def build_experiments(self):
"""
Creates the whole set of experiment objects,
The experiments created depend on the selected Town.
"""
# We set the RGB, seg cameras
if self.rgb:
camera = Camera('rgb')
camera.set(FOV=100)
camera.set_image_size(800, 600)
camera.set_position(2.0, 0.0, 1.4)
camera.set_rotation(-15.0, 0, 0)
if self.seg:
seg = Camera('seg', PostProcessing='SemanticSegmentation')
seg.set(FOV=100)
seg.set_image_size(800, 600)
seg.set_position(2.0, 0.0, 1.4)
seg.set_rotation(-15.0, 0, 0)
poses_tasks = self._poses()
vehicles_tasks = [20]
pedestrians_tasks = [50]
task_names = ['normal']
experiments_vector = []
for weather in self.weathers:
for iteration in range(len(poses_tasks)):
poses = poses_tasks[iteration]
vehicles = vehicles_tasks[iteration]
pedestrians = pedestrians_tasks[iteration]
conditions = CarlaSettings()
conditions.set(
SendNonPlayerAgentsInfo=True,
NumberOfVehicles=vehicles,
NumberOfPedestrians=pedestrians,
WeatherId=weather
)
conditions.set(DisableTwoWheeledVehicles=True)
# Add all the cameras that were set for this experiments
if self.rgb:
conditions.add_sensor(camera)
if self.seg:
conditions.add_sensor(seg)
experiment = Experiment()
experiment.set(
Conditions=conditions,
Poses=poses,
Task=iteration,
TaskName=task_names[iteration],
Repetitions=1
)
experiments_vector.append(experiment)
return experiments_vector
def build_experiments(self):
"""
Creates the whole set of experiment objects,
The experiments created depend on the selected Town.
"""
# We set the camera
# This single RGB camera is used on every experiment
camera = Camera('rgb')
camera.set(FOV=100)
camera.set_image_size(800, 600)
camera.set_position(2.0, 0.0, 1.4)
camera.set_rotation(-15.0, 0, 0)
poses_tasks = self._poses()
vehicles_tasks = [0, 15, 70]
pedestrians_tasks = [0, 50, 150]
vehicles_tasks = [70]
pedestrians_tasks = [150]
task_names = ['empty', 'normal', 'cluttered']
task_names = ['cuttered']
experiments_vector = []
for weather in self.weathers:
for iteration in range(len(poses_tasks)):
poses = poses_tasks[iteration]
vehicles = vehicles_tasks[iteration]
pedestrians = pedestrians_tasks[iteration]
conditions = CarlaSettings()
conditions.set(SendNonPlayerAgentsInfo=True,
NumberOfVehicles=vehicles,
NumberOfPedestrians=pedestrians,
WeatherId=weather)
conditions.set(DisableTwoWheeledVehicles=True)
# Add all the cameras that were set for this experiments
conditions.add_sensor(camera)
experiment = Experiment()
experiment.set(Conditions=conditions,
Poses=poses,
Task=iteration,
TaskName=task_names[iteration],
Repetitions=1)
experiments_vector.append(experiment)
return experiments_vector
def game_loop(args, agent):
pygame.init()
pygame.font.init()
world = None
total_images = 0
if args.output_folder is not None:
os.makedirs(args.output_folder)
try:
with make_carla_client(args.host, args.port) as client:
# Hack to fix for the issue 310, we force a reset, so it does not get
# the positions on first server reset.
client.load_settings(CarlaSettings())
client.start_episode(0)
display = pygame.display.set_mode(
(args.width, args.height), pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client, hud)
controller = KeyboardControl(world, False)
#spawn_point = world.world.get_map().get_spawn_points()[0]
objective = world.get_objective()
clock = pygame.time.Clock()
while True:
if controller.parse_events(world, clock):
return
world.tick(clock)
measurements, sensor_data = world.get_agent_sensor()
world.render(display)
pygame.display.flip()
print(controller.get_command())
control = agent.run_step(
measurements, sensor_data, controller.get_command(),
(objective.location.x, objective.location.y,
objective.location.z))
world.camera_manager.set_sensor(sensor_data['hudcamera'].data)
attentions = agent.get_attentions()
world.camera_manager.show_image_mini(agent.latest_image,
attentions[0],
attentions[1],
attentions[2])
print(control)
world.apply_control(control)
if args.output_folder is not None:
scipy.misc.imsave(
os.path.join(args.output_folder,
'image' + str(total_images) + '.png'),
agent.latest_image)
scipy.misc.imsave(
os.path.join(args.output_folder,
'layer1_' + str(total_images) + '.png'),
attentions[0])
scipy.misc.imsave(
os.path.join(args.output_folder,
'layer2_' + str(total_images) + '.png'),
attentions[1])
scipy.misc.imsave(
os.path.join(args.output_folder,
'layer3_' + str(total_images) + '.png'),
attentions[2])
total_images += 1
finally:
pygame.quit()
def make_carla_settings(benchmark=None, task=None):
"""Make a CarlaSettings object with the settings we need."""
settings = CarlaSettings()
settings.set(SendNonPlayerAgentsInfo=True,
SynchronousMode=True,
NumberOfVehicles=30,
NumberOfPedestrians=50,
WeatherId=1)
settings.set(DisableTwoWheeledVehicles=True)
settings.randomize_seeds() # IMPORTANT TO RANDOMIZE THE SEEDS EVERY TIME
camera0 = sensor.Camera('rgb')
camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
camera0.set(FOV=100)
camera0.set_image_size(800, 600)
camera0.set_position(2.0, 0.0, 1.4)
camera0.set_rotation(-15.0, 0, 0)
settings.add_sensor(camera0)
camera0 = sensor.Camera('hudcamera')
camera0.set_image_size(WINDOW_WIDTH, WINDOW_HEIGHT)
camera0.set(FOV=100)
camera0.set_image_size(1280, 730)
camera0.set_position(-5.5, 0.0, 2.8)
camera0.set_rotation(-15.0, 0, 0)
settings.add_sensor(camera0)
return settings
