def _set_actor_information(self):
"""
Extract all actors and their corresponding specification
NOTE: The rolename property has to be unique!
"""
for entity in self.xml_tree.iter("Entities"):
for obj in entity.iter("Object"):
rolename = obj.attrib.get('name', 'simulation')
for vehicle in obj.iter("Vehicle"):
model = vehicle.attrib.get('name', "vehicle.*")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
for pedestrian in obj.iter("Pedestrian"):
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def _set_actor_information(self):
"""
Extract all actors and their corresponding specification
NOTE: The rolename property has to be unique!
"""
for entity in self.xml_tree.iter("Entities"):
for obj in entity.iter("Object"):
rolename = obj.attrib.get('name', 'simulation')
for vehicle in obj.iter("Vehicle"):
color = None
model = vehicle.attrib.get('name', "vehicle.*")
category = vehicle.attrib.get('category', "car")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
if prop.get('name', '') == 'color':
color = prop.get('value')
speed = self._get_actor_speed(rolename)
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
speed,
color=color,
category=category)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
for pedestrian in obj.iter("Pedestrian"):
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
category="pedestrian")
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
for misc in obj.iter("MiscObject"):
category = misc.attrib.get('category')
if category == "barrier":
model = "static.prop.streetbarrier"
elif category == "guardRail":
model = "static.prop.chainbarrier"
else:
model = misc.attrib.get('name')
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def _extract_vehicle_information(self, obj, rolename, vehicle, args):
"""
Helper function to _set_actor_information for getting vehicle information from XML tree
"""
color = None
model = vehicle.attrib.get('name', "vehicle.*")
category = vehicle.attrib.get('vehicleCategory', "car")
ego_vehicle = False
for prop in obj.iter("Property"):
if prop.get('name', '') == 'type':
ego_vehicle = prop.get('value') == 'ego_vehicle'
if prop.get('name', '') == 'color':
color = prop.get('value')
speed = self._get_actor_speed(rolename)
new_actor = ActorConfigurationData(model,
carla.Transform(),
rolename,
speed,
color=color,
category=category,
args=args)
new_actor.transform = self._get_actor_transform(rolename)
if ego_vehicle:
self.ego_vehicles.append(new_actor)
else:
self.other_actors.append(new_actor)
def _extract_pedestrian_information(self, obj, rolename, pedestrian, args):
"""
Helper function to _set_actor_information for getting pedestrian information from XML tree
"""
model = pedestrian.attrib.get('model', "walker.*")
new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="pedestrian", args=args)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
def _extract_misc_information(self, obj, rolename, misc, args):
"""
Helper function to _set_actor_information for getting vehicle information from XML tree
"""
category = misc.attrib.get('category')
if category == "barrier":
model = "static.prop.streetbarrier"
elif category == "guardRail":
model = "static.prop.chainbarrier"
else:
model = misc.attrib.get('name')
new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="misc", args=args)
new_actor.transform = self._get_actor_transform(rolename)
self.other_actors.append(new_actor)
