carla/PythonAPI/vehicle_gallery.py

#!/usr/bin/env python

import glob
import os
import sys

try:
    sys.path.append(glob.glob('**/*%d.%d-%s.egg' % (
        sys.version_info.major,
        sys.version_info.minor,
        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
    pass

import carla

import math
import time

# Nice spot in Town01.
LOCATION = carla.Location(x=155.5, y=55.8, z=39)


def get_transform(angle, d=6.5):
    a = math.radians(angle)
    location = carla.Location(d * math.cos(a), d * math.sin(a), 2.0) + LOCATION
    return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-15))


def main():
    client = carla.Client('localhost', 2000)
    world = client.get_world()
    spectator = world.get_spectator()
    vehicle_blueprints = world.get_blueprint_library().filter('vehicle')

    for blueprint in vehicle_blueprints:
        transform = carla.Transform(LOCATION, carla.Rotation(yaw=-45.0))
        vehicle = world.spawn_actor(blueprint, transform)

        try:

            print(vehicle.type_id)
            for x in range(2, 360, 2):
                spectator.set_transform(get_transform(x - 90))
                time.sleep(0.02)

        finally:

            vehicle.destroy()


if __name__ == '__main__':

    main()