def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) camera2 = Camera('Camera2') camera2.set(PostProcessing='Depth', CameraFOV=120) camera2.set_image_size(1924, 1028) settings.add_camera(camera2) self.run_carla_client(settings, 3, 100)
def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) camera2 = Camera('Camera2') camera2.set(PostProcessing='Depth', CameraFOV=120) camera2.set_image_size(1924, 1028) settings.add_camera(camera2) self.run_carla_client(settings, 3, 100)
def run(self): settings = CarlaSettings() settings.set(SynchronousMode=True, SendNonPlayerAgentsInfo=True, NumberOfVehicles=60, NumberOfPedestrians=90) settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 3, 100)
def run(self): settings = CarlaSettings() settings.set( SynchronousMode=True, SendNonPlayerAgentsInfo=True, NumberOfVehicles=60, NumberOfPedestrians=90) settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 3, 100)
def run_carla_client(args): with make_connection(CarlaClient, args.host, args.port, timeout=15) as client: logging.info('CarlaClient connected') filename = '_images/episode_{:0>3d}/image_{:0>5d}.png' frames_per_episode = 300 episode = 0 while True: episode += 1 settings = CarlaSettings() settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous) settings.randomize_seeds() camera = Camera('DefaultCamera') camera.set_image_size(300, 200) # Do not change this, hard-coded in test. settings.add_camera(camera) logging.debug('sending CarlaSettings:\n%s', settings) logging.info('new episode requested') scene = client.request_new_episode(settings) number_of_player_starts = len(scene.player_start_spots) player_start = random.randint(0, max(0, number_of_player_starts - 1)) logging.info( 'start episode at %d/%d player start (%d frames)', player_start, number_of_player_starts, frames_per_episode) client.start_episode(player_start) use_ai_control = (random.random() < 0.5) reverse = (random.random() < 0.2) for frame in range(0, frames_per_episode): logging.debug('reading measurements...') measurements, images = client.read_measurements() logging.debug('received data of %d agents', len(measurements.non_player_agents)) assert len(images) == 1 assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY) if args.images_to_disk: images[0].save_to_disk(filename.format(episode, frame)) logging.debug('sending control...') control = measurements.player_measurements.ai_control if not use_ai_control: control.steer = random.uniform(-1.0, 1.0) control.throttle = 0.3 control.hand_brake = False control.reverse = reverse client.send_control( steer=control.steer, throttle=control.throttle, brake=control.brake, hand_brake=control.hand_brake, reverse=control.reverse)
def run_carla_client(args): with make_connection(CarlaClient, args.host, args.port, timeout=15) as client: logging.info('CarlaClient connected') filename = '_images/episode_{:0>3d}/image_{:0>5d}.png' frames_per_episode = 300 episode = 0 while True: episode += 1 settings = CarlaSettings() settings.set(SendNonPlayerAgentsInfo=True, SynchronousMode=args.synchronous) settings.randomize_seeds() camera = Camera('DefaultCamera') camera.set_image_size( 300, 200) # Do not change this, hard-coded in test. settings.add_camera(camera) logging.debug('sending CarlaSettings:\n%s', settings) logging.info('new episode requested') scene = client.request_new_episode(settings) number_of_player_starts = len(scene.player_start_spots) player_start = random.randint(0, max(0, number_of_player_starts - 1)) logging.info('start episode at %d/%d player start (%d frames)', player_start, number_of_player_starts, frames_per_episode) client.start_episode(player_start) use_ai_control = (random.random() < 0.5) reverse = (random.random() < 0.2) for frame in range(0, frames_per_episode): logging.debug('reading measurements...') measurements, images = client.read_measurements() logging.debug('received data of %d agents', len(measurements.non_player_agents)) assert len(images) == 1 assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY) if args.images_to_disk: images[0].save_to_disk(filename.format(episode, frame)) logging.debug('sending control...') control = measurements.player_measurements.ai_control if not use_ai_control: control.steer = random.uniform(-1.0, 1.0) control.throttle = 0.3 control.hand_brake = False control.reverse = reverse client.send_control(steer=control.steer, throttle=control.throttle, brake=control.brake, hand_brake=control.hand_brake, reverse=control.reverse)
def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format): # Here we will run 3 episodes with 300 frames each. number_of_episodes = 3 frames_per_episode = 300 # We assume the CARLA server is already waiting for a client to connect at # host:port. To create a connection we can use the `make_carla_client` # context manager, it creates a CARLA client object and starts the # connection. It will throw an exception if something goes wrong. The # context manager makes sure the connection is always cleaned up on exit. with make_carla_client(host, port) as client: print('CarlaClient connected') for episode in range(0, number_of_episodes): # Start a new episode. # Create a CarlaSettings object. This object is a handy wrapper # around the CarlaSettings.ini file. Here we set the configuration # we want for the new episode. settings = CarlaSettings() settings.set( SynchronousMode=True, NumberOfVehicles=30, NumberOfPedestrians=50, WeatherId=random.choice([1, 3, 7, 8, 14])) settings.randomize_seeds() # Now we want to add a couple of cameras to the player vehicle. We # will collect the images produced by these cameras every frame. # The default camera captures RGB images of the scene. camera0 = Camera('CameraRGB') # Set image resolution in pixels. camera0.set_image_size(800, 600) # Set its position relative to the car in centimeters. camera0.set_position(30, 0, 130) settings.add_camera(camera0) # Let's add another camera producing ground-truth depth. camera1 = Camera('CameraDepth', PostProcessing='Depth') camera1.set_image_size(800, 600) camera1.set_position(30, 0, 130) settings.add_camera(camera1) print('Requesting new episode...') # Now we request a new episode with these settings. The server # replies with a scene description containing the available start # spots for the player. Here instead of a CarlaSettings object we # could also provide a CarlaSettings.ini file as string. scene = client.request_new_episode(settings) # Choose one player start at random. number_of_player_starts = len(scene.player_start_spots) player_start = random.randint(0, max(0, number_of_player_starts - 1)) # Notify the server that we want to start the episode at # `player_start`. This function blocks until the server is ready to # start the episode. client.start_episode(player_start) # Iterate every frame in the episode. for frame in range(0, frames_per_episode): # Read the measurements and images produced by the server this # frame. measurements, images = client.read_measurements() # Print some of the measurements we received. print_player_measurements(measurements.player_measurements) # Save the images to disk if requested. if save_images_to_disk: for n, image in enumerate(images): image.save_to_disk(image_filename_format.format(episode, n, frame)) # Now we have to send the instructions to control the vehicle. # If we are in synchronous mode the server will pause the # simulation until we send this control. if not autopilot_on: client.send_control( steer=random.uniform(-1.0, 1.0), throttle=0.3, brake=False, hand_brake=False, reverse=False) else: # Together with the measurements, the server has sent the # control that the in-game AI would do this frame. We can # enable autopilot by sending back this control to the # server. Here we will also add some noise to the steer. control = measurements.player_measurements.ai_control control.steer += random.uniform(-0.1, 0.1) client.send_control(control) print('Done.') return True
def run(self): settings = CarlaSettings(SynchronousMode=True) settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 3, 200)
def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 5, 200)
def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 1, 2000, use_ai_control=True)
def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format): # Here we will run 3 episodes with 300 frames each. number_of_episodes = 3 frames_per_episode = 300 # We assume the CARLA server is already waiting for a client to connect at # host:port. To create a connection we can use the `make_carla_client` # context manager, it creates a CARLA client object and starts the # connection. It will throw an exception if something goes wrong. The # context manager makes sure the connection is always cleaned up on exit. with make_carla_client(host, port) as client: print('CarlaClient connected') for episode in range(0, number_of_episodes): # Start a new episode. # Create a CarlaSettings object. This object is a handy wrapper # around the CarlaSettings.ini file. Here we set the configuration # we want for the new episode. settings = CarlaSettings() settings.set(SynchronousMode=True, NumberOfVehicles=30, NumberOfPedestrians=50, WeatherId=random.choice([1, 3, 7, 8, 14])) settings.randomize_seeds() # Now we want to add a couple of cameras to the player vehicle. We # will collect the images produced by these cameras every frame. # The default camera captures RGB images of the scene. camera0 = Camera('CameraRGB') # Set image resolution in pixels. camera0.set_image_size(800, 600) # Set its position relative to the car in centimeters. camera0.set_position(30, 0, 130) settings.add_camera(camera0) # Let's add another camera producing ground-truth depth. camera1 = Camera('CameraDepth', PostProcessing='Depth') camera1.set_image_size(800, 600) camera1.set_position(30, 0, 130) settings.add_camera(camera1) print('Requesting new episode...') # Now we request a new episode with these settings. The server # replies with a scene description containing the available start # spots for the player. Here instead of a CarlaSettings object we # could also provide a CarlaSettings.ini file as string. scene = client.request_new_episode(settings) # Choose one player start at random. number_of_player_starts = len(scene.player_start_spots) player_start = random.randint(0, max(0, number_of_player_starts - 1)) # Notify the server that we want to start the episode at # `player_start`. This function blocks until the server is ready to # start the episode. client.start_episode(player_start) # Iterate every frame in the episode. for frame in range(0, frames_per_episode): # Read the measurements and images produced by the server this # frame. measurements, images = client.read_measurements() # Print some of the measurements we received. print_player_measurements(measurements.player_measurements) # Save the images to disk if requested. if save_images_to_disk: for n, image in enumerate(images): image.save_to_disk( image_filename_format.format(episode, n, frame)) # Now we have to send the instructions to control the vehicle. # If we are in synchronous mode the server will pause the # simulation until we send this control. if not autopilot_on: client.send_control(steer=random.uniform(-1.0, 1.0), throttle=0.3, brake=False, hand_brake=False, reverse=False) else: # Together with the measurements, the server has sent the # control that the in-game AI would do this frame. We can # enable autopilot by sending back this control to the # server. Here we will also add some noise to the steer. control = measurements.player_measurements.ai_control control.steer += random.uniform(-0.1, 0.1) client.send_control(control) print('Done.') return True
def run(self): settings = CarlaSettings(SynchronousMode=True) settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 3, 200)
def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 5, 200)
def run(self): settings = CarlaSettings() settings.add_camera(Camera('DefaultCamera')) self.run_carla_client(settings, 1, 2000, use_ai_control=True)