def get_present_vehicles(role_name_prefix: str,
world: carla.World) -> List[carla.Actor]:
all_actors: carla.ActorList = world.get_actors().filter('vehicle.*')
return [
a for a in all_actors
if has_prefixed_attribute(a, 'role_name', role_name_prefix)
]
def get_pedestrians_surface(
world: carla.World, # pylint: disable=no-member
pixels_per_meter: int = 5,
scale: float = 1.0,
margin: int = 150,
) -> pygame.Surface:
"""Generates a `PyGame` surface of pedestrians.
Args:
world: The `CARLA` world.
pixels_per_meter: The number of pixels rendered per meter.
scale: The scaling factor of the rendered map.
margin: The number of pixels used for margin.
Returns
The pedestrians rendered as a `PyGame` surface.
"""
# Fetch CARLA map.
carla_map = world.get_map()
# Fetch all the pedestrians.
pedestrians = [
actor for actor in world.get_actors()
if "walker.pedestrian" in actor.type_id
]
# Setups the `PyGame` surface and offsets.
world_offset, surface = draw_settings(
carla_map=carla_map,
pixels_per_meter=pixels_per_meter,
scale=scale,
margin=margin,
)
# Set background black
surface.fill(COLORS["BLACK"])
# Iterate over pedestrians.
for pedestrian in pedestrians:
# Draw pedestrian as a rectangular.
corners = actor_to_corners(pedestrian)
# Convert to pixel coordinates.
corners = [
world_to_pixel(p, scale, world_offset, pixels_per_meter)
for p in corners
]
pygame.draw.polygon(surface, COLORS["WHITE"], corners)
return surface
def set_traffic_lights_green(world: carla.World):
set_world_asynchronous(world)
for tl in world.get_actors().filter('traffic.*'):
if isinstance(tl, carla.TrafficLight):
tl.set_state(carla.TrafficLightState.Green)
tl.freeze(True)
def get_traffic_lights_surface(
world: carla.World, # pylint: disable=no-member
pixels_per_meter: int = 5,
scale: float = 1.0,
margin: int = 150,
) -> Tuple[pygame.Surface, pygame.Surface, pygame.Surface]:
"""Generates three `PyGame` surfaces of traffic lights (Green, Yellow, Red).
Args:
world: The `CARLA` world.
pixels_per_meter: The number of pixels rendered per meter.
scale: The scaling factor of the rendered map.
margin: The number of pixels used for margin.
Returns
The traffic lights rendered as `PyGame` surface (Green, Yellow, Red).
"""
# Fetch CARLA map.
carla_map = world.get_map()
# Fetch all the pedestrians.
traffic_lights = [
actor for actor in world.get_actors()
if "traffic.traffic_light" in actor.type_id
]
# Setups the `PyGame` surface and offsets.
world_offset, green_surface = draw_settings(
carla_map=carla_map,
pixels_per_meter=pixels_per_meter,
scale=scale,
margin=margin,
)
width = green_surface.get_width()
height = green_surface.get_height()
yellow_surface = pygame.Surface((width, height)) # pylint: disable=too-many-function-args
red_surface = pygame.Surface((width, height)) # pylint: disable=too-many-function-args
# Set background black
green_surface.fill(COLORS["BLACK"])
yellow_surface.fill(COLORS["BLACK"])
red_surface.fill(COLORS["BLACK"])
# Iterate over pedestrians.
for traffic_light in traffic_lights:
# Identify state of the traffic light.
if traffic_light.state.name == "Green":
surface = green_surface
elif traffic_light.state.name == "Yellow":
surface = yellow_surface
elif traffic_light.state.name == "Red":
surface = red_surface
else:
continue
# Convert to pixel coordinates.
center = world_to_pixel(
traffic_light.get_transform().location,
scale,
world_offset,
pixels_per_meter,
)
pygame.draw.circle(surface, COLORS["WHITE"], center, 10)
return green_surface, yellow_surface, red_surface