def __init__(self, client: carla.Client):
print("Available Maps:")
print(client.get_available_maps())
client.load_world('Town04')
client.reload_world()
self.carla_world: carla.World = client.get_world()
blueprint_library: carla.BlueprintLibrary = self.carla_world.get_blueprint_library(
)
# Create vehicle
vehicle_bp = blueprint_library.filter('vehicle.citroen.c3')[0]
spawn_point = self.carla_world.get_map().get_spawn_points()[86]
self.ego_vehicle: carla.Vehicle = self.carla_world.spawn_actor(
vehicle_bp, spawn_point)
self.ego_vehicle.set_autopilot(False)
for idx, waypoint in enumerate(
self.carla_world.get_map().get_spawn_points()):
self.carla_world.debug.draw_string(waypoint.location,
str(idx),
draw_shadow=False,
color=carla.Color(r=255,
g=0,
b=0),
life_time=1000,
persistent_lines=True)
# Move spectator cam into a topview close to the spawn point
self.carla_world.get_spectator().set_transform(
carla.Transform(
self.ego_vehicle.get_location() +
carla.Location(x=0, y=-10, z=100.0),
carla.Rotation(pitch=-80)))
self.create_traffic(client, [88, 84, 73, 357])
def prepare_ngsim_scenario(client: carla.Client) -> Scenario:
data_dir = os.environ.get("NGSIM_DIR")
assert data_dir, "Path to the directory with NGSIM dataset is required"
ngsim_map = NGSimDatasets.list()
ngsim_dataset = random.choice(ngsim_map)
client.load_world(ngsim_dataset.carla_map.level_path)
return NGSimLaneChangeScenario(
ngsim_dataset,
dataset_mode=DatasetMode.TRAIN,
data_dir=data_dir,
reward_type=RewardType.DENSE,
client=client,
)
def prepare_opendd_scenario(client: carla.Client) -> Scenario:
data_dir = os.environ.get("OPENDD_DIR")
assert data_dir, "Path to the directory with openDD dataset is required"
maps = ["rdb1", "rdb2", "rdb3", "rdb4", "rdb5", "rdb6", "rdb7"]
map_name = random.choice(maps)
carla_map = getattr(CarlaMaps, map_name.upper())
client.load_world(carla_map.level_path)
return OpenDDScenario(
client,
dataset_dir=data_dir,
dataset_mode=DatasetMode.TRAIN,
reward_type=RewardType.DENSE,
place_name=map_name,
)
from carla import LaneMarking
import carla
import random
import time
import math
import sys
# starting proper work now
print('attempting to connect...') # DEBUG
client = Client('localhost', 2000, worker_threads=12)
client.set_timeout(10.0)
client.load_world('/Game/Carla/Maps/single_left_bend')
print('connected!') # DEBUG
world = client.get_world()
# ##################################################
# Change weather for data collection
# ClearNoon, ClearSunset, WetSunset, WetNoon
world.set_weather(carla.WeatherParameters.WetSunset)
# ##################################################
# bp of all actors
blueprint_lib = world.get_blueprint_library()
vehicle_bp = blueprint_lib.find('vehicle.audi.tt')
lane_invasion_sensor_bp = blueprint_lib.find('sensor.other.lane_invasion')
