def test_json_metadata_writer(self):
builder = self._get_metadata_builder()
expected = {
"type": "xviz/metadata",
"data": {
"version": "2.0.0",
"streams": {
"/image/camera": {
"category": "PRIMITIVE",
"primitive_type": "IMAGE",
},
"/vehicle_pose": {
"category": "POSE",
},
"/point/lidar": {
"category": "PRIMITIVE",
"primitive_type": "POINT",
"stream_style": {
"radius_pixels": 1.0,
},
"coordinate": "VEHICLE_RELATIVE",
},
},
},
}
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZJsonWriter(source)
writer.write_message(builder.get_message())
data = source.read()
data = json.loads(data.decode('ascii'))
assert data == expected
writer.close()
def test_json_normal_writer(self):
builder = xb.XVIZBuilder()
builder.pose()\
.timestamp(2.000000000001)\
.map_origin(4.4, 5.5, 6.6)\
.position(44., 55., 66.)\
.orientation(0.44, 0.55, 0.66)
builder.primitive('/test_primitive').circle([0, 0, 0], 2)
expected = {
"type": "xviz/state_update",
"data": {
"update_type":
"INCREMENTAL",
"updates": [{
"timestamp": 2.0,
"poses": {
"/vehicle_pose": {
"timestamp": 2.0,
"map_origin": {
"longitude": 4.4,
"latitude": 5.5,
"altitude": 6.6
},
"position": [44.0, 55.0, 66.0],
"orientation": [0.44, 0.55, 0.66]
}
},
"primitives": {
"/test_primitive": {
"circles": [{
"center": [0.0, 0.0, 0.0],
"radius": 2.0
}]
}
}
}]
}
}
expected = json.dumps(expected, separators=(',', ':')).encode('ascii')
source = xi.MemorySource(latest_only=True)
writer = xi.XVIZJsonWriter(source)
writer.write_message(builder.get_message())
data = source.read()
assert data == expected
writer.close()
def test_message_index(self):
metadata_builder = self._get_metadata_builder()
builder = self._get_builder(circle=True)
expected = {
'timing': [[2.000000000001, 2.000000000001, 0, '2-frame']],
}
source = xi.MemorySource()
data = source._data # save a reference to dict since it gets deleted after close
writer = xi.XVIZJsonWriter(source)
writer.write_message(metadata_builder.get_message())
writer.write_message(builder.get_message())
writer.close()
data = json.loads(data['0-frame.json'].decode('ascii'))
assert data == expected
import os
import shutil
import xviz_avs.io as xi
from circle import CircleScenario
scenario = CircleScenario(live=False)
OUTPUT = "web/output"
if not os.path.exists(OUTPUT):
os.mkdir(OUTPUT)
#writer = xi.XVIZProtobufWriter(xi.DirectorySource(OUTPUT))
#writer = xi.XVIZGLBWriter(xi.DirectorySource(OUTPUT))
writer = xi.XVIZJsonWriter(xi.DirectorySource(OUTPUT))
writer.write_message(scenario.get_metadata_inner())
for t in range(0, 10):
writer.write_message(scenario.get_message_inner(t / 10))
writer.close()
shutil.copy("data/0-frame.json", "web/output/0-frame.json")
def main():
if os.path.exists(OUTPUT):
shutil.rmtree(OUTPUT)
os.mkdir(OUTPUT)
try:
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
load_world_if_needed(client, "/Game/Carla/Maps/Town01")
world = client.get_world()
map = world.get_map()
# 시작위치와 방향
start_tf = carla.Transform(carla.Location(x=230, y=55.4, z=0.1),
carla.Rotation(0, 180, 0))
start_wp = map.get_waypoint(start_tf.location)
blueprint_library = world.get_blueprint_library()
bp = blueprint_library.find('vehicle.jeep.wrangler_rubicon')
vehicle = world.spawn_actor(bp, start_tf)
vehicle.set_autopilot(True)
print('created %s' % vehicle.type_id)
# vehicle.set_velocity(carla.Vector3D(-10, 0, 0)) # 초기 속도를 지정할 수 있다.
camera_rgb = world.spawn_actor(
blueprint_library.find('sensor.camera.rgb'),
carla.Transform(carla.Location(x=-5.5, z=2.8),
carla.Rotation(pitch=-15)),
attach_to=vehicle)
lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
lidar_bp.set_attribute('range', str(200))
lidar_bp.set_attribute('channels', str(32))
lidar_bp.set_attribute('rotation_frequency', str(30))
lidar_sensor = world.spawn_actor(lidar_bp,
carla.Transform(
carla.Location(x=1.5, y=0,
z=2.4)),
attach_to=vehicle)
writer = xi.XVIZJsonWriter(xi.DirectorySource("output"))
metadata = get_metadata()
writer.write_message(metadata)
with CarlaSyncMode(world, camera_rgb, lidar_sensor,
fps=30) as sync_mode:
while True:
curr_tf = vehicle.get_transform()
curr_location = vehicle.get_location()
snapshot, image_rgb, pointcloud = sync_mode.tick(timeout=2.0)
print(snapshot.frame)
spectator_loc = carla.Location(curr_location.x,
curr_location.y,
curr_location.z + 2.5)
world.get_spectator().set_transform(
carla.Transform(spectator_loc, curr_tf.rotation))
writer.write_message(
get_message(metadata, snapshot.frame, vehicle))
print("success")
finally:
writer.close()
print('writer closed')
lidar_sensor.destroy()
camera_rgb.destroy()
print('destroying vehicle')
vehicle.destroy()
print('done.')