def setup(self, path_to_conf_file):
"""Setup phase. Invoked by the scenario runner."""
flags.FLAGS([__file__, '--flagfile={}'.format(path_to_conf_file)])
self._logger = erdos.utils.setup_logging('erdos_agent',
FLAGS.log_file_name)
enable_logging()
self.track = get_track()
self._camera_setups = create_camera_setups(self.track)
# Set the lidar in the same position as the center camera.
self._lidar_transform = pylot.utils.Transform(CENTER_CAMERA_LOCATION,
pylot.utils.Rotation())
self._lidar_setup = LidarSetup('lidar', 'sensor.lidar.ray_cast',
self._lidar_transform)
# Stores the waypoints we get from the challenge planner.
self._waypoints = None
# Stores the open drive string we get when we run in track 3.
self._open_drive_data = None
(camera_streams, pose_stream, global_trajectory_stream,
open_drive_stream, point_cloud_stream,
control_stream) = create_data_flow()
self._camera_streams = camera_streams
self._pose_stream = pose_stream
self._global_trajectory_stream = global_trajectory_stream
self._open_drive_stream = open_drive_stream
self._sent_open_drive = False
self._point_cloud_stream = point_cloud_stream
self._control_stream = control_stream
# Execute the data-flow.
erdos.run_async()
def setup(self, path_to_conf_file):
"""Setup phase. Invoked by the scenario runner."""
# Disable Tensorflow logging.
pylot.utils.set_tf_loglevel(logging.ERROR)
# Parse the flag file.
flags.FLAGS([__file__, '--flagfile={}'.format(path_to_conf_file)])
self._logger = erdos.utils.setup_logging('erdos_agent',
FLAGS.log_file_name)
enable_logging()
self.track = get_track()
self._town_name = None
self._camera_setups = create_camera_setups()
# Set the lidar in the same position as the center camera.
self._lidar_transform = pylot.utils.Transform(CENTER_CAMERA_LOCATION,
pylot.utils.Rotation())
self._lidar_setup = LidarSetup('lidar',
'sensor.lidar.ray_cast',
self._lidar_transform,
range=8500,
legacy=False)
self._last_point_cloud = None
self._last_yaw = 0
# Stores the waypoints we get from the challenge planner.
self._waypoints = None
# Stores the open drive string we get when we run in track 3.
self._open_drive_data = None
(camera_streams, pose_stream, route_stream, global_trajectory_stream,
open_drive_stream, point_cloud_stream, imu_stream, gnss_stream,
control_stream, control_display_stream, ground_obstacles_stream,
ground_traffic_lights_stream, vehicle_id_stream,
streams_to_send_top_on) = create_data_flow()
self._camera_streams = camera_streams
self._pose_stream = pose_stream
self._route_stream = route_stream
self._sent_initial_pose = False
self._global_trajectory_stream = global_trajectory_stream
self._open_drive_stream = open_drive_stream
self._sent_open_drive = False
self._point_cloud_stream = point_cloud_stream
self._imu_stream = imu_stream
self._gnss_stream = gnss_stream
self._control_stream = control_stream
self._control_display_stream = control_display_stream
self._ground_obstacles_stream = ground_obstacles_stream
self._ground_traffic_lights_stream = ground_traffic_lights_stream
self._vehicle_id_stream = vehicle_id_stream
self._ego_vehicle = None
self._sent_vehicle_id = False
# Execute the dataflow.
self._node_handle = erdos.run_async()
for stream in streams_to_send_top_on:
stream.send(erdos.WatermarkMessage(erdos.Timestamp(is_top=True)))
if using_perfect_component():
# The agent is using a perfect component. It must directly connect
# to the simulator to send perfect data to the data-flow.
_, self._world = pylot.simulation.utils.get_world(
FLAGS.carla_host, FLAGS.carla_port, FLAGS.carla_timeout)
def create_lidar_setup():
"""Creates a setup for the LiDAR deployed on the car."""
# Set the lidar in the same position as the center camera.
# Pylot uses the LiDAR point clouds to compute the distance to
# the obstacles detected using the camera frames.
lidar_transform = pylot.utils.Transform(CENTER_CAMERA_LOCATION,
pylot.utils.Rotation())
lidar_setup = LidarSetup(
'lidar',
'sensor.lidar.ray_cast',
lidar_transform,
range=8500, # Range is only used for visualization.
legacy=False)
return lidar_setup
def test_point_cloud_get_pixel_location(lidar_points, pixel, expected):
camera_setup = CameraSetup(
'test_setup',
'sensor.camera.depth',
801,
601, # width, height
Transform(location=Location(0, 0, 0), rotation=Rotation(0, 0, 0)),
fov=90)
lidar_setup = LidarSetup('lidar', 'sensor.lidar.ray_cast',
Transform(Location(), Rotation()))
point_cloud = PointCloud(lidar_points, lidar_setup)
location = point_cloud.get_pixel_location(pixel, camera_setup)
assert np.isclose(location.x,
expected.x), 'Returned x value is not the same '
'as expected'
assert np.isclose(location.y,
expected.y), 'Returned y value is not the same '
'as expected'
assert np.isclose(location.z,
expected.z), 'Returned z value is not the same '
'as expected'
def on_lidar_msg(carla_pc):
game_time = int(carla_pc.timestamp * 1000)
print("Received lidar msg {}".format(game_time))
lidar_transform = pylot.utils.Transform.from_carla_transform(
carla_pc.transform)
lidar_setup = LidarSetup('lidar',
lidar_type='sensor.lidar.ray_cast',
transform=lidar_transform)
point_cloud = PointCloud.from_carla_point_cloud(carla_pc, lidar_setup)
camera_setup = CameraSetup("lidar_camera",
"sensor.camera.depth",
800,
600,
lidar_transform,
fov=90.0)
for (x, y) in pixels_to_check:
pixel = pylot.utils.Vector2D(x, y)
location = point_cloud.get_pixel_location(pixel, camera_setup)
print("{} Computed using lidar {}".format((x, y), location))
global lidar_pc
lidar_pc = point_cloud
def test_initialize_point_cloud(points, expected):
lidar_setup = LidarSetup('lidar', 'sensor.lidar.ray_cast',
Transform(Location(), Rotation()))
point_cloud = PointCloud(points, lidar_setup)
for i in range(len(expected)):
assert all(np.isclose(point_cloud.points[i], expected[i]))
def __init__(self, points, lidar_setup: LidarSetup):
# Transform point cloud from lidar to camera coordinates.
self._lidar_setup = lidar_setup
self.global_points = copy.deepcopy(points)
self.points = self._to_camera_coordinates(points)
self.transform = lidar_setup.get_transform()