def __set_random_frame(self, spectator, vehicle):
r = random.uniform(self.near_r, 5)
theta = random.uniform(0, 2 * math.pi)
phi = random.uniform((5 / 14) * math.pi, (1 / 6) * math.pi)
near_frac = vehicle.bounding_box.extent.x
ratio_f = near_frac / self.near_r
strafe_amt = r * ratio_f - near_frac
right_strafe = random.uniform(-strafe_amt, strafe_amt)
above_strafe = random.uniform(-strafe_amt, strafe_amt)
transform = carlautil.spherical_to_camera_watcher_transform(
r, theta, phi, location=vehicle.get_location())
transform = carlautil.strafe_transform(transform,
right=right_strafe,
above=above_strafe)
spectator.set_transform(transform)
def demo_shift(self, spectator, vehicle):
iterations = 100
theta = math.pi / 2
phi = math.pi / 4
r = np.linspace(self.near_r, 5, iterations)
near_frac = vehicle.bounding_box.extent.x
ratio_f = near_frac / self.near_r
for jdx in range(iterations):
transform = carlautil.spherical_to_camera_watcher_transform(
r[jdx], theta, phi, location=vehicle.get_location())
transform = carlautil.strafe_transform(transform,
right=r[jdx]*ratio_f - near_frac,
above=r[jdx]*ratio_f - near_frac)
spectator.set_transform(transform)
if jdx == 0 or jdx == iterations - 1:
for _ in range(50): self.world.wait_for_tick()
else:
self.world.wait_for_tick()
def demo_all_lights(self, spectator, vehicle):
iterations = 150
theta = np.linspace(-math.pi / 2, math.pi / 2, iterations)
phi = math.pi / 4
r = (self.near_r + self.far_r) / 2.
sun_altitude_angles = np.linspace(1, -19, iterations)
original_lightstate = vehicle.get_light_state()
light_types = [
"Position", "LowBeam", "HighBeam", "Brake", "RightBlinker",
"LeftBlinker", "Reverse", "Fog", "Interior", "Special1",
"Special2", "All"
]
for light_type in light_types:
print(f"Demonstrating vehicle {light_type} lights.")
vehicle.set_light_state(
getattr(carla.VehicleLightState, light_type))
for jdx in range(iterations):
# set spectator orientation and position
transform = carlautil.spherical_to_camera_watcher_transform(
r, theta[jdx], phi, location=vehicle.get_location())
transform = carlautil.strafe_transform(transform,
right=0,
above=0)
spectator.set_transform(transform)
# set weather
weather = self.world.get_weather()
weather.sun_altitude_angle = sun_altitude_angles[jdx]
self.world.set_weather(weather)
# wait for server before continuing
if jdx == 0 or jdx == iterations - 1:
for _ in range(50):
self.world.wait_for_tick()
else:
self.world.wait_for_tick()
vehicle.set_light_state(original_lightstate)