def _build_background_scenario(self, world, ego_vehicle, town_name, timeout=300, debug_mode=False):
"""
Create the BackgroundActivity scenario
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
model = 'vehicle.*'
transform = carla.Transform()
if town_name == 'Town01' or town_name == 'Town02':
amount = 120
elif town_name == 'Town03' or town_name == 'Town05':
amount = 120
elif town_name == 'Town04':
amount = 200
elif town_name == 'Town06' or town_name == 'Town07':
amount = 150
elif town_name == 'Town08':
amount = 180
elif town_name == 'Town09':
amount = 350
else:
amount = 0
actor_configuration_instance = ActorConfigurationData(
model, transform, rolename='background', autopilot=True, random=True, amount=amount)
scenario_configuration.other_actors = [actor_configuration_instance]
return BackgroundActivity(world, [ego_vehicle], scenario_configuration,
timeout=timeout, debug_mode=debug_mode)
def _build_background(self, background_definition, timeout):
"""
Build background scenario. Adding pedestrians and vehicles wandering
around.
:param background_definition:
:param timeout:
:return:
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = self._town_name
# TODO The random seed should be set.
# Also the crossing factor should be specified on the benchmark itself.
configuration_instances_vehicles = []
configuration_instances_walkers = []
# If there are walkers there should be cross factors otherwise it is 0
cross_factor = 0.0
if 'walker.*' in background_definition:
model = 'walker'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(
background_definition[
'walker.*']),
category='walker')
configuration_instances_walkers.append(actor_configuration_instance)
if "cross_factor" not in background_definition:
raise ValueError(" If there are walkers on the json file "
"background scenario there must also be a cross factor")
cross_factor = background_definition["cross_factor"]
if 'vehicle.*' in background_definition:
model = 'vehicle'
transform = carla.Transform()
autopilot = True
random_location = True
actor_configuration_instance = ActorConfigurationData(model, transform,
autopilot=autopilot,
random=random_location,
amount=int(background_definition[
"vehicle.*"]),
category='vehicle')
configuration_instances_vehicles.append(actor_configuration_instance)
scenario_configuration.other_actors = configuration_instances_vehicles + \
configuration_instances_walkers
return BackgroundActivity(self.world, self._ego_actor, scenario_configuration,
cross_factor=cross_factor,
timeout=timeout, debug_mode=False)
def __init__(self, world, config, debug_mode=False, criteria_enable=True, timeout=300):
"""
Setup all relevant parameters and create scenarios along route
"""
self.config = config
self.route = None
self.sampled_scenarios_definitions = None
self._update_route(world, config, debug_mode)
ego_vehicle = self._update_ego_vehicle()
self.list_scenarios = self._build_scenario_instances(world,
ego_vehicle,
self.sampled_scenarios_definitions,
scenarios_per_tick=5,
timeout=self.timeout,
debug_mode=debug_mode)
self.list_scenarios.append(BackgroundActivity(
world, ego_vehicle, self.config, self.route, timeout=self.timeout))
super(RouteScenario, self).__init__(name=config.name,
ego_vehicles=[ego_vehicle],
config=config,
world=world,
debug_mode=False,
terminate_on_failure=False,
criteria_enable=criteria_enable)
def _build_background_scenario(self,
world,
ego_vehicle,
town_name,
timeout=300,
debug_mode=False):
"""
Create the BackgroundActivity scenario
"""
scenario_configuration = ScenarioConfiguration()
scenario_configuration.route = None
scenario_configuration.town = town_name
return BackgroundActivity(world, [ego_vehicle],
scenario_configuration,
timeout=timeout,
debug_mode=debug_mode)
def _build_background(self, background_definition, timeout):
scenario_configuration_vehicle = ScenarioConfiguration()
scenario_configuration_vehicle.route = None
scenario_configuration_vehicle.town = self._town_name
scenario_configuration_walker = ScenarioConfiguration()
scenario_configuration_walker.route = None
scenario_configuration_walker.town = self._town_name
# TODO The random seed should be set
configuration_instances_vehicles = []
configuration_instances_walkers = []
for key, numbers in background_definition.items():
if 'walker' not in key:
model = key
transform = carla.Transform()
autopilot = True
random = True
actor_configuration_instance = ActorConfigurationData(
model,
transform,
autopilot,
random,
amount=background_definition[key])
configuration_instances_vehicles.append(
actor_configuration_instance)
else:
model = 'controller.ai.walker'
transform = carla.Transform()
autopilot = True
random = True
actor_configuration_instance = ActorConfigurationData(
model,
transform,
autopilot,
random,
amount=background_definition[key])
configuration_instances_walkers.append(
actor_configuration_instance)
scenario_configuration_vehicle.other_actors = configuration_instances_vehicles
scenario_configuration_walker.other_actors = configuration_instances_walkers
return BackgroundActivity(self.world, self._ego_actor, scenario_configuration_vehicle,
timeout=timeout, debug_mode=False), \
BackgroundActivityWalkers(self.world, self._ego_actor, scenario_configuration_vehicle,
timeout=timeout, debug_mode=False)