def map_dynamic_actor(actor: carla.Actor,
world_map: carla.Map) -> DynamicActor:
location: carla.Location = actor.get_location()
gnss: carla.GeoLocation = world_map.transform_to_geolocation(location)
velocity: carla.Vector3D = actor.get_velocity()
acceleration: carla.Vector3D = actor.get_acceleration()
color: str = str(
actor.attributes['color']) if 'color' in actor.attributes else None
extent: carla.Vector3D = actor.bounding_box.extent
transform: carla.Transform = carla.Transform(
rotation=actor.get_transform().rotation)
transformed_extent: Tuple[carla.Location, carla.Location, carla.Location,
carla.Location] = (
transform.transform(
carla.Location(+extent.x, +extent.y, 0)),
transform.transform(
carla.Location(+extent.x, -extent.y, 0)),
transform.transform(
carla.Location(-extent.x, -extent.y, 0)),
transform.transform(
carla.Location(-extent.x, +extent.y, 0)),
)
bbox: Tuple[Point2D, Point2D, Point2D, Point2D] = cast(
Tuple[Point2D, Point2D, Point2D, Point2D],
tuple(
map(
lambda t: geoloc2point2d(
world_map.transform_to_geolocation(
carla.Vector3D(location.x + t.x, location.y + t.y,
location.z))), transformed_extent)))
return DynamicActor(
id=actor.id,
type=UncertainProperty(1., resolve_carla_type(actor.type_id)),
type_id=actor.type_id,
location=UncertainProperty(1.,
Point3D(location.x, location.y,
location.z)),
gnss=UncertainProperty(
1., Point3D(gnss.latitude, gnss.longitude, gnss.altitude)),
dynamics=ActorDynamics(velocity=UncertainProperty(
1., Point3D(velocity.x, velocity.y, velocity.z)),
acceleration=UncertainProperty(
1.,
Point3D(acceleration.x, acceleration.y,
acceleration.z))),
props=ActorProperties(color=UncertainProperty(1., color),
extent=UncertainProperty(
1., Point3D(extent.x, extent.y, extent.z)),
bbox=UncertainProperty(1., bbox)))
def get_speed(actor: carla.Actor) -> float:
"""in km/h"""
vector: carla.Vector3D = actor.get_velocity()
MPS_TO_KMH = 3.6
return MPS_TO_KMH * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2)
def speed(actor: carla.Actor) -> float:
"""Returns the speed of the given actor in km/h."""
return 3.6 * vector_norm(actor.get_velocity())