def __init__(self, name, buffer_logs=False):
super(RadarOperator, self).__init__(name, buffer_logs)
self._logger = setup_logging(self.name, 'pylot.log')
self._cnt = 0
def __init__(self, name, flags, log_file_name=None):
super(DepthCameraVisualizer, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
self._flags = flags
def __init__(self, name, flags, log_file_name=None):
super(SegmentedTopDownVideoOperator, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
self._flags = flags
def __init__(self, name, log_file_name=None):
super(Sink, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
self.last_received_num = None
def __init__(self,
name,
auto_pilot,
flags,
log_file_name=None,
csv_file_name=None):
""" Initializes the CarlaOperator with the given name.
Args:
name: The unique name of the operator.
auto_pilot: True to enable auto_pilot for ego vehicle.
flags: A handle to the global flags instance to retrieve the
configuration.
log_file_name: The file to log the required information to.
csv_file_name: The file to log info to in csv format.
"""
super(CarlaOperator, self).__init__(name)
self._flags = flags
self._logger = setup_logging(self.name, log_file_name)
self._csv_logger = setup_csv_logging(self.name + '-csv', csv_file_name)
self._auto_pilot = auto_pilot
# Connect to CARLA and retrieve the world running.
self._client, self._world = get_world(self._flags.carla_host,
self._flags.carla_port,
self._flags.carla_timeout)
if self._client is None or self._world is None:
raise ValueError('There was an issue connecting to the simulator.')
if self._flags.carla_version == '0.9.6':
self._world = self._client.load_world(
'Town{:02d}'.format(self._flags.carla_town))
else:
# TODO (Sukrit) :: ERDOS provides no way to retrieve handles to the
# class objects to do garbage collection. Hence, objects from
# previous runs of the simulation may persist. We need to clean
# them up right now. In future, move this logic to a seperate
# destroy function.
reset_world(self._world)
# Set the weather.
weather, name = get_weathers()[self._flags.carla_weather - 1]
self._logger.info('Setting the weather to {}'.format(name))
self._world.set_weather(weather)
# Turn on the synchronous mode so we can control the simulation.
if self._flags.carla_synchronous_mode:
set_synchronous_mode(self._world, self._flags.carla_fps)
# Spawn the required number of vehicles.
self._vehicles = self._spawn_vehicles(self._flags.carla_num_vehicles)
# Spawn the vehicle that the pipeline has to drive and send it to
# the downstream operators.
self._driving_vehicle = self._spawn_driving_vehicle()
if self._flags.carla_version == '0.9.6':
# Pedestrians are do not move in versions older than 0.9.6.
(self._pedestrians, ped_control_ids) = self._spawn_pedestrians(
self._flags.carla_num_pedestrians)
# Tick once to ensure that the actors are spawned before the data-flow
# starts.
self._tick_at = time.time()
self._tick_simulator()
# Start pedestrians
if self._flags.carla_version == '0.9.6':
self._start_pedestrians(ped_control_ids)
def __init__(self, name, flags, log_file_name=None, csv_file_name=None):
super(LidarLoggerOp, self).__init__(name)
self._flags = flags
self._logger = setup_logging(self.name, log_file_name)
self._csv_logger = setup_csv_logging(self.name + '-csv', csv_file_name)
self._pc_msg_cnt = 0
def __init__(self, name, log_file_name=None):
super(FusionVerificationOperator, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
self.vehicles = deque()
def __init__(self, name, num_points=100000, buffer_logs=False):
super(LidarOperator, self).__init__(name, buffer_logs)
self._logger = setup_logging(self.name, 'pylot.log')
self._num_points = num_points
self._cnt = 0
def __init__(self, name, log_file_name=None):
super(CameraReplayOperator, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
self._cnt = 1
self._image = None
def __init__(self, name, log_file_name=None):
super(ControlOperator, self).__init__(name)
self._logger = setup_logging(self.name, log_file_name)
def __init__(self, name, output_stream_name):
super(DetectionOperator, self).__init__(name)
self._logger = setup_logging(self.name)
self._output_stream_name = output_stream_name
self._net = None
self.bridge = None