def setup_lidar(mountpoint='roof'):
lidar = Lidar()
if mountpoint == 'hood':
lidar.__init__(offset=(-0.4, 1, 1.0),
direction=(-0.707, -0.707, 0),
vres=2,
vangle=0.1,
rps=10000,
hz=20,
angle=180,
max_dist=200,
visualized=True)
else:
lidar.__init__(offset=(0, 0, 1.7),
direction=(-0.707, -0.707, -0.0625),
vres=2,
vangle=0.1,
rps=10000,
hz=20,
angle=180,
max_dist=200,
visualized=True)
return lidar
def setup_lidar(mountpoint='roof'):
lidar = Lidar()
if mountpoint == 'hood':
#lidar.__init__(offset=(-0.3, 1.0, 1.0), direction=(-0.707, -0.707, 0), vres=2,
#lidar.__init__(offset=(-5, 0, 1.0), direction=(-0.707, -0.707, 0), vres=2,
lidar.__init__(offset=(2.4, 1, 1),
direction=(-0.707, -0.707, 0),
vres=2,
vangle=0.1,
rps=10000,
hz=60,
angle=180,
max_dist=200,
visualized=True)
elif mountpoint == 'roof':
lidar.__init__(offset=(0, 0, 1.7),
direction=(-0.707, -0.707, -0.0625),
vres=3,
vangle=0.1,
rps=100000,
hz=20,
angle=180,
max_dist=200,
visualized=True)
elif mountpoint == 'orig':
lidar.__init__(offset=(0, 0, 1.7),
direction=(0, -1, 0),
vres=32,
vangle=26.9,
rps=2200000,
hz=20,
angle=360,
max_dist=200,
visualized=True)
else:
print("returning lidar")
return lidar
return lidar
import mmap
def main():
global sp
setup_logging()
beamng = BeamNGpy('localhost', 64256, home='H:/BeamNG.research.v1.7.0.1clean')
scenario = Scenario('west_coast_usa', 'lidar_tour',
description='Tour through the west coast gathering '
'Lidar data')
vehicle = Vehicle('ego_vehicle', model='etk800', licence='LIDAR', color='Red')
lidar = Lidar()
lidar.__init__(offset=(0, 0, 1.7), direction=(-0.707, -0.707, 0), vres=32,
vangle=0.01, rps=2200000, hz=20, angle=360, max_dist=200,
visualized=True)
vehicle.attach_sensor('lidar', lidar)
ego_sp = spawn_point(sp)
ego_pos = ego_sp['pos']
ego_rot_quat = ego_sp['rot_quat']
scenario.add_vehicle(vehicle, pos=ego_pos, rot=None, rot_quat=ego_rot_quat)
tvs = traffic_vehicles()
#ps = [(-722.121, 103, 118.675), (-714.121, 101, 118.675), (-715.121, 105, 118.675), (-721.121, 100, 118.675)]
ps = [(ego_pos[0]-10, ego_pos[1]+2, ego_pos[2]),
(ego_pos[0]-10, ego_pos[1]-2, ego_pos[2]),
(ego_pos[0]-14, ego_pos[1]+5, ego_pos[2]),
(ego_pos[0]+5, ego_pos[1]-1, ego_pos[2]),
(ego_pos[0]+8, ego_pos[1]-4, ego_pos[2]),
(ego_pos[0]+10, ego_pos[1]+9, ego_pos[2]),
(ego_pos[0]+1, ego_pos[1]+11, ego_pos[2])]
ps1 = [(ego_pos[0] - 10, ego_pos[1] + 3, ego_pos[2]),
(ego_pos[0] - 10, ego_pos[1] - 1, ego_pos[2]),
(ego_pos[0] - 14, ego_pos[1] + 5, ego_pos[2]),
(ego_pos[0] + 5, ego_pos[1] - 1, ego_pos[2]),
(ego_pos[0] + 8, ego_pos[1] - 4, ego_pos[2]),
(ego_pos[0] + 10, ego_pos[1] + 9, ego_pos[2]),
(ego_pos[0] + 1, ego_pos[1] + 11, ego_pos[2])]
ps_oldorig = [(ego_pos[0]-7, ego_pos[1]+3, ego_pos[2]),
(ego_pos[0]+5, ego_pos[1]-1, ego_pos[2]),
(ego_pos[0]+4, ego_pos[1]+5, ego_pos[2]),
(ego_pos[0]+5, ego_pos[1]-1, ego_pos[2]),
(ego_pos[0]+8, ego_pos[1]-4, ego_pos[2]),
(ego_pos[0]+10, ego_pos[1]+9, ego_pos[2]),
(ego_pos[0]+1, ego_pos[1]+11, ego_pos[2])]
for i in range(len(tvs)):
scenario.add_vehicle(tvs[i], pos=ps[i], rot_quat=ego_rot_quat)
scenario.make(beamng)
bng = beamng.open(launch=True)
try:
bng.load_scenario(scenario)
bng.set_steps_per_second(60)
bng.set_deterministic()
bng.hide_hud()
bng.start_scenario()
vehicle.ai_set_mode('traffic')
vehicle.ai_drive_in_lane(True)
#vehicle.ai_set_speed(16, mode='limit')
#vehicle.ai_set_target('traffic')
vehicle.ai_set_aggression(0.5) #0.7)
bng.start_traffic(tvs)
bng.switch_vehicle(vehicle)
start = time.time()
end = time.time()
damage_prev = bng.poll_sensors(vehicle)
with open('lidar_data.csv', 'w') as f:
for _ in range(1024):
sensors = bng.poll_sensors(vehicle)
points = sensors['lidar']['points']
#print(points.tolist())
#print()
#f.write("{}\n".format(points.tolist()))
print("Time passed since last step: {}".format(time.time() - end))
end = time.time()
print("Time passed since scenario begun: {}\n".format(end - start))
if end - start >= 30:
bng.close()
bng.step(30, wait=False)
except Exception as e:
print(e)
finally:
bng.close()