def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
camera2 = Camera('Camera2')
camera2.set(PostProcessing='Depth', CameraFOV=120)
camera2.set_image_size(1924, 1028)
settings.add_camera(camera2)
self.run_carla_client(settings, 3, 100)
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
camera2 = Camera('Camera2')
camera2.set(PostProcessing='Depth', CameraFOV=120)
camera2.set_image_size(1924, 1028)
settings.add_camera(camera2)
self.run_carla_client(settings, 3, 100)
def run(self):
settings = CarlaSettings()
settings.set(SynchronousMode=True,
SendNonPlayerAgentsInfo=True,
NumberOfVehicles=60,
NumberOfPedestrians=90)
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 3, 100)
def run(self):
settings = CarlaSettings()
settings.set(
SynchronousMode=True,
SendNonPlayerAgentsInfo=True,
NumberOfVehicles=60,
NumberOfPedestrians=90)
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 3, 100)
def run_carla_client(args):
with make_connection(CarlaClient, args.host, args.port, timeout=15) as client:
logging.info('CarlaClient connected')
filename = '_images/episode_{:0>3d}/image_{:0>5d}.png'
frames_per_episode = 300
episode = 0
while True:
episode += 1
settings = CarlaSettings()
settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous)
settings.randomize_seeds()
camera = Camera('DefaultCamera')
camera.set_image_size(300, 200) # Do not change this, hard-coded in test.
settings.add_camera(camera)
logging.debug('sending CarlaSettings:\n%s', settings)
logging.info('new episode requested')
scene = client.request_new_episode(settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0, number_of_player_starts - 1))
logging.info(
'start episode at %d/%d player start (%d frames)',
player_start,
number_of_player_starts,
frames_per_episode)
client.start_episode(player_start)
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
logging.debug('reading measurements...')
measurements, images = client.read_measurements()
logging.debug('received data of %d agents', len(measurements.non_player_agents))
assert len(images) == 1
assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
if args.images_to_disk:
images[0].save_to_disk(filename.format(episode, frame))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def run_carla_client(args):
with make_connection(CarlaClient, args.host, args.port,
timeout=15) as client:
logging.info('CarlaClient connected')
filename = '_images/episode_{:0>3d}/image_{:0>5d}.png'
frames_per_episode = 300
episode = 0
while True:
episode += 1
settings = CarlaSettings()
settings.set(SendNonPlayerAgentsInfo=True,
SynchronousMode=args.synchronous)
settings.randomize_seeds()
camera = Camera('DefaultCamera')
camera.set_image_size(
300, 200) # Do not change this, hard-coded in test.
settings.add_camera(camera)
logging.debug('sending CarlaSettings:\n%s', settings)
logging.info('new episode requested')
scene = client.request_new_episode(settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0,
number_of_player_starts - 1))
logging.info('start episode at %d/%d player start (%d frames)',
player_start, number_of_player_starts,
frames_per_episode)
client.start_episode(player_start)
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
logging.debug('reading measurements...')
measurements, images = client.read_measurements()
logging.debug('received data of %d agents',
len(measurements.non_player_agents))
assert len(images) == 1
assert (images[0].width,
images[0].height) == (camera.ImageSizeX,
camera.ImageSizeY)
if args.images_to_disk:
images[0].save_to_disk(filename.format(episode, frame))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format):
# Here we will run 3 episodes with 300 frames each.
number_of_episodes = 3
frames_per_episode = 300
# We assume the CARLA server is already waiting for a client to connect at
# host:port. To create a connection we can use the `make_carla_client`
# context manager, it creates a CARLA client object and starts the
# connection. It will throw an exception if something goes wrong. The
# context manager makes sure the connection is always cleaned up on exit.
with make_carla_client(host, port) as client:
print('CarlaClient connected')
for episode in range(0, number_of_episodes):
# Start a new episode.
# Create a CarlaSettings object. This object is a handy wrapper
# around the CarlaSettings.ini file. Here we set the configuration
# we want for the new episode.
settings = CarlaSettings()
settings.set(
SynchronousMode=True,
NumberOfVehicles=30,
NumberOfPedestrians=50,
WeatherId=random.choice([1, 3, 7, 8, 14]))
settings.randomize_seeds()
# Now we want to add a couple of cameras to the player vehicle. We
# will collect the images produced by these cameras every frame.
# The default camera captures RGB images of the scene.
camera0 = Camera('CameraRGB')
# Set image resolution in pixels.
camera0.set_image_size(800, 600)
# Set its position relative to the car in centimeters.
camera0.set_position(30, 0, 130)
settings.add_camera(camera0)
# Let's add another camera producing ground-truth depth.
camera1 = Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(800, 600)
camera1.set_position(30, 0, 130)
settings.add_camera(camera1)
print('Requesting new episode...')
# Now we request a new episode with these settings. The server
# replies with a scene description containing the available start
# spots for the player. Here instead of a CarlaSettings object we
# could also provide a CarlaSettings.ini file as string.
scene = client.request_new_episode(settings)
# Choose one player start at random.
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0, number_of_player_starts - 1))
# Notify the server that we want to start the episode at
# `player_start`. This function blocks until the server is ready to
# start the episode.
client.start_episode(player_start)
# Iterate every frame in the episode.
for frame in range(0, frames_per_episode):
# Read the measurements and images produced by the server this
# frame.
measurements, images = client.read_measurements()
# Print some of the measurements we received.
print_player_measurements(measurements.player_measurements)
# Save the images to disk if requested.
if save_images_to_disk:
for n, image in enumerate(images):
image.save_to_disk(image_filename_format.format(episode, n, frame))
# Now we have to send the instructions to control the vehicle.
# If we are in synchronous mode the server will pause the
# simulation until we send this control.
if not autopilot_on:
client.send_control(
steer=random.uniform(-1.0, 1.0),
throttle=0.3,
brake=False,
hand_brake=False,
reverse=False)
else:
# Together with the measurements, the server has sent the
# control that the in-game AI would do this frame. We can
# enable autopilot by sending back this control to the
# server. Here we will also add some noise to the steer.
control = measurements.player_measurements.ai_control
control.steer += random.uniform(-0.1, 0.1)
client.send_control(control)
print('Done.')
return True
def run(self):
settings = CarlaSettings(SynchronousMode=True)
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 3, 200)
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 5, 200)
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 1, 2000, use_ai_control=True)
def run_carla_client(host, port, autopilot_on, save_images_to_disk,
image_filename_format):
# Here we will run 3 episodes with 300 frames each.
number_of_episodes = 3
frames_per_episode = 300
# We assume the CARLA server is already waiting for a client to connect at
# host:port. To create a connection we can use the `make_carla_client`
# context manager, it creates a CARLA client object and starts the
# connection. It will throw an exception if something goes wrong. The
# context manager makes sure the connection is always cleaned up on exit.
with make_carla_client(host, port) as client:
print('CarlaClient connected')
for episode in range(0, number_of_episodes):
# Start a new episode.
# Create a CarlaSettings object. This object is a handy wrapper
# around the CarlaSettings.ini file. Here we set the configuration
# we want for the new episode.
settings = CarlaSettings()
settings.set(SynchronousMode=True,
NumberOfVehicles=30,
NumberOfPedestrians=50,
WeatherId=random.choice([1, 3, 7, 8, 14]))
settings.randomize_seeds()
# Now we want to add a couple of cameras to the player vehicle. We
# will collect the images produced by these cameras every frame.
# The default camera captures RGB images of the scene.
camera0 = Camera('CameraRGB')
# Set image resolution in pixels.
camera0.set_image_size(800, 600)
# Set its position relative to the car in centimeters.
camera0.set_position(30, 0, 130)
settings.add_camera(camera0)
# Let's add another camera producing ground-truth depth.
camera1 = Camera('CameraDepth', PostProcessing='Depth')
camera1.set_image_size(800, 600)
camera1.set_position(30, 0, 130)
settings.add_camera(camera1)
print('Requesting new episode...')
# Now we request a new episode with these settings. The server
# replies with a scene description containing the available start
# spots for the player. Here instead of a CarlaSettings object we
# could also provide a CarlaSettings.ini file as string.
scene = client.request_new_episode(settings)
# Choose one player start at random.
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0,
number_of_player_starts - 1))
# Notify the server that we want to start the episode at
# `player_start`. This function blocks until the server is ready to
# start the episode.
client.start_episode(player_start)
# Iterate every frame in the episode.
for frame in range(0, frames_per_episode):
# Read the measurements and images produced by the server this
# frame.
measurements, images = client.read_measurements()
# Print some of the measurements we received.
print_player_measurements(measurements.player_measurements)
# Save the images to disk if requested.
if save_images_to_disk:
for n, image in enumerate(images):
image.save_to_disk(
image_filename_format.format(episode, n, frame))
# Now we have to send the instructions to control the vehicle.
# If we are in synchronous mode the server will pause the
# simulation until we send this control.
if not autopilot_on:
client.send_control(steer=random.uniform(-1.0, 1.0),
throttle=0.3,
brake=False,
hand_brake=False,
reverse=False)
else:
# Together with the measurements, the server has sent the
# control that the in-game AI would do this frame. We can
# enable autopilot by sending back this control to the
# server. Here we will also add some noise to the steer.
control = measurements.player_measurements.ai_control
control.steer += random.uniform(-0.1, 0.1)
client.send_control(control)
print('Done.')
return True
def run(self):
settings = CarlaSettings(SynchronousMode=True)
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 3, 200)
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 5, 200)
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 1, 2000, use_ai_control=True)
