def get_actors(world):
actor_list = world.get_actors()
tl_actors = actor_list.filter('traffic.traffic_light*')
traffic_lights = [
TrafficLight.from_carla_actor(tl_actor) for tl_actor in tl_actors
]
traffic_stop_actors = actor_list.filter('traffic.stop')
traffic_stops = [
StopSign.from_carla_actor(ts_actor) for ts_actor in traffic_stop_actors
]
speed_limit_actors = actor_list.filter('traffic.speed_limit*')
speed_signs = [
SpeedLimitSign.from_carla_actor(ts_actor)
for ts_actor in speed_limit_actors
]
return (tl_actors, traffic_lights, traffic_stops, speed_signs)
def parse_stop_signs(self, stop_signs):
# Each stop sign has an id, position, and trigger volume.
stop_signs_list = []
for stop_sign_dict in stop_signs.values():
stop_sign_id = stop_sign_dict['id']
location = _gps_to_location(*stop_sign_dict['position'])
# Trigger volume is currently unused.
trigger_volume = stop_sign_dict['trigger_volume']
stop_signs_list.append(
StopSign(
1.0, # confidence
None, # bounding box
stop_sign_id,
pylot.utils.Transform(
location, pylot.utils.Rotation()) # No rotation given
))
return stop_signs_list
def extract_data_in_pylot_format(actor_list):
"""Extracts actor information in pylot format from an actor list.
Args:
actor_list (carla.ActorList): An actor list object with all the
simulation actors.
Returns:
A tuple that contains objects for all different types of actors.
"""
# Note: the output will include the ego vehicle as well.
vec_actors = actor_list.filter('vehicle.*')
vehicles = [
Obstacle.from_simulator_actor(vec_actor) for vec_actor in vec_actors
]
person_actors = actor_list.filter('walker.pedestrian.*')
people = [
Obstacle.from_simulator_actor(ped_actor) for ped_actor in person_actors
]
tl_actors = actor_list.filter('traffic.traffic_light*')
traffic_lights = [
TrafficLight.from_simulator_actor(tl_actor) for tl_actor in tl_actors
]
speed_limit_actors = actor_list.filter('traffic.speed_limit*')
speed_limits = [
SpeedLimitSign.from_simulator_actor(ts_actor)
for ts_actor in speed_limit_actors
]
traffic_stop_actors = actor_list.filter('traffic.stop')
traffic_stops = [
StopSign.from_simulator_actor(ts_actor)
for ts_actor in traffic_stop_actors
]
return (vehicles, people, traffic_lights, speed_limits, traffic_stops)