def main():
argparser = argparse.ArgumentParser(description=__doc__)
argparser.add_argument('--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument('-p',
'--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument('-n',
'--number-of-vehicles',
metavar='N',
default=100,
type=int,
help='number of vehicles (default: 10)')
argparser.add_argument('-tm_p',
'--tm_port',
metavar='P',
default=8000,
type=int,
help='port to communicate with TM (default: 8000)')
args = argparser.parse_args()
vehicles_list = []
nonvehicles_list = []
client = carla.Client(args.host, args.port)
client.set_timeout(10.0)
try:
traffic_manager = client.get_trafficmanager(args.tm_port)
traffic_manager.set_global_distance_to_leading_vehicle(2.0)
world = client.get_world()
print('\nRUNNING in synchronous mode\n')
settings = world.get_settings()
traffic_manager.set_synchronous_mode(True)
if not settings.synchronous_mode:
synchronous_master = True
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
world.apply_settings(settings)
else:
synchronous_master = False
blueprints = world.get_blueprint_library().filter('vehicle.*')
spawn_points = world.get_map().get_spawn_points()
number_of_spawn_points = len(spawn_points)
if args.number_of_vehicles < number_of_spawn_points:
random.shuffle(spawn_points)
elif args.number_of_vehicles > number_of_spawn_points:
msg = 'Requested %d vehicles, but could only find %d spawn points'
logging.warning(msg, args.number_of_vehicles,
number_of_spawn_points)
args.number_of_vehicles = number_of_spawn_points
SpawnActor = carla.command.SpawnActor
SetAutopilot = carla.command.SetAutopilot
FutureActor = carla.command.FutureActor
# --------------
# Spawn vehicles
# --------------
batch = []
for n, transform in enumerate(spawn_points):
if n >= args.number_of_vehicles:
break
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
SpawnActor(blueprint,
transform).then(SetAutopilot(FutureActor, True)))
spawn_points.pop(0)
for response in client.apply_batch_sync(batch, synchronous_master):
if response.error:
logging.error(response.error)
else:
vehicles_list.append(response.actor_id)
print('Created %d npc vehicles \n' % len(vehicles_list))
# -----------------------------
# Spawn ego vehicle and sensors
# -----------------------------
q_list = []
idx = 0
tick_queue = queue.Queue()
world.on_tick(tick_queue.put)
q_list.append(tick_queue)
tick_idx = idx
idx = idx + 1
# Spawn ego vehicle
ego_bp = random.choice(blueprints)
ego_transform = random.choice(spawn_points)
ego_vehicle = world.spawn_actor(ego_bp, ego_transform)
vehicles_list.append(ego_vehicle)
ego_vehicle.set_autopilot(True)
print('Ego-vehicle ready')
# Spawn RGB camera
cam_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
cam_bp = world.get_blueprint_library().find('sensor.camera.rgb')
cam_bp.set_attribute('sensor_tick', '1.0')
cam = world.spawn_actor(cam_bp, cam_transform, attach_to=ego_vehicle)
nonvehicles_list.append(cam)
cam_queue = queue.Queue()
cam.listen(cam_queue.put)
q_list.append(cam_queue)
cam_idx = idx
idx = idx + 1
print('RGB camera ready')
# Spawn LIDAR sensor
lidar_bp = world.get_blueprint_library().find(
'sensor.lidar.ray_cast_semantic')
lidar_bp.set_attribute('sensor_tick', '1.0')
lidar_bp.set_attribute('channels', '64')
lidar_bp.set_attribute('points_per_second', '1120000')
lidar_bp.set_attribute('upper_fov', '40')
lidar_bp.set_attribute('lower_fov', '-40')
lidar_bp.set_attribute('range', '100')
lidar_bp.set_attribute('rotation_frequency', '20')
lidar_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
lidar = world.spawn_actor(lidar_bp,
lidar_transform,
attach_to=ego_vehicle)
nonvehicles_list.append(lidar)
lidar_queue = queue.Queue()
lidar.listen(lidar_queue.put)
q_list.append(lidar_queue)
lidar_idx = idx
idx = idx + 1
print('LIDAR ready')
# Begin the loop
time_sim = 0
while True:
# Extract the available data
nowFrame = world.tick()
# Check whether it's time for sensor to capture data
if time_sim >= 1:
data = [retrieve_data(q, nowFrame) for q in q_list]
assert all(x.frame == nowFrame for x in data if x is not None)
# Skip if any sensor data is not available
if None in data:
continue
vehicles_raw = world.get_actors().filter('vehicle.*')
snap = data[tick_idx]
rgb_img = data[cam_idx]
lidar_img = data[lidar_idx]
# Attach additional information to the snapshot
vehicles = cva.snap_processing(vehicles_raw, snap)
# Calculating visible bounding boxes
filtered_out, _ = cva.auto_annotate_lidar(
vehicles,
cam,
lidar_img,
show_img=rgb_img,
json_path='vehicle_class_json_file.txt')
# Save the results
cva.save_output(rgb_img,
filtered_out['bbox'],
filtered_out['class'],
save_patched=True,
out_format='json')
# Save the results to darknet format
if save_darknet:
cva.save2darknet(filtered_out['bbox'],
filtered_out['class'], rgb_img)
time_sim = 0
time_sim = time_sim + settings.fixed_delta_seconds
finally:
try:
if save_darknet:
cva.save2darknet(None, None, None, save_train=True)
except:
print('No darknet formatted data directory found')
try:
cam.stop()
lidar.stop()
except:
print('Sensors has not been initiated')
settings = world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
world.apply_settings(settings)
print('\ndestroying %d vehicles' % len(vehicles_list))
client.apply_batch(
[carla.command.DestroyActor(x) for x in vehicles_list])
print('destroying %d nonvehicles' % len(nonvehicles_list))
client.apply_batch(
[carla.command.DestroyActor(x) for x in nonvehicles_list])
time.sleep(0.5)
def main():
argparser = argparse.ArgumentParser(description=__doc__)
argparser.add_argument('--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument('-p',
'--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument('-n',
'--number-of-vehicles',
metavar='N',
default=50,
type=int,
help='number of vehicles (default: 50)')
argparser.add_argument('-tm_p',
'--tm_port',
metavar='P',
default=8000,
type=int,
help='port to communicate with TM (default: 8000)')
argparser.add_argument('-ec',
'--start_carla',
default=False,
type=bool,
help='Start and end CARLA automatically')
argparser.add_argument(
'-mi',
'--max_images',
default=2_000,
type=int,
help='Number of images captured before the script ends')
argparser.add_argument('-mt',
'--max_time',
default=30,
type=int,
help='Minutes before the script ends')
args = argparser.parse_args()
if args.start_carla:
_ = Popen([r'C:\Studium\DLVR\\CARLA\\CarlaUE4.exe'],
creationflags=DETACHED_PROCESS).pid
time.sleep(5)
vehicles_list = []
nonvehicles_list = []
client = carla.Client(args.host, args.port)
client.set_timeout(10.0)
start_time = datetime.now()
try:
# region setup
traffic_manager = client.get_trafficmanager(args.tm_port)
traffic_manager.set_global_distance_to_leading_vehicle(2.0)
world = client.get_world()
print('\nRUNNING in synchronous mode\n')
settings = world.get_settings()
traffic_manager.set_synchronous_mode(True)
if not settings.synchronous_mode:
synchronous_master = True
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
world.apply_settings(settings)
else:
synchronous_master = False
blueprints: carla.BlueprintLibrary = world.get_blueprint_library(
).filter('vehicle.*')
spawn_points: List[
carla.Transform] = world.get_map().get_spawn_points()
number_of_spawn_points = len(spawn_points)
if args.number_of_vehicles < number_of_spawn_points:
random.shuffle(spawn_points)
elif args.number_of_vehicles > number_of_spawn_points:
msg = 'Requested %d vehicles, but could only find %d spawn points'
logging.warning(msg, args.number_of_vehicles,
number_of_spawn_points)
args.number_of_vehicles = number_of_spawn_points
SpawnActor = carla.command.SpawnActor
SetAutopilot = carla.command.SetAutopilot
FutureActor = carla.command.FutureActor
images_path, labels_path = cva.setup_data_directory()
# endregion
# region Spawn ego vehicle and sensors
q_list: List[Queue] = []
idx: int = 0
tick_queue: Queue = Queue()
world.on_tick(tick_queue.put)
q_list.append(tick_queue)
tick_idx: int = idx
idx = idx + 1
# Spawn ego vehicle
ego_bp = random.choice(blueprints)
ego_transform = random.choice(spawn_points)
ego_vehicle = world.spawn_actor(ego_bp, ego_transform)
vehicles_list.append(ego_vehicle)
ego_vehicle.set_autopilot(True)
print('Ego-vehicle ready')
# Spawn RGB camera
cam_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
cam_bp = world.get_blueprint_library().find('sensor.camera.rgb')
cam_bp.set_attribute('sensor_tick', str(TICK_SENSOR))
cam = world.spawn_actor(cam_bp, cam_transform, attach_to=ego_vehicle)
nonvehicles_list.append(cam)
cam_queue = queue.Queue()
cam.listen(cam_queue.put)
q_list.append(cam_queue)
cam_idx = idx
idx = idx + 1
print('RGB camera ready')
# Spawn depth camera
depth_bp = world.get_blueprint_library().find('sensor.camera.depth')
depth_bp.set_attribute('sensor_tick', str(TICK_SENSOR))
depth = world.spawn_actor(depth_bp,
cam_transform,
attach_to=ego_vehicle)
cc_depth_log = carla.ColorConverter.LogarithmicDepth
nonvehicles_list.append(depth)
depth_queue = queue.Queue()
depth.listen(depth_queue.put)
q_list.append(depth_queue)
depth_idx = idx
idx = idx + 1
print('Depth camera ready')
# Spawn segmentation camera
if SAVE_SEGM:
segm_bp = world.get_blueprint_library().find(
'sensor.camera.semantic_segmentation')
segm_bp.set_attribute('sensor_tick', str(TICK_SENSOR))
segm_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
segm = world.spawn_actor(segm_bp,
segm_transform,
attach_to=ego_vehicle)
cc_segm = carla.ColorConverter.CityScapesPalette
nonvehicles_list.append(segm)
segm_queue = queue.Queue()
segm.listen(segm_queue.put)
q_list.append(segm_queue)
segm_idx = idx
idx = idx + 1
print('Segmentation camera ready')
# Spawn LIDAR sensor
if SAVE_LIDAR:
lidar_bp = world.get_blueprint_library().find(
'sensor.lidar.ray_cast')
lidar_bp.set_attribute('sensor_tick', str(TICK_SENSOR))
lidar_bp.set_attribute('channels', '64')
lidar_bp.set_attribute('points_per_second', '1120000')
lidar_bp.set_attribute('upper_fov', '30')
lidar_bp.set_attribute('range', '100')
lidar_bp.set_attribute('rotation_frequency', '20')
lidar_transform = carla.Transform(carla.Location(x=0, z=4.0))
lidar = world.spawn_actor(lidar_bp,
lidar_transform,
attach_to=ego_vehicle)
nonvehicles_list.append(lidar)
lidar_queue = queue.Queue()
lidar.listen(lidar_queue.put)
q_list.append(lidar_queue)
lidar_idx = idx
idx = idx + 1
print('LIDAR ready')
# endregion
# region Spawn vehicles
batch = []
number_of_bikes = number_of_cars = number_of_motorbikes = int(
math.ceil(args.number_of_vehicles * 0.25))
number_of_trucks = args.number_of_vehicles - number_of_bikes - number_of_cars - number_of_motorbikes
truck_blueprints = [
blueprints.find("vehicle.tesla.cybertruck"),
blueprints.find("vehicle.carlamotors.carlacola")
]
car_blueprints_ids = [
"vehicle.citroen.c3", "vehicle.chevrolet.impala",
"vehicle.audi.a2", "vehicle.nissan.micra", "vehicle.audi.tt",
"vehicle.bmw.grandtourer", "vehicle.bmw.isetta",
"vehicle.dodge_charger.police", "vehicle.jeep.wrangler_rubicon",
"vehicle.mercedes-benz.coupe", "vehicle.mini.cooperst",
"vehicle.nissan.patrol", "vehicle.seat.leon",
"vehicle.toyota.prius", "vehicle.tesla.model3",
"vehicle.audi.etron", "vehicle.volkswagen.t2",
"vehicle.lincoln.mkz2017", "vehicle.mustang.mustang"
]
car_blueprints = [blueprints.find(i) for i in car_blueprints_ids]
bike_blueprints_ids = [
"vehicle.bh.crossbike", "vehicle.gazelle.omafiets",
"vehicle.diamondback.century"
]
bike_blueprints = [blueprints.find(i) for i in bike_blueprints_ids]
motorbike_blueprints_ids = [
"vehicle.harley-davidson.low_rider", "vehicle.yamaha.yzf",
"vehicle.kawasaki.ninja"
]
motorbike_blueprints = [
blueprints.find(i) for i in motorbike_blueprints_ids
]
i = 0
for n in range(number_of_trucks):
blueprint = random.choice(truck_blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
SpawnActor(blueprint, spawn_points[i]).then(
SetAutopilot(FutureActor, True)))
i += 1
for n in range(number_of_cars):
blueprint = random.choice(car_blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
SpawnActor(blueprint, spawn_points[i]).then(
SetAutopilot(FutureActor, True)))
i += 1
for n in range(number_of_motorbikes):
blueprint = random.choice(motorbike_blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
SpawnActor(blueprint, spawn_points[i]).then(
SetAutopilot(FutureActor, True)))
i += 1
for n in range(number_of_bikes):
blueprint = random.choice(bike_blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(
SpawnActor(blueprint, spawn_points[i]).then(
SetAutopilot(FutureActor, True)))
i += 1
for response in client.apply_batch_sync(batch, synchronous_master):
if response.error:
logging.error(response.error)
else:
vehicles_list.append(response.actor_id)
print('Created %d npc vehicles \n' % len(vehicles_list))
# endregion
# region Spawn Walkers
# some settings
percentagePedestriansRunning = 0.0 # how many pedestrians will run
percentagePedestriansCrossing = 0.0 # how many pedestrians will walk through the road
blueprintsWalkers = world.get_blueprint_library().filter(
"walker.pedestrian.*")
# 1. take all the random locations to spawn
spawn_points = []
for i in range(20):
spawn_point = carla.Transform()
loc = world.get_random_location_from_navigation()
if (loc != None):
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. we spawn the walker object
batch = []
walker_speed = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprintsWalkers)
# set as not invincible
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
# set the max speed
if walker_bp.has_attribute('speed'):
if (random.random() > percentagePedestriansRunning):
# walking
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[1])
else:
# running
walker_speed.append(
walker_bp.get_attribute('speed').recommended_values[2])
else:
print("Walker has no speed")
walker_speed.append(0.0)
batch.append(SpawnActor(walker_bp, spawn_point))
results = client.apply_batch_sync(batch, True)
walker_speed2 = []
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list.append({"id": results[i].actor_id})
walker_speed2.append(walker_speed[i])
walker_speed = walker_speed2
# 3. we spawn the walker controller
batch = []
walker_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
for i in range(len(walkers_list)):
batch.append(
SpawnActor(walker_controller_bp, carla.Transform(),
walkers_list[i]["id"]))
results = client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list[i]["con"] = results[i].actor_id
# 4. we put altogether the walkers and controllers id to get the objects from their id
for i in range(len(walkers_list)):
all_id.append(walkers_list[i]["con"])
all_id.append(walkers_list[i]["id"])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
# if not args.sync or not synchronous_master:
# world.wait_for_tick()
# else:
# world.tick()
# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
# set how many pedestrians can cross the road
world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
# set walk to random point
all_actors[i].go_to_location(
world.get_random_location_from_navigation())
# max speed
all_actors[i].set_max_speed(float(walker_speed[int(i / 2)]))
# endregion
# Begin the loop
time_sim = 0
images_captured: int = 0
time_limit_reached: bool = False
while images_captured < args.max_images and not time_limit_reached:
# Extract the available data
now_frame = world.tick()
# Check whether it's time to capture data
if time_sim >= TICK_SENSOR:
minutes_passed = (datetime.now() -
start_time).total_seconds() / 60
if minutes_passed >= args.max_time:
time_limit_reached = True
data = [retrieve_data(q, now_frame) for q in q_list]
assert all(x.frame == now_frame for x in data if x is not None)
# Skip if any sensor data is not available
if None in data:
continue
# vehicles_raw = world.get_actors().filter('vehicle.*')
all_actors = world.get_actors()
vehicles_raw = []
for actor in all_actors:
if actor.type_id.startswith(
'walker.pedestrian') or actor.type_id.startswith(
'vehicle'):
vehicles_raw.append(actor)
# vehicles_raw = world.get_actors().filter('walker.pedestrian.*')
snap = data[tick_idx]
rgb_img = data[cam_idx]
depth_img = data[depth_idx]
# Attach additional information to the snapshot
vehicles = cva.snap_processing(vehicles_raw, snap)
# Save depth image, RGB image, and Bounding Boxes data
if SAVE_DEPTH:
depth_img.save_to_disk(
'out_depth/%06d.png' % depth_img.frame, cc_depth_log)
depth_meter = cva.extract_depth(depth_img)
filtered, removed = cva.auto_annotate(
vehicles,
cam,
depth_meter,
max_dist=50,
json_path='vehicle_class_carla.json')
bboxes = filtered['bbox']
classes = filtered['class']
big_enough_bboxes = []
filtered_classes = []
for b, c in zip(bboxes, classes):
# Dict with:
# bbox: [[min_x, min_y], [max_x, max_y]]
# vehicles
x1 = b[0][0]
x2 = b[1][0]
y1 = b[0][1]
y2 = b[1][1]
delta_x = x1 - x2 if x1 > x2 else x2 - x1
delta_y = y1 - y2 if y1 > y2 else y2 - y1
area: float = delta_x * delta_y
if area > 350:
big_enough_bboxes.append(b)
filtered_classes.append(c)
if len(big_enough_bboxes) > 0:
images_captured += 1
if images_captured % 10 == 0:
print(
f"Captured {images_captured}/{args.max_images} in {math.ceil(minutes_passed)} minutes"
)
cva.save_output(rgb_img,
big_enough_bboxes,
filtered_classes,
removed['bbox'],
removed['class'],
save_patched=True,
out_format='json')
cva.save2darknet(bboxes=big_enough_bboxes,
vehicle_class=filtered_classes,
carla_img=rgb_img,
save_train=True,
images_path=images_path,
labels_path=labels_path)
# Save segmentation image
if SAVE_SEGM:
segm_img = data[segm_idx]
segm_img.save_to_disk(
'out_segm/%06d.png' % segm_img.frame, cc_segm)
# Save LIDAR data
if SAVE_LIDAR:
lidar_data = data[lidar_idx]
lidar_data.save_to_disk('out_lidar/%06d.ply' %
segm_img.frame)
time_sim = 0
time_sim = time_sim + settings.fixed_delta_seconds
finally:
# cva.save2darknet(None, None, None, save_train=True)
try:
cam.stop()
depth.stop()
if SAVE_SEGM:
segm.stop()
if SAVE_LIDAR:
lidar.stop()
except:
print("Simulation ended before sensors have been created")
settings = world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
world.apply_settings(settings)
print('\ndestroying %d vehicles' % len(vehicles_list))
client.apply_batch(
[carla.command.DestroyActor(x) for x in vehicles_list])
print('destroying %d nonvehicles' % len(nonvehicles_list))
client.apply_batch(
[carla.command.DestroyActor(x) for x in nonvehicles_list])
# stop walker controllers (list is [controller, actor, controller, actor ...])
# for i in range(0, len(all_id), 2):
# all_actors[i].stop()
print('\ndestroying %d walkers' % len(walkers_list))
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
time.sleep(0.5)