def Create_actors(self, world, blueprint_library):
ego_list = []
npc_list = []
obstacle_list = []
sensor_list = []
# ego车辆设置---------------------------------------------------------------
ego_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
# 坐标建立
ego_transform = Transform(
Location(x=160.341522, y=-371.640472, z=0.281942),
Rotation(pitch=0.000000, yaw=0.500910, roll=0.000000))
# 车辆从蓝图定义以及坐标生成
ego = world.spawn_actor(ego_bp, ego_transform)
if ego is None:
print('ego created failed')
else:
ego_list.append(ego)
print('created %s' % ego.type_id)
# 视角设置------------------------------------------------------------------
spectator = world.get_spectator()
# spec_transform = ego.get_transform()
spec_transform = Transform(
Location(x=140.341522, y=-375.140472, z=15.281942),
Rotation(pitch=0.000000, yaw=0.500910, roll=0.000000))
spec_transform.location += carla.Location(x=60, z=45)
spec_transform.rotation = carla.Rotation(pitch=-90, yaw=90)
spectator.set_transform(spec_transform)
# npc设置--------------------------------------------------------------------
npc_transform = ego_transform
for i in range(1):
npc_transform.location += carla.Location(x=-15, y=-3.5)
npc_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
npc_bp.set_attribute('color', '229,28,0')
npc = world.try_spawn_actor(npc_bp, npc_transform)
if npc is None:
print('No.%s npc created failed' % i)
else:
npc_list.append(npc)
print('created %s' % npc.type_id)
# 障碍物设置------------------------------------------------------------------
obstacle_transform = ego_transform
for i in range(28):
if i == 0:
obsta_bp = blueprint_library.find(
id='vehicle.mercedes-benz.coupe')
obstacle_transform.location += carla.Location(x=95, y=3.8)
obstacle = world.try_spawn_actor(obsta_bp, obstacle_transform)
obstacle_transform.location += carla.Location(x=0, y=-5.3)
if obstacle is None:
print('%s obstacle created failed' % i)
else:
obstacle_list.append(obstacle)
print('created %s' % obstacle.type_id)
else:
obsta_bp = blueprint_library.find(
id='static.prop.streetbarrier')
obstacle_transform.location += carla.Location(x=-3.5, y=7.4)
obstacle1 = world.try_spawn_actor(obsta_bp, obstacle_transform)
obstacle_list.append(obstacle1)
obstacle_transform.location += carla.Location(y=-7.4)
obstacle2 = world.try_spawn_actor(obsta_bp, obstacle_transform)
obstacle_list.append(obstacle2)
# 传感器设置-------------------------------------------------------------------
ego_collision = SS.CollisionSensor(ego)
npc_collision = SS.CollisionSensor(npc)
# lane_invasion = SS.LaneInvasionSensor(ego)
sensor_list.append(ego_collision)
sensor_list.append(npc_collision)
return ego_list, npc_list, obstacle_list, sensor_list
def Create_actors(self,world, blueprint_library):
ego_list = []
npc_list = []
obstacle_list = []
sensor_list = []
# ego车辆设置---------------------------------------------------------------
ego_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
# 坐标建立
ego_transform = Transform(Location(x=30, y=-4.350967, z=0.1),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
# 车辆从蓝图定义以及坐标生成
ego = world.spawn_actor(ego_bp, ego_transform)
ego_list.append(ego)
print('created %s' % ego.type_id)
# 视角设置------------------------------------------------------------------
spectator = world.get_spectator()
spec_transform = Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
spec_transform.location += carla.Location(x=-15,z=50)
spec_transform.rotation = carla.Rotation(pitch=-90,yaw=0,roll=-0.000000)
spectator.set_transform(spec_transform)
# npc设置--------------------------------------------------------------------
npc_transform = Transform(Location(x=30, y=-4.350967, z=0.1),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
for i in range(1):
npc_transform.location += carla.Location(x=-11,y=6)
npc_transform.rotation = carla.Rotation(pitch=0.348271,yaw=275, roll=-0.000000)
npc_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
# print(npc_bp.get_attribute('color').recommended_values)
npc_bp.set_attribute('color', '229,28,0')
npc = world.try_spawn_actor(npc_bp, npc_transform)
if npc is None:
print('%s npc created failed' % i)
else:
npc_list.append(npc)
print('created %s' % npc.type_id)
# 障碍物设置------------------------------------------------------------------
obsta_bp = blueprint_library.find(id='static.prop.streetbarrier')
#障碍物1
obstacle_transform1 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform1.location += carla.Location(x=14,y=1.8)
obstacle_transform1.rotation = carla.Rotation(pitch=0, yaw=0, roll=0.000000)
for i in range(10):
obstacle1 = world.try_spawn_actor(obsta_bp, obstacle_transform1)
obstacle_transform1.location += carla.Location(x=-2.5,y=-0.04)
obstacle_list.append(obstacle1)
#障碍物2
obstacle_transform2 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform2.location += carla.Location(x=-8.5,y=1.82)
obstacle_transform2.rotation = carla.Rotation(pitch=0, yaw=275, roll=0.000000)
for i in range(4):
obstacle2 = world.try_spawn_actor(obsta_bp, obstacle_transform2)
obstacle_transform2.location += carla.Location(x=-0.1,y=2.5)
obstacle_list.append(obstacle2)
#障碍物3
obstacle_transform3 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform3.location += carla.Location(x=13,y=-1.8)
obstacle_transform3.rotation = carla.Rotation(pitch=0, yaw=0, roll=0.000000)
for i in range(9):
obstacle3 = world.try_spawn_actor(obsta_bp, obstacle_transform3)
obstacle_transform3.location += carla.Location(x=-2.5,y=-0.1)
obstacle_list.append(obstacle3)
#障碍物4
obstacle_transform4 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform4.location += carla.Location(x=-24,y=-52)
obstacle_transform4.rotation = carla.Rotation(pitch=0, yaw=270, roll=0.000000)
for i in range(15):
obstacle4 = world.try_spawn_actor(obsta_bp, obstacle_transform4)
obstacle_transform4.location += carla.Location(x=-0.05,y=2.5)
obstacle_list.append(obstacle4)
#障碍物5
obstacle_transform5 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform5.location += carla.Location(x=-20.5,y=-52)
obstacle_transform5.rotation = carla.Rotation(pitch=0, yaw=270, roll=0.000000)
for i in range(13):
obstacle5 = world.try_spawn_actor(obsta_bp, obstacle_transform5)
obstacle_transform5.location += carla.Location(x=-0.05,y=2.5)
obstacle_list.append(obstacle5)
#障碍物6
obstacle_transform6 =Transform(Location(x=30, y=-4.350967, z=0),
Rotation(pitch=-0.348271, yaw=180, roll=-0.000000))
obstacle_transform6.location += carla.Location(x=-20,y=-21)
obstacle_transform6.rotation = carla.Rotation(pitch=0, yaw=45, roll=0.000000)
for i in range(8):
obstacle6 = world.try_spawn_actor(obsta_bp, obstacle_transform6)
obstacle_transform6.location += carla.Location(x=1.7,y=2.4)
obstacle_list.append(obstacle6)
# 传感器设置-------------------------------------------------------------------
ego_collision = SS.CollisionSensor(ego)
npc_collision = SS.CollisionSensor(npc)
ego_invasion = SS.LaneInvasionSensor(ego)
npc_invasion = SS.LaneInvasionSensor(npc)
sensor_list.extend([[ego_collision,ego_invasion],[npc_collision,npc_invasion]])
return ego_list,npc_list,obstacle_list,sensor_list
def Create_actors(self, world, blueprint_library):
ego_list = []
npc_list = []
obstacle_list = []
sensor_list = []
# ego车辆设置---------------------------------------------------------------
ego_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
# 坐标建立
ego_transform = Transform(Location(x=9, y=-110.350967, z=0.1),
Rotation(pitch=0, yaw=-90, roll=-0.000000))
# 车辆从蓝图定义以及坐标生成
ego = world.spawn_actor(ego_bp, ego_transform)
ego_list.append(ego)
print('created %s' % ego.type_id)
# 视角设置------------------------------------------------------------------
spectator = world.get_spectator()
# spec_transform = ego.get_transform()
spec_transform = Transform(Location(x=9, y=-115.350967, z=0),
Rotation(pitch=0, yaw=180, roll=-0.000000))
spec_transform.location += carla.Location(x=-5, z=60)
spec_transform.rotation = carla.Rotation(pitch=-90,
yaw=1.9,
roll=-0.000000)
spectator.set_transform(spec_transform)
# npc设置--------------------------------------------------------------------
npc_transform = Transform(Location(x=9, y=-110.350967, z=0.1),
Rotation(pitch=0, yaw=-90, roll=-0.000000))
for i in range(1):
npc_transform.location += carla.Location(x=-18, y=-24)
npc_transform.rotation = carla.Rotation(pitch=0,
yaw=0,
roll=-0.000000)
npc_bp = blueprint_library.find(id='vehicle.lincoln.mkz2017')
# print(npc_bp.get_attribute('color').recommended_values)
npc_bp.set_attribute('color', '229,28,0')
npc = world.try_spawn_actor(npc_bp, npc_transform)
if npc is None:
print('%s npc created failed' % i)
else:
npc_list.append(npc)
print('created %s' % npc.type_id)
# 障碍物设置------------------------------------------------------------------
obsta_bp = blueprint_library.find(id='static.prop.streetbarrier')
# 障碍物1
obstacle_transform1 = Transform(
Location(x=9, y=-110.350967, z=0),
Rotation(pitch=0, yaw=-90, roll=-0.000000))
obstacle_transform1.location += carla.Location(x=50, y=-27, z=3)
obstacle_transform1.rotation = carla.Rotation(pitch=0,
yaw=0,
roll=0.000000)
for i in range(30):
obstacle1 = world.try_spawn_actor(obsta_bp, obstacle_transform1)
obstacle_transform1.location += carla.Location(x=-2.5,
y=-0.05,
z=-0.12)
obstacle_list.append(obstacle1)
# 障碍物2
# obstacle_transform2 = Transform(Location(x=9, y=-110.350967,z=0),
# Rotation(pitch=0, yaw=-90, roll=-0.000000))
# obstacle_transform2.location += carla.Location(x=-2.8,y=-18.5)
# obstacle_transform2.rotation = carla.Rotation(pitch=0, yaw=0, roll=0.000000)
# for i in range(7):
# obstacle2 = world.try_spawn_actor(obsta_bp, obstacle_transform2)
# obstacle_transform2.location += carla.Location(x=-2.5)
# obstacle_list.append(obstacle2)
# # 障碍物3
# obstacle_transform3 = Transform(Location(x=9, y=-110.350967,z=0),
# Rotation(pitch=0, yaw=-90, roll=-0.000000))
# obstacle_transform3.location += carla.Location(x=-1.65,y=-17.5)
# obstacle_transform3.rotation = carla.Rotation(pitch=0, yaw=90, roll=0.000000)
# for i in range(10):
# obstacle3 = world.try_spawn_actor(obsta_bp, obstacle_transform3)
# obstacle_transform3.location += carla.Location(x=0.006,y=2.5)
# obstacle_list.append(obstacle3)
# # 障碍物4
# obstacle_transform4 = Transform(Location(x=9, y=-110.350967,z=0),
# Rotation(pitch=0, yaw=-90, roll=-0.000000))
# obstacle_transform4.location += carla.Location(x=2.45,y=-15)
# obstacle_transform4.rotation = carla.Rotation(pitch=0, yaw=90, roll=0.000000)
# for i in range(10):
# obstacle4 = world.try_spawn_actor(obsta_bp, obstacle_transform4)
# obstacle_transform4.location += carla.Location(y=2.5)
# obstacle_list.append(obstacle4)
# 传感器设置-------------------------------------------------------------------
ego_collision = SS.CollisionSensor(ego)
npc_collision = SS.CollisionSensor(npc)
ego_invasion = SS.LaneInvasionSensor(ego)
npc_invasion = SS.LaneInvasionSensor(npc)
sensor_list.extend([[ego_collision, ego_invasion],
[npc_collision, npc_invasion]])
return ego_list, npc_list, obstacle_list, sensor_list
