def spawn_people(client, world, num_people: int, logger):
"""Spawns people at random locations inside the world.
Args:
num_people: The number of people to spawn.
"""
from carla import command, Transform
p_blueprints = world.get_blueprint_library().filter('walker.pedestrian.*')
unique_locs = set([])
spawn_points = []
# Get unique spawn points.
for i in range(num_people):
attempt = 0
while attempt < 10:
spawn_point = Transform()
loc = world.get_random_location_from_navigation()
if loc is not None:
# Transform to tuple so that location is comparable.
p_loc = (loc.x, loc.y, loc.z)
if p_loc not in unique_locs:
spawn_point.location = loc
spawn_points.append(spawn_point)
unique_locs.add(p_loc)
break
attempt += 1
if attempt == 10:
logger.error('Could not find unique person spawn point')
# Spawn the people.
batch = []
for spawn_point in spawn_points:
p_blueprint = random.choice(p_blueprints)
if p_blueprint.has_attribute('is_invincible'):
p_blueprint.set_attribute('is_invincible', 'false')
batch.append(command.SpawnActor(p_blueprint, spawn_point))
# Apply the batch and retrieve the identifiers.
ped_ids = []
for response in client.apply_batch_sync(batch, True):
if response.error:
logger.info('Received an error while spawning a person: {}'.format(
response.error))
else:
ped_ids.append(response.actor_id)
# Spawn the person controllers
ped_controller_bp = world.get_blueprint_library().find(
'controller.ai.walker')
batch = []
for ped_id in ped_ids:
batch.append(command.SpawnActor(ped_controller_bp, Transform(),
ped_id))
ped_control_ids = []
for response in client.apply_batch_sync(batch, True):
if response.error:
logger.info('Error while spawning a person controller: {}'.format(
response.error))
else:
ped_control_ids.append(response.actor_id)
return (ped_ids, ped_control_ids)
def main(argv):
global pixels_to_check
target_vehicle_transform = Transform(Location(242, 131.24, 0))
sensor_transform = Transform(Location(237.7, 132.24, 1.3))
pixels_to_check = [(200, 370)]
run_scenario(target_vehicle_transform, sensor_transform)
target_vehicle_transform = Transform(Location(2, 12, 0))
sensor_transform = Transform(Location(0, 18, 1.4),
Rotation(pitch=0, yaw=-90, roll=0))
pixels_to_check = [(500, 400), (600, 400), (500, 350), (600, 350)]
run_scenario(target_vehicle_transform, sensor_transform)
def main(argv):
client, world = get_world(FLAGS.simulator_host, FLAGS.simulator_port,
FLAGS.simulator_timeout)
# Replayer time factor is only available in > 0.9.5.
client.set_replayer_time_factor(0.1)
print(
client.replay_file(FLAGS.replay_file, FLAGS.replay_start_time,
FLAGS.replay_duration, FLAGS.replay_id))
# Sleep a bit to allow the server to start the replay.
time.sleep(1)
vehicle = world.get_actors().find(FLAGS.replay_id)
if vehicle is None:
raise ValueError("There was an issue finding the vehicle.")
# Install the camera.
camera_blueprint = world.get_blueprint_library().find('sensor.camera.rgb')
camera_blueprint.set_attribute('image_size_x',
str(FLAGS.camera_image_width))
camera_blueprint.set_attribute('image_size_y',
str(FLAGS.camera_image_height))
transform = Transform(Location(2.0, 0.0, 1.4),
Rotation(pitch=0, yaw=0, roll=0))
camera = world.spawn_actor(camera_blueprint, transform, attach_to=vehicle)
# Register the callback on the camera.
camera.listen(process_images)
time.sleep(20)
def run(self):
# Read the vehicle ID from the vehicle ID stream.
vehicle_id_msg = self._vehicle_id_stream.read()
vehicle_id = vehicle_id_msg.data
self._logger.debug("@{}: Received Vehicle ID: {}".format(
vehicle_id_msg.timestamp, vehicle_id))
# Connect to the world.
_, world = get_world(self._flags.simulator_host,
self._flags.simulator_port,
self._flags.simulator_timeout)
self._vehicle = get_vehicle_handle(world, vehicle_id)
self._map = world.get_map()
# Install the lane-invasion sensor.
lane_invasion_blueprint = world.get_blueprint_library().find(
'sensor.other.lane_invasion')
self._logger.debug("Spawning a lane invasion sensor.")
self._lane_invasion_sensor = world.spawn_actor(lane_invasion_blueprint,
Transform(),
attach_to=self._vehicle)
# Register the callback on the lane-invasion sensor.
self._lane_invasion_sensor.listen(self.process_lane_invasion)
def use_sample(self, sample):
print('USE_SAMPLE Sample:', sample)
weather = carla.WeatherParameters(**{k: sample.params._asdict()[k] for k in WEATHER_PARAMS})
self.world.world.set_weather(weather)
for obj in sample.objects:
spawn = Transform(self.snap_to_ground(Location(x=obj.position[0],
y=-obj.position[1], z=1)),
Rotation(yaw=-obj.heading * 180 / math.pi - 90))
attrs = dict()
if 'color' in obj._fields:
color = str(int(obj.color.r * 255)) + ',' \
+ str(int(obj.color.g * 255)) + ',' + str(int(obj.color.b * 255))
attrs['color'] = color
if 'blueprint' in obj._fields:
attrs['blueprint_filter'] = obj.blueprint
agent = BrakeAgent
if 'agent' in obj._fields:
agent = AGENTS[obj.agent]
if obj.type in ['Vehicle', 'Car', 'Truck', 'Bicycle', 'Motorcycle']:
self.world.add_vehicle(agent,
spawn=spawn,
has_collision_sensor=False,
has_lane_sensor=False,
ego=obj is sample.objects[0],
**attrs)
elif obj.type == 'Pedestrian':
self.world.add_pedestrian(spawn=spawn, **attrs)
elif obj.type in ['Prop', 'Trash', 'Cone']:
self.world.add_prop(spawn=spawn, **attrs)
else:
print('Unsupported object type:', obj.type)
def spawn_vehicles(self):
self.bp_lib = self.world.get_blueprint_library()
ego_bp = self.bp_lib.filter('vehicle.tesla.model3')[0]
spawn_point = Transform(Location(x=392.1, y=10.0, z=0.02), Rotation(yaw=89.6))
self.ego_vehicle = self.world.spawn_actor(ego_bp, spawn_point)
self.setup_sensors(self.ego_vehicle)
self.actor.append(self.ego_vehicle)
self.ego_vehicle.get_world()
leading_bp = self.bp_lib.filter('vehicle.audi.a2')[0]
#leading_bp = self.bp_lib.filter('vehicle.audi.etron')[0]
#leading_bp = self.bp_lib.filter('vehicle.audi.tt')[0]
#leading_bp = random.choice(self.bp_lib.filter('vehicle.audi.*'))
spawn_point_leading = Transform(Location(x=392.1, y=320.0, z=0.0), Rotation(yaw=90))
self.leading_vehicle = self.world.try_spawn_actor(leading_bp, spawn_point_leading)
self.leading_vehicle.get_world()
self.actor.append(self.leading_vehicle)
def add_agent(self,
agent: ip.Agent,
rolename: str = None,
blueprint: carla.ActorBlueprint = None):
""" Add a vehicle to the simulation. Defaults to an Audi A2 for blueprints if not explicitly given.
Args:
agent: Agent to add.
rolename: Unique name for the actor to spawn.
blueprint: Optional blueprint defining the properties of the actor.
Returns:
The newly added actor.
"""
if blueprint is None:
blueprint_library = self.__world.get_blueprint_library()
blueprint = blueprint_library.find('vehicle.audi.a2')
if rolename is not None:
blueprint.set_attribute('role_name', rolename)
state = agent.state
yaw = np.rad2deg(-state.heading)
transform = Transform(Location(x=state.position[0], y=-state.position[1], z=0.1), Rotation(yaw=yaw))
actor = self.__world.spawn_actor(blueprint, transform)
actor.set_target_velocity(Vector3D(state.velocity[0], -state.velocity[1], 0.))
carla_agent = ip.carla.CarlaAgentWrapper(agent, actor)
self.agents[carla_agent.agent_id] = carla_agent
def reset(self, attempt=0):
logger.info('Resetting ...')
self._in_carla_autopilot = False
self._in_reverse = False
self._destroy()
#
blueprint_library = self._world.get_blueprint_library()
vehicle_bp = blueprint_library.find('vehicle.tesla.model3')
spawn_points = self._world.get_map().get_spawn_points()
spawn_id = self._spawn_preferred_id if attempt == 0 and self._spawn_preferred_id >= 0 else np.random.randint(
len(spawn_points))
spawn_point = spawn_points[spawn_id]
try:
self._actor = self._world.spawn_actor(vehicle_bp, spawn_point)
except RuntimeError as e:
if attempt < 4:
self.reset(attempt + 1)
else:
raise e
logger.info("Spawn point is '{}' with id {}.".format(
spawn_point, spawn_id))
# Attach the camera's - defaults at https://carla.readthedocs.io/en/latest/cameras_and_sensors/.
# Provide the position of the sensor relative to the vehicle.
# Tell the world to spawn the sensor, don't forget to attach it to your vehicle actor.
camera_front = self._world.spawn_actor(self._create_camera(),
Transform(
Location(x=1.25, z=1.4)),
attach_to=self._actor)
camera_rear = self._world.spawn_actor(self._create_camera(),
Transform(
Location(x=-1.0, z=2.0),
Rotation(pitch=180,
roll=180)),
attach_to=self._actor)
self._sensors.append(camera_front)
self._sensors.append(camera_rear)
# Subscribe to the sensor stream by providing a callback function,
# this function is called each time a new image is generated by the sensor.
camera_front.listen(lambda data: self._on_camera(data, camera=0))
camera_rear.listen(lambda data: self._on_camera(data, camera=1))
self._traffic_manager.ignore_lights_percentage(self._actor, 100.)
self._set_weather(use_preset=True)
# The tracker need recreation through the actor dependency.
if self._geo_tracker is not None:
self._geo_tracker.quit()
self._geo_tracker = GeoTrackerThread(self._world, self._actor)
self._geo_tracker.start()
def main(args):
""" The main function that orchestrates the setup of the world, connection
to the scenario and the subsequent logging of the frames for computation
of the mIoU.
Args:
args: The argparse.Namespace instance that is retrieved from parsing
the arguments.
"""
# Setup the world.
world = setup_world(args.host, args.port, args.delta)
# Retrieve the ego-vehicle from the simulation.
ego_vehicle = None
while ego_vehicle is None:
print("Waiting for the scenario to be ready ...")
sleep(1)
ego_vehicle = retrieve_actor(world, 'vehicle.*', 'hero')
world.tick()
# Connect the segmentation camera to the vehicle.
segmentation_camera_transform = Transform(location=Location(1.0, 0.0, 1.8),
rotation=Rotation(0, 0, 0))
segmentation_camera, camera_setup = spawn_camera(
'sensor.camera.semantic_segmentation', segmentation_camera_transform,
ego_vehicle, *args.res.split('x'))
# Open the CSV file for writing.
csv_file = open(args.output, 'w')
csv_writer = csv.writer(csv_file)
# Create the cleanup function.
global CLEANUP_FUNCTION
CLEANUP_FUNCTION = functools.partial(cleanup_function,
world=world,
cameras=[segmentation_camera],
csv_file=csv_file)
# Register a callback function with the camera.
segmentation_camera.listen(
functools.partial(process_segmentation_images,
camera_setup=camera_setup,
ego_vehicle=ego_vehicle,
speed=args.speed,
csv=csv_writer,
dump=args.dump))
try:
# To keep the thread alive so that the images can be processed.
while True:
pass
except KeyboardInterrupt:
CLEANUP_FUNCTION()
sys.exit(0)
def setup_sensors(self, ego_vehicle):
camera_bp = self.bp_lib.find('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', '800')
camera_bp.set_attribute('image_size_y', '600')
camera_bp.set_attribute('fov', '100')
self.camera = self.world.try_spawn_actor(
camera_bp,
Transform(Location(x=0.8,y=0.0,z=1.7), Rotation(yaw=0.0)),
attach_to=ego_vehicle)
self.actor.append(self.camera)
collision_bp = self.bp_lib.find('sensor.other.collision')
self.collision = self.world.try_spawn_actor(
collision_bp,
Transform(),
attach_to=self.ego_vehicle)
self.actor.append(self.collision)
self.image_queue = queue.Queue()
self.camera.listen(self.image_queue.put)
self.collision_queue = queue.Queue()
self.collision.listen(self.collision_queue.put)
def as_simulator_transform(self):
"""Converts the transform to a simulator transform.
Returns:
An instance of the simulator class representing the Transform.
"""
from carla import Location, Rotation, Transform
return Transform(
Location(self.location.x, self.location.y, self.location.z),
Rotation(pitch=self.rotation.pitch,
yaw=self.rotation.yaw,
roll=self.rotation.roll))
def restart(self):
# Keep same camera config if the camera manager exists.
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
# blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint = random.choice(self.world.get_blueprint_library().filter('toyota'))
blueprint.set_attribute('role_name', self.actor_role_name)
if blueprint.has_attribute('color'):
# color = random.choice(blueprint.get_attribute('color').recommended_values)
# color = "255,255,255"
color = self.color
blueprint.set_attribute('color', color)
# Spawn the player.
if self.player is not None:
print("this is the playert not none")
spawn_point = self.player.get_transform()
spawn_point.location.z += 2.0
spawn_point.rotation.roll = 0.0
spawn_point.rotation.pitch = 0.0
self.destroy()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
while self.player is None:
# def ego_spawn_point(points):
# for pt in points:
# if pt.location.x < 69 and pt.location.x > 68 and pt.location.y > 6 and pt.location.y < 7:
# return pt
# def hero_spawn_point(points):
# for pt in points:
# if pt.location.x < 69 and pt.location.x > 68 and pt.location.y > 7.5 and pt.location.y < 10:
# return pt
# spawn_points = self.map.get_spawn_points()
# spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
# if self.actor_role_name == "hero":
# spawn_point = hero_spawn_point(spawn_points)
# elif self.actor_role_name == "ego_vehicle":
# spawn_point = ego_spawn_point(spawn_points)
# print(" ========================================= ")
# for i in range(10):
# print(" these are all the available spawn points ", spawn_points[i])
# spawn_point = spawn_points[179]
spawn_point = Transform(Location(x=self.init_positionx, y=self.init_positiony, z=2.5), Rotation(pitch=1, yaw=180, roll=1))
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# Set up the sensors.
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.camera_manager = CameraManager(self.player, self.hud)
self.camera_manager.transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def get_inverse_transform_matrix(transform: carla.Transform):
"""
Get inverse transform matrix from a transform class.
Inverse transform refers to from world coord system to actor coord system.
"""
_T = transform.get_inverse_matrix()
# transform matrix from Actor system to world system
inverse_trans_matrix = np.array([[_T[0][0], _T[0][1], _T[0][2]],
[_T[1][0], _T[1][1], _T[1][2]],
[_T[2][0], _T[2][1], _T[2][2]]])
return inverse_trans_matrix
def main():
"""
main function
"""
first_goal = Transform()
first_goal.location.x = 32
first_goal.location.y = -20
first_goal.location.z = 0
first_goal.rotation.pitch = 0
first_goal.rotation.yaw = 0
first_goal.rotation.roll = 0
first_start = Transform()
first_start.location.x = -10
first_start.location.y = -96
first_start.location.z = 0
first_start.rotation.pitch = 0
first_start.rotation.yaw = 180
first_start.rotation.roll = 0
sub1 = Subscriber("/carla/world_info")
worldinfo = CarlaWorldInfo()
sub1.enable()
sub1.subscribe(worldinfo)
host = "127.0.0.1"
port = 2000
carla_client = carla.Client(host=host, port=port)
carla_client.set_timeout(2)
carla_world = carla_client.get_world()
waypointConverter = CarlaToRosWaypointConverter(carla_world, first_start,
first_goal)
def get_transform_matrix(transform: carla.Transform):
"""
Get and parse a transformation matrix by transform.
Matrix is from Actor coord system to the world coord system.
:param transform:
:return trans_matrix: transform matrix in ndarray
"""
# original trans matrix in list
_T = transform.get_matrix()
# transform matrix from Actor system to world system
trans_matrix = np.array([[_T[0][0], _T[0][1], _T[0][2]],
[_T[1][0], _T[1][1], _T[1][2]],
[_T[2][0], _T[2][1], _T[2][2]]])
return trans_matrix
def spawn_rgb_camera(world, location, rotation, vehicle):
""" This method spawns an RGB camera with the default parameters and the
given location and rotation. It also attaches the camera to the given
actor.
Args:
world: The world inside the current simulation.
location: The Location instance representing the location where
the camera needs to be spawned with respect to the vehicle.
rotation: The Rotation instance representing the rotation of the
spawned camera.
vehicle: The Actor instance to attach the camera to.
Returns:
An instance of the camera spawned in the world.
"""
camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', '1280')
camera_bp.set_attribute('image_size_y', '720')
transform = Transform(location=location, rotation=rotation)
return world.spawn_actor(camera_bp, transform, attach_to=vehicle)
def __init__(self, parent_actor, name, directory, H, W):
"""Constructor method"""
# self.sensor = None
self._parent = parent_actor
self.recording = False
self.directory = directory
self.name = name
self.BEV = np.zeros((3, H, W), dtype=np.uint8)
world = self._parent.get_world()
blueprint = world.get_blueprint_library().find(
'sensor.camera.semantic_segmentation') #semantic_segmentation
blueprint.set_attribute('image_size_x', str(W))
blueprint.set_attribute('image_size_y', str(H))
blueprint.set_attribute('fov', '90')
# Set the time in seconds between sensor captures
blueprint.set_attribute('sensor_tick', '0')
transform = Transform(Location(z=15), Rotation(pitch=-90))
self.sensor = world.spawn_actor(blueprint,
transform,
attach_to=self._parent)
# We need to pass the lambda a weak reference to
# self to avoid circular reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda image: Camera._parse_image(weak_self, image))
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 on_invasion(event):
print('-----') # DEBUG
lane_types = set(x.type for x in event.crossed_lane_markings)
text = ['%r' % str(x).split()[-1] for x in lane_types]
print(('Crossed line %s' % ' and '.join(text)))
# #################################################
# Add Camera
camera_bp = blueprint_lib.find('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', '940')
camera_bp.set_attribute('image_size_y', '500')
camera_bp.set_attribute('sensor_tick', '0.03')
camera_bp_transform = Transform(Location(x=1.9, y=0, z=0.7))
camera = world.spawn_actor(camera_bp,
camera_bp_transform,
attach_to=vehicle_actor)
# attaching lane invasion sensor
lane_invasion_sensor = world.spawn_actor(lane_invasion_sensor_bp,
Transform(),
attach_to=vehicle_actor)
lane_invasion_sensor.listen(lambda event: on_invasion(event))
time.sleep(1)
camera.listen(lambda image: image_collector(image))
# camera.listen(lambda image: image.save_to_disk('output/%06d.png' %image.frame_number))
import math
import carla
import numpy as np
import pandas as pd
from scipy.interpolate import splprep, splev
from carla import Transform, Location, Rotation
#Easy selfexplaining lambdas
from config import IMAGE_SIZE
numpy_to_transform = lambda point: Transform(
Location(point[0], point[1], point[2]),
Rotation(yaw=point[3], pitch=0, roll=0))
transform_to_numpy = lambda transform: np.array([
transform.location.x, transform.location.y, transform.location.z, transform
.rotation.yaw
])
numpy_to_location = lambda point: Location(point[0], point[1], point[2])
location_to_numpy = lambda location: np.array(
[location.x, location.y, location.z])
velocity_to_kmh = lambda v: float(3.6 * np.math.sqrt(v.x**2 + v.y**2 + v.z**2))
numpy_to_velocity_vec = lambda v: carla.Vector3D(x=v[0], y=v[1], z=v[2])
def df_to_spawn_points(data: pd.DataFrame,
n: int = 10000,
invert: bool = False) -> np.array:
'''
Method converting spawnpoints loaded from DataFrame into equally placed points on the map.
def __mul__(self, other):
new_matrix = np.dot(self.matrix, other.matrix)
return Transform(matrix=new_matrix)
def inverse_transform(self):
"""Returns the inverse transform of this transform."""
new_matrix = np.linalg.inv(self.matrix)
return Transform(matrix=new_matrix)
for sensor_spec in global_sensors:
try:
sensor_names = []
sensor_type = str('sensor.camera.rgb')
sensor_id = str(sensor_spec.pop("id"))
sensor_name = sensor_type + "/" + sensor_id
if sensor_name in sensor_names:
raise NameError
sensor_names.append(sensor_name)
spawn_point = sensor_spec.pop("spawn_point")
point = Transform(
Location(x=spawn_point.pop("x"),
y=-spawn_point.pop("y"),
z=spawn_point.pop("z")),
Rotation(pitch=-spawn_point.pop("pitch", 0.0),
yaw=-spawn_point.pop("yaw", 0.0),
roll=spawn_point.pop("roll", 0.0)))
# camera_bp.set_attribute('sensor_id',str(sensor_id))
camera_rgb = world.spawn_actor(camera_bp, point)
#camera_seg = world.spawn_actor(semseg_bp,point)
camera_rgb.sensor_name = sensor_id
#camera_seg.sensor_name = sensor_id + "_seg"
actor_list.append(camera_rgb)
#actor_list.append(camera_seg)
rgb_list.append(camera_rgb)
print('spawned: ', camera_rgb.sensor_name)
except RuntimeError as e:
raise RuntimeError(
def restart(self):
# Keep same camera config if the camera manager exists.
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
# ******I have made this random.choice just have one choice --> vehicle.bmw.grandtourer
blueprint = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
# print("blue print")
# print(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
# print("color")
# print(blueprint.get_attribute('color').recommended_values)
# ****** I have set the blueprint being white as '255,255,255'
blueprint.set_attribute('color', '255,255,255')
batch = []
blueprint2 = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
blueprint2.set_attribute('role_name', 'hero2')
if blueprint2.has_attribute('color'):
blueprint2.set_attribute('color', '0,0,0')
# batch.append(SpawnActor(blueprint, transform))
# Spawn the player.
# ******************* change positions ****************************
while self.player is None:
spawn_points = self.map.get_spawn_points()
print("length of sapwn_point is %d" % len(spawn_points) +
",just choose one") # 257 just choose one
# Transform(Location(x=299.399994, y=129.750000, z=1.320625), Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
spawn_point = spawn_points[2]
spawn_point1 = Transform(
Location(x=250, y=129.750000, z=1.320625),
Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
# print("spawn_point:")
# print(spawn_point)
# ********************************* end ***************************
self.player = self.world.try_spawn_actor(blueprint, spawn_point1)
# print(self.player.set_velocity(carla.Vector3D(x=-5.0, y=0.000000, z=0.000000)))
spawn_point2 = Transform(
Location(x=300, y=129.750000, z=1.320625),
Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
# self.vehicle2 = self.world.spawn_actor(blueprint2, spawn_point2).set_autopilot(enabled=True)
# print(self.vehicle2.get_velocity())
self.vehicle2 = self.world.spawn_actor(blueprint2, spawn_point2)
self.vehicle2.set_velocity(
carla.Vector3D(x=-50.0, y=0.000000, z=0.000000))
# spawn_point3 = Transform(Location(x=280, y=129.750000, z=1.320625),
# Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
# batch.append(self.world.spawn_actor(blueprint2, spawn_point3))
# batch[0].set_velocity(carla.Vector3D(x=-2.0, y=0.000000, z=0.000000))
# Set up the sensors.
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.camera_manager = CameraManager(self.player, self.hud)
self.camera_manager.transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def main(x,y,z,pitch,yaw,roll,sensor_id,port,global_file):
img_size = np.asarray([960,540],dtype=np.int)
#pygame.init()
#display = pygame.display.set_mode((VIEW_WIDTH, VIEW_HEIGHT), pygame.HWSURFACE | pygame.DOUBLEBUF)
#font = get_font()
#clock = pygame.time.Clock()
client = carla.Client('localhost', 2000,1)
client.set_timeout(20.0)
# cam_subset=1
#client.reload_world(False)
#world = client.get_world()
world = client.load_world('Town03')
# weather = carla.WeatherParameters(
# cloudiness=0.0,
# precipitation=0.0,
# sun_altitude_angle=50.0)
#world.set_weather(all_weather[weather_num])
world.set_weather(getattr(carla.WeatherParameters, "ClearNoon"))
# 加入其他车辆
#Spawn_the_vehicles(world,client,car_num[0])
###########相机参数
# cam_type='cam1'
# with open("/media/wuminghu/hard/hard/carla/cam.txt") as csv_file:
# reader = csv.reader(csv_file, delimiter=' ')
# for line, row in enumerate(reader):
# if row[0] in cam_type:
# w_x,w_y,w_yaw,cam_H,cam_pitch=[float(i) for i in row[1:]]
# break
###########相机参数
# w_x,w_y,w_yaw,cam_H,cam_pitch=-116,100,100,4,90
actor_list = []
rgb_list = []
camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')
sizex = str(960)
sizey = str(540)
fovcfg = str(90)
camera_bp.set_attribute('image_size_x',sizex )
camera_bp.set_attribute('image_size_y', sizey)
camera_bp.set_attribute('fov', fovcfg)
semseg_bp = world.get_blueprint_library().find('sensor.camera.semantic_segmentation')
semseg_bp.set_attribute('image_size_x', sizex)
semseg_bp.set_attribute('image_size_y', sizey)
semseg_bp.set_attribute('fov', fovcfg)
out_path="/home/ubuntu/xwp/datasets/multi_view_dataset/new_test"
if not os.path.exists(out_path):
os.makedirs(out_path)
cam_point = Transform(Location(x=x, y=y, z=z),
Rotation(pitch=pitch, yaw=yaw, roll=roll))
camera_rgb = world.spawn_actor(camera_bp,cam_point)
camera_seg = world.spawn_actor(semseg_bp,cam_point)
camera_rgb.sensor_name = sensor_id
camera_seg.sensor_name = sensor_id + "_seg"
actor_list.append(camera_rgb)
actor_list.append(camera_seg)
rgb_list .append(camera_rgb)
print('spawned: ',camera_rgb.sensor_name)
vehicles_actor = Spawn_the_vehicles(world,client,car_num[0],port)
print('spawned {} vehicles'.format(len(vehicles_actor)))
######################################################file
with CarlaSyncMode(world, *actor_list, fps=20) as sync_mode:
count=0
k=0
while count<60:
# while count<100:
count+=1
#clock.tick()
# Advance the simulation and wait for the data.
#snapshot, image_rgb,image_semseg = sync_mode.tick(timeout=2.0)
blobs = sync_mode.tick(timeout=2.0)
if count%10!=0:
continue
k+=1
print(k)
# img.append(image_rgb)
#image=image_rgb
# image1=image_semseg.convert(ColorConverter.CityScapesPalette)
# import pdb; pdb.set_trace()
all_images = blobs[1:]
#images = all_images
images = all_images[::2]
semseg_images = all_images[1::2]
snapshot = blobs[0]
fps = round(1.0 / snapshot.timestamp.delta_seconds)
world_snapshot = world.get_snapshot()
actual_actor=[world.get_actor(actor_snapshot.id) for actor_snapshot in world_snapshot]
got_vehicles=[actor for actor in actual_actor if actor.type_id.find('vehicle')!=-1]
vehicles_list = []
for camera_rgb in rgb_list:
vehicles=[vehicle for vehicle in got_vehicles if vehicle.get_transform().location.distance(camera_rgb.get_transform().location)<65]
vehicles_list.append(vehicles)
cam_path = out_path + "/{}".format(camera_rgb.sensor_name)
if not os.path.exists(cam_path):
os.makedirs(cam_path)
os.makedirs(cam_path+"/label_2")
os.makedirs(cam_path+"/image_2")
os.makedirs(cam_path+"/calib")
# debug = world.debug
# for vehicle in vehicles:
# debug.draw_box(carla.BoundingBox(vehicle.get_transform().location+vehicle.bounding_box.location, vehicle.bounding_box.extent), vehicle.get_transform().rotation, 0.05, carla.Color(255,0,0,0), life_time=0.05)
# import pdb; pdb.set_trace()
all_vehicles_list = []
for i,(camera_rgb, vehicles,image,osemseg) in enumerate(zip(rgb_list,vehicles_list,images,semseg_images)):
v=[] #filtered_vehicles
# Convert semseg to cv.image
semseg = np.frombuffer(osemseg.raw_data, dtype=np.dtype("uint8"))
semseg = np.reshape(semseg, (osemseg.height, osemseg.width, 4))
semseg = semseg[:, :, :3]
semseg = semseg[:, :, ::-1]
# BGR
# Done
label_files=open("{}/{}/label_2/{:0>6d}.txt".format(out_path,camera_rgb.sensor_name,k), "w")
car_2d_bbox=[]
for car in vehicles:
extent = car.bounding_box.extent
###############location
car_location =car.bounding_box.location
# car_location1=car.get_transform().location
cords = np.zeros((1, 4))
cords[0, :]=np.array([car_location.x,car_location.y,car_location.z, 1])
cords_x_y_z = ClientSideBoundingBoxes._vehicle_to_sensor(cords, car, camera_rgb)[:3, :]
cords_y_minus_z_x = np.concatenate([cords_x_y_z[1, :], -cords_x_y_z[2, :], cords_x_y_z[0, :]])
###############location
bbox = np.transpose(np.dot(camera_coordinate(camera_rgb), cords_y_minus_z_x))
camera_bbox = (np.concatenate([bbox[:, 0] / bbox[:, 2], bbox[:, 1] / bbox[:, 2], bbox[:, 2]], axis=1))
# pdb.set_trace()
camera_bbox_e = camera_bbox[0]
# if camera_bbox_e[:,0]<0 or camera_bbox_e[:,1]<0 or camera_bbox_e[:,2]<0:
# continue
if camera_bbox_e[:,2]<0:
continue
#bboxe = camera_bbox
xmin,ymin,xmax,ymax=0,0,0,0
bboxe = ClientSideBoundingBoxes.get_bounding_boxes([car], camera_rgb)
if len(bboxe)==0:
continue
bboxe=bboxe[0]
bbox_in_image = (np.min(bboxe[:,0]), np.min(bboxe[:,1]), np.max(bboxe[:,0]), np.max(bboxe[:,1]))
bbox_crop = tuple(max(0, b) for b in bbox_in_image)
bbox_crop = (min(img_size[0], bbox_crop[0]),
min(img_size[1], bbox_crop[1]),
min(img_size[0], bbox_crop[2]),
min(img_size[1], bbox_crop[3]))
if bbox_crop[0] >= bbox_crop[2] or bbox_crop[1] >= bbox_crop[3]:
continue
#t_points = [(int(bboxe[i, 0]), int(bboxe[i, 1])) for i in range(8)]
# width_x=[int(bboxe[i, 0]) for i in range(8)]
# high_y=[int(bboxe[i, 1]) for i in range(8)]
# xmin,ymin,xmax,ymax=min(width_x),min(high_y),max(width_x),max(high_y)
xmin,ymin,xmax,ymax=bbox_crop
# x_cen=(xmin+xmax)/2
# y_cen=(ymin+ymax)/2
# if x_cen<0 or y_cen<0 or x_cen>VIEW_WIDTH or y_cen>VIEW_HEIGHT:
# continue
car_type, truncated, occluded, alpha= 'Car', 0, 0,0
dh, dw,dl=extent.z*2,extent.y*2,extent.x*2
cords_y_minus_z_x=np.array(cords_y_minus_z_x)
ly, lz,lx=cords_y_minus_z_x[0][0],cords_y_minus_z_x[1][0],cords_y_minus_z_x[2][0]
lz=lz+dh
ry=(car.get_transform().rotation.yaw-camera_rgb.get_transform().rotation.yaw+90)*np.pi/180
check_box=False
ofs = 10
for one_box in car_2d_bbox:
xmi,ymi,xma,yma=one_box
if xmin>xmi-ofs and ymin>ymi-ofs and xmax<xma+ofs and ymax<yma+ofs:
check_box=True
if check_box or np.sqrt(ly**2+lx**2)<2:
continue
# bbox_crop = tuple(max(0, b) for b in [xmin,ymin,xmax,ymax])
# bbox_crop = (min(img_size[0], bbox_crop[0]),
# min(img_size[1], bbox_crop[1]),
# min(img_size[0], bbox_crop[2]),
# min(img_size[1], bbox_crop[3]))
# Use segment image to determine whether the vehicle is occluded.
# See https://carla.readthedocs.io/en/0.9.11/ref_sensors/#semantic-segmentation-camera
# print('seg: ',semseg[int((ymin+ymax)/2),int((xmin+xmax)/2),0])
# print('x: ',int((ymin+ymax)/2),'y: ',int((xmin+xmax)/2))
if semseg[int((ymin+ymax)/2),int((xmin+xmax)/2),0] != 10:
continue
car_2d_bbox.append(bbox_crop)
v.append(car)
if car not in all_vehicles_list:
all_vehicles_list.append(car)
if ry>np.pi:
ry-=np.pi
if ry<-np.pi:
ry+=np.pi
# pdb.set_trace()
txt="{} {} {} {} {} {} {} {} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {} {}\n".format(car_type, truncated, occluded, alpha, xmin, ymin, xmax, ymax, dh, dw,
dl,ly, lz, lx, ry,car.id)
label_files.write(txt)
label_files.close()
#print(cam_type,cam_subset,k,len(v))
#bounding_boxes = ClientSideBoundingBoxes.get_bounding_boxes(v, camera_rgb)
######################################################file
# pygame.image.save(display,'%s/image_1/%06d.png' % (out_path,k))
image.save_to_disk('{}/{}/image_2/{:0>6d}.png'.format (out_path,camera_rgb.sensor_name,k))
global_file_path = out_path + '/global_label_2'
if not os.path.exists(global_file_path):
os.makedirs(global_file_path)
global_vehicle_file = open("{}/{:0>6d}.txt".format(global_file_path,k), "w")
for vehicle in all_vehicles_list:
extent = vehicle.bounding_box.extent
car_type, truncated, occluded, alpha,xmin,ymin,xmax,ymax= 'Car', 0, 0,0,0,0,0,0
dh, dw,dl=extent.z*2,extent.y*2,extent.x*2
location = vehicle.get_transform().location
ly,lz,lx = location.x,location.y,location.z
ry = vehicle.get_transform().rotation.yaw * np.pi / 180
txt="{} {} {} {} {} {} {} {} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {:.4f} {} {}\n".format(car_type, truncated, occluded, alpha, xmin, ymin, xmax, ymax, dh, dw,
dl,ly, lz, lx, ry_filter(ry),vehicle.id)
global_vehicle_file.write(txt)
global_vehicle_file.close()
for camera_rgb in rgb_list:
calib_files=open("{}/{}/calib/{:0>6d}.txt".format(out_path,camera_rgb.sensor_name,0), "w")
K=camera_coordinate(camera_rgb)
txt="P2: {} {} {} {} {} {} {} {} {}\n".format( K[0][0],K[0][1],K[0][2],
K[1][0],K[1][1],K[1][2],
K[2][0],K[2][1],K[2][2])
calib_files.write(txt)
calib_files.close()
print('destroying actors.')
for actor in actor_list:
actor.destroy()
# world_snapshot = world.get_snapshot()
# vehicles_actors = []
# for vehicle in vehicles_actor:
# if world_snapshot.find(vehicle) is not None:
# vehicles_actors.append(vehicle)
# for vehicle in vehicles_actor:
#client.apply_batch([carla.command.DestroyActor(vehicle) for vehicle in vehicles_actors])
#pygame.quit()
return
from carla import Location, Rotation, Transform
### Use case ###################################################################
client = carla.Client('localhost', 2000)
client.set_timeout(1000)
world = client.get_world()
blueprint_library = world.get_blueprint_library()
vehicle_blueprints = blueprint_library.filter('vehicle.mustang.*')
blueprint = random.choice(vehicle_blueprints)
transform = Transform(Location(50.0, 50.0, 2.0))
player_vehicle = world.spawn_actor(blueprint, transform)
vehicle_camera = carla.Camera('MyCameraDepth', type='Depth')
vehicle_camera.attach_to(player_vehicle, Transform(Location(z=60.0)))
vehicle_camera.listen(lambda image: image.save_to_disk())
static_camera = carla.Camera('SecurityCamera', type='SceneFinal')
static_camera.attach_to(world, Transform(Location(x=30.0), Rotation(yaw=90)))
static_camera.listen(lambda image: image.save_to_disk())
while True:
control = carla.VehicleControl(throttle=0.6, reverse=True)
player_vehicle.apply_control(control)
time.sleep(1)
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
def restart(self):
# Keep same camera config if the camera manager exists.
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
# ******I have made this random.choice just have one choice --> vehicle.bmw.grandtourer
blueprint = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
# print("blue print")
# print(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
# print("color")
# print(blueprint.get_attribute('color').recommended_values)
# ****** I have set the blueprint being white as '255,255,255'
blueprint.set_attribute('color', '255,255,255')
batch = []
blueprint2 = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
blueprint2.set_attribute('role_name', 'hero2')
if blueprint2.has_attribute('color'):
blueprint2.set_attribute('color', '0,0,0')
# batch.append(SpawnActor(blueprint, transform))
# Spawn the player.
# ******************* change positions ****************************************
while self.player1 is None:
# spawn_points = self.map.get_spawn_points()
# print("length of sapwn_point is %d" % len(spawn_points) + ",just choose one") # 257 just choose one
x_rand = random.randint(18000, 23000)
x_rand_v2 = random.randint(x_rand + 1000, 25000)
x_rand = x_rand / 100.0
x_rand_v2 = x_rand_v2 / 100.0
y_rand = random.randint(12855, 13455)
y_rand = y_rand / 100.0
x_speed_randon_v2 = random.randint(100, 3000)
if x_speed_randon_v2 - 1000 > 0:
x_speed_player = x_speed_randon_v2 - 100
else:
x_speed_player = 0
x_speed_player = x_speed_player / 100
x_speed_randon_v2 = x_speed_randon_v2 / 100
spawn_point1 = Transform(
Location(x=x_rand, y=y_rand, z=1.320625),
Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
# ********************************* end *****************************************
self.player1 = self.world.try_spawn_actor(blueprint, spawn_point1)
spawn_point2 = Transform(
Location(x=x_rand_v2, y=y_rand, z=1.320625),
Rotation(pitch=0.000000, yaw=179.999756, roll=0.000000))
if self.vehicle2 is None:
# print("*****************")
self.vehicle2 = self.world.try_spawn_actor(
blueprint2, spawn_point2)
self.vehicle2.set_velocity(
carla.Vector3D(x=-x_speed_randon_v2, y=0.00000,
z=0.000000))
self.player1.set_velocity(
carla.Vector3D(x=-x_speed_player, y=0.00000, z=0.00000))
# Set up the sensors.
self.collision_sensor = CollisionSensor(self.player1, self.hud)
self.lane_invasion_sensor = LaneInvasionSensor(self.player1, self.hud)
self.gnss_sensor = GnssSensor(self.player1)
self.camera_manager = CameraManager(self.player1, self.hud)
self.camera_manager.transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player1)
self.hud.notification(actor_type)
def get_top_down_transform(transform, top_down_camera_altitude):
# Calculation relies on the fact that the camera's FOV is 90.
top_down_location = (transform.location +
Location(0, 0, top_down_camera_altitude))
return Transform(top_down_location, Rotation(-90, 0, 0))