchmark flag and provide an fps= argument (where CARLA is grounded on Unreal Engine to run the simulation and uses the OpenDRIVE standard (1.4 as today) to define roads and urban settings. [Windows] Real-Time Mic Static/Noise Removal Tutorial (With Bonus Voice Changing Tutorial) - Duration: 24:48. This actually led to the car and other parameters like weather, starting new episodes, etc. semantic segmentation ground truth not matching the camera images, as you can see below: At first glance, you may not notice any problems, but if you look carefully at the second image from the Once again, the that task to a semantic segmentation neural network and then build algorithms on top of that. data, process it, write it to disk, etc. should not be that difficult, as it is almost trivial to find lanes from semantic segmentation output, with as much generalization as deep neural networks, so we can delegate Hard disks and SSDs alike give the best write speeds if you try to 70. CARLA can be run in both modes. stores the data in the buffer, or if the buffer is full, saves the buffer to disk, resets the buffer, and enable synchronous mode: Basically, running in synchronous mode makes sure that the Python client is able to keep up with all the examples of this. process and waiting for the Python client process to write to disk after each frame causes the framerate You will probably not need to use that code. This documentation refers to the latest development versions of CARLA, 0.9.0 or explains exactly how to run the simulator and start collecting data. Here are some images to whet your apetite for whatâs in the rest of this post (these images will module in the PythonClient directory. has a buffer (numpy array) where it stores the incoming data. channel but I did not bother to convert from BGR to RGB while saving the numpy arrays in The simulation platform supports flexible specification of sensor suites, environmental ⦠Chercher les emplois correspondant à Carla simulator controls ou embaucher sur le plus grand marché de freelance au monde avec plus de 18 millions d'emplois. It wouldâve been really helpful if CARLA had documentation for their Python API for versions 0.8.x, but convenient if all my collected data were stored in numpy arrays. Here is an overview of my idea: If you take a look at the file buffered_saver.py, because neural networks donât care either way). here, but it is not very important to in the notebook: As for the semantic segmentation ground truth arrays, we need to convert the categorical indices (listed Therefore the -opengl flag must be activated. And storing data in RAM is way to keep up with a real-time task such as a running simulator, because writing to disk is a painfully slow Q&A done well for the CARLA Autonomous Driving Simulator. The messages sent and received on these ports is explained post. someone who is interested in content like this, please share this article with them. CARLA is an open-source autonomous driving simulator. measurements and images back to the Python process. L'inscription et faire des offres sont gratuits. The introduction of CARLA, a free, open-source simulator powered by Unreal Engine, has been inspired by earlier work of Research Scientist Germán Ros, who is now CARLA Team Lead, and Professor Antonio M. López of the Computer Vision Center in Barcelona. behavior can be extrapolated reliably. Now, I lied to you when I said that the camera captures RGB images. Is autopilot implementation is open source? Asset content for CARLA Simulator. • As it aims for realistic results, the best fit would be running the server with a dedicated GPU, especially when dealing with machine learning. This post will dive deep into all the new features, but first letâs see a brief summary of what CARLA 0.9.8 brings to the table. Storing and retrieving the data in bulk would also be very CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. ask me in the comments for the data that I have collected and I can share that with you. being synchronized with camera images only after visualizing the collected data in a notebook!). make sense to you by the end of the post): If you recall from the first blog post in this series, Carla is a simulator developed by a team with members from the Computer Vision Center at the Autonomous University of Barcelona, Intel and the Toyota Research Institute and built using the Unreal game engine. you start the Python client with the following command: the data will be stored in . Implement CAN into CARLA Simulator, great for those who want to learn how to read and inject CAN messages without using an actual car! manual_control.py file in the PythonClient directory. The CARLA simulator consists of a scalable client-server architecture. CARLA has been developed from the ground up to support development, training, and validation of autonomous driving systems. Understanding CARLA though is much more than that, as many different features and elements coexist within it. because it is the only channel with any information (as explained Like a real programmer.). of .png files and read them into memory. also want to get semantic segmentation ground truth to train the neural network with. learning driving policies, training perception algorithms, etc.). Getting data out of the CARLA simulator is not as trivial as it seems; it really deserves an entire blog That summarizes the basic structure of the simulator. If you know to train an end-to-end neural network because I want to stay away from unpredictable black boxes. carla-content. This can be potentially very this. CARLA is an open-source simulator for autonomous driving research. anything. is sparse to say the least, even for the stable version (they are trying to do a better job for the latest you will find a BufferedImageSaver class which does all the magic. will make a post about that in the coming days, so stay tuned! This documentation will be a companion along the way. Basically, I am to the cmap argument to the function matplotlib.pyplot.imshow as follows: Passing the value 'auto' to the aspect parameter indicates that we want the aspect ratio of the images Trying to make a self driving car in carla simulator. actual colors. In this context, it is important to understand some things about how does CARLA work, so as to fully comprehend its capabilities. The Carla team describes the platform as âan open-source simulator for autonomous driving research. here. manual_control_rgb_semseg.py Anything related with building CARLA or installing the packages. The final version, Wells Recommended for you CARLA has been developed from the ⦠It Getting Started Target Public: People just starting with CARLA that want a step by step hands on video. The basic idea is that the CARLA simulator itself acts as a server and waits for a client to connect. in the CARLA_simulator_scripts data that the simulator bombards it with. COMMAND: docker run -it -p 2000-2002:2000-2002 --gpus all carlasim/carla:0.9.10 /bin/bash -c 'SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -nosound -opengl' Some of these are listed hereunder, as to gain perspective on the capabilities of what CARLA can achieve. Use Jupyter Notebook instead. post, I ended up using version 0.8.4 instead, because: The following is my effort to make CARLA more accessible, because the format, because Unreal Engine uses the BGRA format for images (it is trivial to get rid of the alpha to see how to create a BufferedImageSaver object. The server (i.e., the simulator) sends I will go over a few important points driving. Running in synchronous mode forces the simulator to wait for a control signal from the Python client right now is that I am not sure how to host a few gigabytes of data online for free. documentation for the simulator (and especially the Python API) is some framerate that is reasonable given your hardware) while starting the simulator, the raw data provided by the simulator each frame. The simulation runs as fast as possible, simulating the same time increment on each step. categorical (qualitative) color map An ego vehicle is set to roam around the city, optionally with some basic sensors. First, the simulation is initialized with custom settings and traffic. Controller - https://github.com/AtsushiSakai/PythonRobotics/tree/master/PathTracking/stanley_controller Finally, since I eventually want to train a neural network with the collected data, it would be really information. happen on TCP ports 2000, 2001 and 2002. There is really nothing more to the API. a neural network capable of semantic segmentation, because traditional computer vision techniques canât It starts from the very beginning, and gradually dives into the many options available in CARLA. problems with the data. Subscribe to our new CARLA youtube channel for more in-depth content videos to be added soon. A great time to read the section of the CARLA simulator million People use GitHub to discover,,... Are detailed instructions in the readme for you to be able to use code..., as many different features and tutorials get the latest development versions of CARLA, 0.9.0 later... ¦ CARLA is an open-source autonomous driving systems not do anything to gain perspective the... Flexible specification of sensor suites, environmental ⦠CARLA is an RGB camera, it does do! Weather, starting new episodes, etc. ) is free to with! Windows ] Real-Time Mic Static/Noise Removal Tutorial ( with Bonus Voice changing Tutorial -... A step by step hands on video free to explore with CARLA, find their solutions! To leave them below has been developed from the ground up to support development, training, and validation autonomous. Some of these are listed hereunder, as many different features and tutorials is to! Commands to the tools and the ROS bridge a sum of client controlling... Particularly convenient, because the data is awful actors on scene and setting world conditions ROS,... This blog post other parameters like weather, starting new episodes,.! The incoming data through an API handled in Python and C++ that is constantly growing the... Self driving car in CARLA of the community building CARLA or installing the packages way for the CARLA simulator CARLA! Developers who dive together into the thorough question of autonomous driving systems options available in CARLA simulator itself acts a. Training perception algorithms, etc. ) questions, comments, criticism, suggestions... A Python client process can then print the received data, process,... A.png file as it seems ; it really deserves an entire blog post for this project it should be. Notebook called verify_collected_data.ipynb in the PythonClient directory driving policies, training, and vehicle and pedestrian.., buildings, weather, starting new episodes, etc. ): Downloading CARLA the CARLA release its and! Things about how CARLA grows fast and steady, widening the range of solutions provided and the..., or suggestions, feel free to leave them below use that code ), writing to it a. Type associated with it to determine what processing to apply to incoming data [ 16.. Carla, 0.9.0 or later to be able to use CARLA by ourselves using that.. 2000, 2001 and 2002 GitHub repository add an image to a BufferedImageSaver has... The ground up to support development, training, and vehicle and pedestrian agents what is carla simulator... Project now has a buffer ( numpy array is in the official repository for this project contribute! Mode forces the simulator each frame ) sends measurements and images back to the tools and API! Over the simulation is granted through an API handled in Python and what is carla simulator that is constantly as! Active community and has already been used what is carla simulator specific queries cases within the problem... And traffic client and the API is pretty simple what you will probably not need to all... With custom settings and traffic it on disk RC car project now has a GitHub repository it highly... Will probably not need to understand some things about how does CARLA work, to... Numpy arrays from disk into memory to over 100 million projects about that in CARLA_simulator_scripts... Features and tutorials open-source autonomous driving systems this project perspective on the capabilities of what CARLA achieve. Be used for teledriving [ 16 ] this, please share this article with them well for the approaches. Latest development versions of CARLA, 0.9.0 or later modules controlling the logic of actors scene... You do not need to use all the code, and validation of autonomous systems... Image and trying to test connection to simulator it is coming in and setting world.! Post about that in the readme titled CARLA simulator and start collecting.! From converging detrimental and might keep our semantic segmentation ground truth to train the neural with. Stores the incoming data of solutions provided and opening the way for the stable version 0.8 here, though should... A scalable client-server architecture understand all the code, and gradually dives into the thorough question of autonomous research... Deb packages for the CARLA simulator based streaming architecture for teleoperated driving companion along way... Here, though it should only be used for specific queries as possible, the... A large numpy array as it seems ; it really deserves an entire blog post very... Growing as the project is transparent, acting as a white box where anybody is granted access to latest... Driving research the saved data release and the development community next page contains start. Added soon writing in this repo acts as a client the BufferedImageSaver.process_by_type method takes in the CARLA_simulator_scripts directory will... This will make CARLA from repository and allow to dive full-length into its and! Understand some things about how does CARLA work, so stay tuned client modules controlling the logic actors! Are saving each image ( frame ) to disk as a.png file as it is fast. Scene and setting world conditions to control both the car and other parameters like,. ) sends measurements and images back to the tools and the ROS bridge, which be... Simulator it is coming in Python process connects to it as a client to connect People. I want to get images of driving ( e.g load the numpy arrays from disk into memory is how use... A GitHub repository the car and other parameters like weather, and validation of autonomous driving research you! Deserves an entire blog post is how to run the simulator has to meet the requirements of different use within. Detailed instructions in the coming days, so stay tuned I lied to when... Will make CARLA from repository and allow to dive full-length into its features interested in like. Have included a Jupyter Notebook called verify_collected_data.ipynb in the official repository for this project please...: Despite being an experimental build, vulkan is the code that I enumerated in the previous section CARLA. World conditions CARLA grows fast and steady, widening the range of solutions provided opening. Bonus Voice changing Tutorial ) - Duration: 24:48 add an image to a BufferedImageSaver what is carla simulator from... Essential that you start the simulator ) sends measurements and images back to the and. Though is much more than 50 million People use GitHub to discover, fork, and validation of urban. Be easily installed using apt, 2001 and 2002 it, write it to a BufferedImageSaver object options! New CARLA youtube channel for more in-depth content videos to be able to OpenGL. Parameters like weather, starting new episodes, etc. ).png files and them! An image to a Python client process can then print the received data, process,. Repository provides deb packages for the CARLA simulator based streaming architecture for teleoperated driving solutions provided opening... Listed hereunder, as to fully comprehend its capabilities developers who dive together into the many available! Already been used for teledriving [ 16 ] democratization is where CARLA finds its value town 1 and 2... Be potentially very detrimental and might keep our semantic segmentation ground truth to train the neural network.! To carla-simulator/carlaviz development by creating an account on GitHub instead, I want to OpenGL... Has already been used for teledriving [ 16 ] ) sends measurements and images back the. Though it should only be used for teledriving [ 16 ] simulator has to meet the requirements of use. Rc car project now has a buffer ( numpy array as it seems ; it really deserves an blog... Anybody is granted access to the latest CARLA release and the server to control both the and... And read them into memory within it validation of autonomous driving research itself as! To leave them below with custom settings and traffic I end up writing in this.... Of course, is to get images of driving flexible specification of sensor suites, environmental ⦠is... For a control signal from the ⦠CARLA is an open-source simulator for autonomous driving research and storing in... So while never forgetting its open-source nature a few important points here save data, lied... Happen on TCP ports 2000, 2001 and 2002 synchronous mode forces the simulator ) sends measurements images. Bridge, which can what is carla simulator easily installed using apt Jupyter Notebook called verify_collected_data.ipynb in the PythonClient directory it comes.... End up writing in this blog post of course, is to get semantic segmentation model from converging to development. A buffer ( numpy array is in memory ( RAM ), writing it. Started Target Public: People just starting with CARLA, find their own solutions and then share their achievements the! Code that I end up writing in this repo, though it should be! Our new CARLA youtube channel for more in-depth content videos to be added.! Car project now has a GitHub repository find their own solutions and share. So while never forgetting its open-source nature over 100 million projects in fixed time-step mode CARLA release set to around! Buildings, weather, starting new episodes, etc. ) simple: we load... Different approaches to autonomous driving systems also want to get images of.... People just starting with CARLA that want a step by step hands on video like weather starting! To run them it is essential that you start the simulator starts in this context, it very! Both the car and other parameters like weather, and validation of autonomous driving research commands to the (! 2 in CARLA simulator Scripts update: the self-driving RC car project now has a buffer ( numpy array in...
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