def log_stop_signs(world):
world_map = world.get_map()
(_, traffic_lights, traffic_stops, speed_signs) = get_actors(world)
transforms_of_interest = []
# Add transforms that are close to stop signs.
for stop_sign in traffic_stops:
for offset in range(10, 25, 5):
offset_loc = pylot.simulation.utils.Location(x=-offset, y=0, z=0)
offset_rot = pylot.simulation.utils.Rotation(
pitch=0, yaw=0, roll=0)
offset_trans = pylot.simulation.utils.Transform(
offset_loc, offset_rot)
transform = stop_sign.transform * offset_trans
location = to_carla_location(transform.location)
w = world_map.get_waypoint(
location,
project_to_road=True,
lane_type=carla.LaneType.Driving)
camera_transform = to_pylot_transform(w.transform)
camera_transform.location.z += 2.0
transform = to_carla_transform(camera_transform)
transforms_of_interest.append(transform)
# Ensure all traffic lights are red.
change_traffic_light_colors(world, carla.TrafficLightState.Red)
world.tick()
time.sleep(3)
(_, traffic_lights, traffic_stops, speed_signs) = get_actors(world)
log_obstacles(world,
transforms_of_interest,
traffic_lights,
carla.TrafficLightState.Red,
speed_signs,
traffic_stops)
def log_speed_limits(world):
world_map = world.get_map()
(_, traffic_lights, traffic_stops, speed_signs) = get_actors(world)
transforms_of_interest = []
# Add transforms that are close to speed limit signs.
for speed_sign in speed_signs:
for offset in range(10, 25, 5):
# Speed signs have different coordinate systems, hence
# we need to offset y, instead of x.
offset_loc = pylot.simulation.utils.Location(x=0, y=offset, z=0)
offset_rot = pylot.simulation.utils.Rotation(pitch=0,
yaw=0,
roll=0)
offset_trans = pylot.simulation.utils.Transform(
offset_loc, offset_rot)
transform = speed_sign.transform * offset_trans
location = to_carla_location(transform.location)
w = world_map.get_waypoint(location,
project_to_road=True,
lane_type=carla.LaneType.Driving)
camera_transform = to_pylot_transform(w.transform)
camera_transform.location.z += 2.0
transform = to_carla_transform(camera_transform)
transforms_of_interest.append(transform)
# Ensure all traffic lights are red.
change_traffic_light_colors(world, carla.TrafficLightState.Red)
world.tick()
time.sleep(1)
(_, traffic_lights, traffic_stops, speed_signs) = get_actors(world)
for weather in find_weather_presets():
change_weather(world, weather)
log_obstacles(world, transforms_of_interest, traffic_lights,
carla.TrafficLightState.Red, speed_signs, traffic_stops,
weather, world_map.name)
def on_vehicle_id(self, msg):
""" This function receives the identifier for the vehicle, retrieves
the handler for the vehicle from the simulation and attaches the
camera to it.
Args:
msg: The identifier for the vehicle to attach the camera to.
"""
vehicle_id = msg.data
self._logger.info(
"The CameraDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.carla_host, self._flags.carla_port,
self._flags.carla_timeout)
if world is None:
raise ValueError("There was an issue connecting to the simulator.")
if self._flags.carla_synchronous_mode:
set_synchronous_mode(world, self._flags.carla_fps)
num_tries = 0
while self._vehicle is None and num_tries < 30:
self._vehicle = world.get_actors().find(vehicle_id)
self._logger.info(
"Could not find vehicle. Try {}".format(num_tries))
time.sleep(1)
num_tries += 1
if self._vehicle is None:
raise ValueError("There was an issue finding the vehicle.")
# Install the camera.
camera_blueprint = world.get_blueprint_library().find(
self._camera_setup.camera_type)
camera_blueprint.set_attribute('image_size_x',
str(self._camera_setup.width))
camera_blueprint.set_attribute('image_size_y',
str(self._camera_setup.height))
camera_blueprint.set_attribute('fov', str(self._camera_setup.fov))
transform = to_carla_transform(self._camera_setup.get_transform())
self._logger.info("Spawning a camera: {}".format(self._camera_setup))
self._camera = world.spawn_actor(camera_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the camera.
self._camera.listen(self.process_images)
def on_vehicle_id(self, msg):
""" This function receives the identifier for the vehicle, retrieves
the handler for the vehicle from the simulation and attaches the
camera to it.
Args:
msg: The identifier for the vehicle to attach the camera to.
"""
vehicle_id = msg.data
self._logger.info(
"The LidarDriverOperator received the vehicle id: {}".format(
vehicle_id))
self._vehicle = self._world.get_actors().find(vehicle_id)
if self._vehicle is None:
raise ValueError("There was an issue finding the vehicle.")
# Install the Lidar.
lidar_blueprint = self._world.get_blueprint_library().find(
self._lidar_setup.lidar_type)
lidar_blueprint.set_attribute('channels',
str(self._lidar_setup.channels))
lidar_blueprint.set_attribute('range', str(self._lidar_setup.range))
lidar_blueprint.set_attribute('points_per_second',
str(self._lidar_setup.points_per_second))
lidar_blueprint.set_attribute(
'rotation_frequency', str(self._lidar_setup.rotation_frequency))
lidar_blueprint.set_attribute('upper_fov',
str(self._lidar_setup.upper_fov))
lidar_blueprint.set_attribute('lower_fov',
str(self._lidar_setup.lower_fov))
# XXX(ionel): Set sensor tick.
# lidar_blueprint.set_attribute('sensor_tick')
transform = to_carla_transform(self._lidar_setup.get_transform())
self._logger.info("Spawning a lidar: {}".format(self._lidar_setup))
self._lidar = self._world.spawn_actor(lidar_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the Lidar.
self._lidar.listen(self.process_point_clouds)
def on_vehicle_id(self, msg):
""" This function receives the identifier for the vehicle, retrieves
the handler for the vehicle from the simulation and attaches the
camera to it.
Args:
msg: The identifier for the vehicle to attach the camera to.
"""
vehicle_id = msg.data
self._logger.info(
"The CameraDriverOperator received the vehicle id: {}".format(
vehicle_id))
self._vehicle = self._world.get_actors().find(vehicle_id)
if self._vehicle is None:
raise ValueError("There was an issue finding the vehicle.")
# Install the camera.
camera_blueprint = self._world.get_blueprint_library().find(
self._camera_setup.camera_type)
camera_blueprint.set_attribute('image_size_x',
str(self._camera_setup.width))
camera_blueprint.set_attribute('image_size_y',
str(self._camera_setup.height))
transform = to_carla_transform(self._camera_setup.get_transform())
self._logger.info("Spawning a camera: {}".format(self._camera_setup))
self._camera = self._world.spawn_actor(camera_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the camera.
self._camera.listen(self.process_images)
def log_traffic_lights(world):
world_map = world.get_map()
(traffic_lights, _, traffic_stops, speed_signs) = get_actors(world)
tl_colors = [
carla.TrafficLightState.Yellow, carla.TrafficLightState.Green,
carla.TrafficLightState.Red
]
for light in traffic_lights:
print("Working for traffic light {}".format(light.id))
# For every traffic light, get the neighbouring lights except the one
# directly opposite.
group_lights = []
for n_light in light.get_group_traffic_lights():
if not check_lights_opposite(light, n_light):
group_lights.append(convert_to_pylot_traffic_light(n_light))
transforms_of_interest = []
for offset in range(10, 40, 5):
# Traffic lights have different coordinate systems, hence
# we need to offset y, instead of x and add that to the trigger
# volume location.
offset_loc = pylot.simulation.utils.Location(
x=light.trigger_volume.location.x,
y=light.trigger_volume.location.y + offset,
z=light.trigger_volume.location.z)
offset_rot = pylot.simulation.utils.Rotation(pitch=0,
yaw=0,
roll=0)
offset_trans = pylot.simulation.utils.Transform(
offset_loc, offset_rot)
# Transform the offset relative to the traffic light.
transform = to_pylot_transform(
light.get_transform()) * offset_trans
location = to_carla_location(transform.location)
# Get the waypoint nearest to the transform.
w = world_map.get_waypoint(location,
project_to_road=True,
lane_type=carla.LaneType.Driving)
w_rotation = w.transform.rotation
camera_transform = to_pylot_transform(w.transform)
camera_transform.location.z += 2.0
transform = to_carla_transform(camera_transform)
transforms_of_interest.append(transform)
# Get the right lanes.
wp_right = w.get_right_lane()
while wp_right and wp_right.lane_type == carla.LaneType.Driving \
and w_rotation == wp_right.transform.rotation:
camera_transform = to_pylot_transform(wp_right.transform)
camera_transform.location.z += 2.0
transform = to_carla_transform(camera_transform)
transforms_of_interest.append(transform)
wp_right = wp_right.get_right_lane()
# Get the left lanes.
wp_left = w.get_left_lane()
while wp_left and wp_left.lane_type == carla.LaneType.Driving and \
w_rotation == wp_left.transform.rotation:
camera_transform = to_pylot_transform(wp_left.transform)
camera_transform.location.z += 2.0
transform = to_carla_transform(camera_transform)
transforms_of_interest.append(transform)
wp_left = wp_left.get_left_lane()
print("The total number of transforms were: {}".format(
len(transforms_of_interest)))
for tl_color in tl_colors:
change_traffic_light_colors(world, tl_color)
world.tick()
time.sleep(3)
log_obstacles(world, transforms_of_interest, group_lights,
tl_color, speed_signs, traffic_stops)
def on_vehicle_id(self, msg):
""" This function receives the identifier for the vehicle, retrieves
the handler for the vehicle from the simulation and attaches the
camera to it.
Args:
msg: The identifier for the vehicle to attach the camera to.
"""
vehicle_id = msg.data
self._logger.info(
"The LidarDriverOperator received the vehicle id: {}".format(
vehicle_id))
# Connect to the world. We connect here instead of in the constructor
# to ensure we're connected to the latest world.
_, world = get_world(self._flags.carla_host,
self._flags.carla_port,
self._flags.carla_timeout)
if world is None:
raise ValueError("There was an issue connecting to the simulator.")
if self._flags.carla_synchronous_mode:
set_synchronous_mode(world, self._flags.carla_fps)
num_tries = 0
while self._vehicle is None and num_tries < 30:
self._vehicle = world.get_actors().find(vehicle_id)
self._logger.info("Could not find vehicle. Try {}".format(num_tries))
time.sleep(1)
num_tries += 1
if self._vehicle is None:
raise ValueError("There was an issue finding the vehicle.")
# Install the Lidar.
lidar_blueprint = world.get_blueprint_library().find(
self._lidar_setup.lidar_type)
lidar_blueprint.set_attribute('channels',
str(self._lidar_setup.channels))
lidar_blueprint.set_attribute('range',
str(self._lidar_setup.range))
lidar_blueprint.set_attribute('points_per_second',
str(self._lidar_setup.points_per_second))
lidar_blueprint.set_attribute(
'rotation_frequency',
str(self._lidar_setup.rotation_frequency))
lidar_blueprint.set_attribute('upper_fov',
str(self._lidar_setup.upper_fov))
lidar_blueprint.set_attribute('lower_fov',
str(self._lidar_setup.lower_fov))
# XXX(ionel): Set sensor tick.
# lidar_blueprint.set_attribute('sensor_tick')
transform = to_carla_transform(self._lidar_setup.get_transform())
self._logger.info("Spawning a lidar: {}".format(self._lidar_setup))
self._lidar = world.spawn_actor(lidar_blueprint,
transform,
attach_to=self._vehicle)
# Register the callback on the Lidar.
self._lidar.listen(self.process_point_clouds)