def __init__(self):
'''
initialize class
'''
self.config = None
client, world = util.link_server()
self.client = client
self.world = world
self.blueprint_library = world.get_blueprint_library()
self.tm = client.get_trafficmanager()
self.tm.set_synchronous_mode(True) #needed for v0.9.11
self.tm.set_hybrid_physics_mode(True)
self.tm.set_global_distance_to_leading_vehicle(1)
self.tm.global_percentage_speed_difference(
AUTOPILOT_SPEED_PERCENT_DIFFERENCE)
world.constant_velocity_enabled = True
#actor id containers
self.cars_list = []
self.peds_list = []
self.ai_list = []
self.target_list = []
def simple_spawn(search=None):
'''simple spawn of a car and camera'''
#connect to client and retrieve world
client, world = util.link_server()
#get blueprints
blueprint_library = world.get_blueprint_library()
#select vehicle blueprint
if search == None:
search = 'vehicle.lincoln.*'
vehicles = blueprint_library.filter(search)
car_bp = vehicles[0]
#car_bp.set_attribute('color','255,20,147')
# car_bp.set_attribute('color','158,255,0')
#select camera blueprint, set location
cam_bp = blueprint_library.find('sensor.camera.rgb')
#sensor update dt
cam_bp.set_attribute('sensor_tick', '0.05')
cam_bp.set_attribute('image_size_x', '1280')
cam_bp.set_attribute('image_size_y', '720')
cam_trans = carla.Transform(carla.Location(x=-5, z=2.5),
carla.Rotation(pitch=-10))
#spawn vehicle and camera
spawn_points = world.get_map().get_spawn_points()
sp = spawn_points[27]
car = world.spawn_actor(car_bp, sp)
camera = world.spawn_actor(cam_bp, cam_trans, attach_to=car)
#camera = world.try_spawn_actor(cam_bp, cam_trans, attach_to=car, attachment_type=carla.AttachmentType.SpringArm)
print('Spawned car and spectator camera')
return car, camera
def spawn_3cam(car, img_x=200, img_y=88, yaw_deg=20, hz=0.2):
'''
spawn 3 cameras in same location on car with yaw offset
yaw_deg is absolute angle between each side cam and car symmetry plane
returns a list of 3 camera objects
'''
client, world = util.link_server()
#get bp
cam_bp = world.get_blueprint_library().find('sensor.camera.rgb')
#set refresh rate, size (same between all)
cam_bp.set_attribute('sensor_tick', str(hz))
cam_bp.set_attribute('image_size_x', str(img_x))
cam_bp.set_attribute('image_size_y', str(img_y))
#calculate rotated camera location
center_cam_x = 2.2
center_cam_y = 0
center_cam_z = 1
rotated_x, rotated_y = util.rotz(center_cam_x, center_cam_y, yaw_deg)
#chassis coordinate system is right hand
#carla world coord is left hand
#spawn left cam
relative_loc = carla.Location(x=rotated_x, y=-rotated_y, z=center_cam_z)
relative_rot = carla.Rotation(yaw=-yaw_deg, pitch=-8)
cam_trans = carla.Transform(relative_loc, relative_rot)
left = world.spawn_actor(cam_bp, cam_trans, attach_to=car)
#spawn center cam
relative_loc = carla.Location(x=center_cam_x, z=center_cam_z)
relative_rot = carla.Rotation(yaw=0, pitch=-8)
cam_trans = carla.Transform(relative_loc, relative_rot)
center = world.spawn_actor(cam_bp, cam_trans, attach_to=car)
#spawn right cam
relative_loc = carla.Location(x=rotated_x, y=rotated_y, z=center_cam_z)
relative_rot = carla.Rotation(yaw=yaw_deg, pitch=-8)
cam_trans = carla.Transform(relative_loc, relative_rot)
right = world.spawn_actor(cam_bp, cam_trans, attach_to=car)
return [left, center, right]
def simple_kill():
#simple removal of ONE earliest spawned actor and sensor
client, world = util.link_server()
#get list of vehicle and sensor actors
carlist = world.get_actors().filter('vehicle.*')
sensorlist = world.get_actors().filter('sensor.*')
if (len(carlist) != 0):
#if there is at least one car
print('cars to be removed:')
print(carlist[0])
carlist[0].destroy()
else:
print('no cars found on server')
print('')
if (len(sensorlist) != 0):
#if there is at least one sensor
print('sensors to be removed:')
print(sensorlist[0])
sensorlist[0].destroy()
else:
print('no sensors found on server')
print('')
def spawn_ss(car=None, world=None, img_x=200, img_y=88, hz=7.463, pitch=-8):
'''Spawns sensor on a car. Input is a vehicle actor object'''
if world == None:
client, world = util.link_server()
#get camera blueprint
blueprints = world.get_blueprint_library()
cam_bp = blueprints.find('sensor.camera.semantic_segmentation')
#set refresh rate, image size, and location on car
if hz == 0:
cam_bp.set_attribute('sensor_tick', str(0))
else:
cam_bp.set_attribute('sensor_tick', str(1.0 / hz))
cam_bp.set_attribute('image_size_x', str(img_x))
cam_bp.set_attribute('image_size_y', str(img_y))
relative_loc = carla.Location(x=2, z=1.4)
relative_rot = carla.Rotation(pitch=pitch)
cam_trans = carla.Transform(relative_loc, relative_rot)
#spawn camera
camera = world.spawn_actor(cam_bp, cam_trans, attach_to=car)
print("Spawned semantic segmentation camera sensor")
return camera
map_name = ""
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('-cr', '--car-radius', type=int, default=70)
parser.add_argument('-cn', '--car-num', type=int, default=10)
parser.add_argument('-es', '--ego-spawn', type=int, default=0)
parser.add_argument('-fn', '--front-num', type=int, default=0)
parser.add_argument('-rn', '--rear-num', type=int, default=0)
parser.add_argument('-pn', '--ped-num', type=int, default=4)
parser.add_argument('-pr', '--ped-radius', type=int, default=30)
args = parser.parse_args()
client, world = util.link_server()
map = world.get_map()
map_name = map.name
bpl = world.get_blueprint_library()
sp = map.get_spawn_points()[args.ego_spawn]
util.top_down(sp, world)
r = args.car_radius
num_cars = args.car_num
num_peds = args.ped_num
#put ego spawn waypoint in wps list so no npc spawn there
car_wps = [map.get_waypoint(sp.location)]
car_wps = generate_front_back_wp(sp, map, args.front_num,args.rear_num,15, car_wps)
car_wps = generate_npc_car_wp(sp, map, r, num_cars, car_wps)