p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

added steering wheel control example

This commit is contained in:
German Ros 2019-02-13 12:40:14 -08:00 committed by nsubiron
parent a0c2c21581
commit 00652c92de
3 changed files with 862 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CHANGELOG.md
View File

@ -1,5 +1,5 @@
## Latest Changes
* Added manual_control_steeringwheel.py to control agents using Logitech G29 steering wheels (and maybe others).
* Fixed `manual_control.py` and `no_rendering_mode.py` to prevent crashes when used in "no rendering mode"
* Added movable props present in the map (e.g. chairs and tables) as actors so they can be controlled from Python
* Refactored `no_rendering_mode.py` to improve performance and interface

855
PythonAPI/manual_control_steeringwheel.py Executable file
View File

@ -0,0 +1,855 @@
#!/usr/bin/env python
# Copyright (c) 2019 Intel Labs
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# Allows controlling a vehicle with a keyboard. For a simpler and more
# documented example, please take a look at tutorial.py.
"""
Welcome to CARLA manual control with steering wheel Logitech G29.
To drive start by preshing the brake pedal.
Change your wheel_config.ini according to your steering wheel.
To find out the values of your steering wheel use jstest-gtk in Ubuntu.
"""
from __future__ import print_function
# ==============================================================================
# -- find carla module ---------------------------------------------------------
# ==============================================================================
import glob
import os
import sys
try:
sys.path.append(glob.glob('**/carla-*%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
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import carla
from carla import ColorConverter as cc
import argparse
import collections
from configparser import ConfigParser
import datetime
import logging
import math
import random
import re
import weakref
try:
import pygame
from pygame.locals import KMOD_CTRL
from pygame.locals import KMOD_SHIFT
from pygame.locals import K_0
from pygame.locals import K_9
from pygame.locals import K_BACKQUOTE
from pygame.locals import K_BACKSPACE
from pygame.locals import K_COMMA
from pygame.locals import K_DOWN
from pygame.locals import K_ESCAPE
from pygame.locals import K_F1
from pygame.locals import K_LEFT
from pygame.locals import K_PERIOD
from pygame.locals import K_RIGHT
from pygame.locals import K_SLASH
from pygame.locals import K_SPACE
from pygame.locals import K_TAB
from pygame.locals import K_UP
from pygame.locals import K_a
from pygame.locals import K_c
from pygame.locals import K_d
from pygame.locals import K_h
from pygame.locals import K_m
from pygame.locals import K_p
from pygame.locals import K_q
from pygame.locals import K_r
from pygame.locals import K_s
from pygame.locals import K_w
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')
try:
import numpy as np
except ImportError:
raise RuntimeError('cannot import numpy, make sure numpy package is installed')
# ==============================================================================
# -- Global functions ----------------------------------------------------------
# ==============================================================================
def find_weather_presets():
rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
def get_actor_display_name(actor, truncate=250):
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate-1] + u'\u2026') if len(name) > truncate else name
# ==============================================================================
# -- World ---------------------------------------------------------------------
# ==============================================================================
class World(object):
def __init__(self, carla_world, hud, actor_filter):
self.world = carla_world
self.hud = hud
self.player = None
self.collision_sensor = None
self.lane_invasion_sensor = None
self.gnss_sensor = None
self.camera_manager = None
self._weather_presets = find_weather_presets()
self._weather_index = 0
self._actor_filter = actor_filter
self.restart()
self.world.on_tick(hud.on_world_tick)
def restart(self):
# Keep same camera config if the camera manager exists.
cam_index = self.camera_manager._index if self.camera_manager is not None else 0
cam_pos_index = self.camera_manager._transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Spawn the player.
if self.player is not None:
spawn_point = self.player.get_transform()
spawn_point.location.z += 2.0
spawn_point.rotation.roll = 0.0
spawn_point.rotation.pitch = 0.0
self.destroy()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
while self.player is None:
spawn_points = self.world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# Set up the sensors.
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.camera_manager = CameraManager(self.player, self.hud)
self.camera_manager._transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def next_weather(self, reverse=False):
self._weather_index += -1 if reverse else 1
self._weather_index %= len(self._weather_presets)
preset = self._weather_presets[self._weather_index]
self.hud.notification('Weather: %s' % preset[1])
self.player.get_world().set_weather(preset[0])
def tick(self, clock):
self.hud.tick(self, clock)
def render(self, display):
self.camera_manager.render(display)
self.hud.render(display)
def destroy(self):
actors = [
self.camera_manager.sensor,
self.collision_sensor.sensor,
self.lane_invasion_sensor.sensor,
self.gnss_sensor.sensor,
self.player]
for actor in actors:
if actor is not None:
actor.destroy()
# ==============================================================================
# -- DualControl -----------------------------------------------------------
# ==============================================================================
class DualControl(object):
def __init__(self, world, start_in_autopilot):
self._autopilot_enabled = start_in_autopilot
if isinstance(world.player, carla.Vehicle):
self._control = carla.VehicleControl()
world.player.set_autopilot(self._autopilot_enabled)
elif isinstance(world.player, carla.Walker):
self._control = carla.WalkerControl()
self._autopilot_enabled = False
self._rotation = world.player.get_transform().rotation
else:
raise NotImplementedError("Actor type not supported")
self._steer_cache = 0.0
world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
# initialize steering wheel
pygame.joystick.init()
joystick_count = pygame.joystick.get_count()
if joystick_count > 1:
raise ValueError("Please Connect Just One Joystick")
self._joystick = pygame.joystick.Joystick(0)
self._joystick.init()
self._parser = ConfigParser()
self._parser.read('wheel_config.ini')
self._steer_idx = int(
self._parser.get('G29 Racing Wheel', 'steering_wheel'))
self._throttle_idx = int(
self._parser.get('G29 Racing Wheel', 'throttle'))
self._brake_idx = int(self._parser.get('G29 Racing Wheel', 'brake'))
self._reverse_idx = int(self._parser.get('G29 Racing Wheel', 'reverse'))
self._handbrake_idx = int(
self._parser.get('G29 Racing Wheel', 'handbrake'))
def parse_events(self, world, clock):
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
elif event.type == pygame.JOYBUTTONDOWN:
if event.button == 0:
world.restart()
elif event.button == 1:
world.hud.toggle_info()
elif event.button == 2:
world.camera_manager.toggle_camera()
elif event.button == 3:
world.next_weather()
elif event.button == self._reverse_idx:
self._control.gear = 1 if self._control.reverse else -1
elif event.button == 23:
world.camera_manager.next_sensor()
elif event.type == pygame.KEYUP:
if self._is_quit_shortcut(event.key):
return True
elif event.key == K_BACKSPACE:
world.restart()
elif event.key == K_F1:
world.hud.toggle_info()
elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
world.hud.help.toggle()
elif event.key == K_TAB:
world.camera_manager.toggle_camera()
elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
world.next_weather(reverse=True)
elif event.key == K_c:
world.next_weather()
elif event.key == K_BACKQUOTE:
world.camera_manager.next_sensor()
elif event.key > K_0 and event.key <= K_9:
world.camera_manager.set_sensor(event.key - 1 - K_0)
elif event.key == K_r:
world.camera_manager.toggle_recording()
if isinstance(self._control, carla.VehicleControl):
if event.key == K_q:
self._control.gear = 1 if self._control.reverse else -1
elif event.key == K_m:
self._control.manual_gear_shift = not self._control.manual_gear_shift
self._control.gear = world.player.get_control().gear
world.hud.notification('%s Transmission' % ('Manual' if self._control.manual_gear_shift else 'Automatic'))
elif self._control.manual_gear_shift and event.key == K_COMMA:
self._control.gear = max(-1, self._control.gear - 1)
elif self._control.manual_gear_shift and event.key == K_PERIOD:
self._control.gear = self._control.gear + 1
elif event.key == K_p:
self._autopilot_enabled = not self._autopilot_enabled
world.player.set_autopilot(self._autopilot_enabled)
world.hud.notification('Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
if not self._autopilot_enabled:
if isinstance(self._control, carla.VehicleControl):
self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
self._parse_vehicle_wheel()
self._control.reverse = self._control.gear < 0
elif isinstance(self._control, carla.WalkerControl):
self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time())
world.player.apply_control(self._control)
def _parse_vehicle_keys(self, keys, milliseconds):
self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0
steer_increment = 5e-4 * milliseconds
if keys[K_LEFT] or keys[K_a]:
self._steer_cache -= steer_increment
elif keys[K_RIGHT] or keys[K_d]:
self._steer_cache += steer_increment
else:
self._steer_cache = 0.0
self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
self._control.steer = round(self._steer_cache, 1)
self._control.brake = 1.0 if keys[K_DOWN] or keys[K_s] else 0.0
self._control.hand_brake = keys[K_SPACE]
def _parse_vehicle_wheel(self):
numAxes = self._joystick.get_numaxes()
jsInputs = [float(self._joystick.get_axis(i)) for i in range(numAxes)]
# print (jsInputs)
jsButtons = [float(self._joystick.get_button(i)) for i in
range(self._joystick.get_numbuttons())]
# Custom function to map range of inputs [1, -1] to outputs [0, 1] i.e 1 from inputs means nothing is pressed
# For the steering, it seems fine as it is
K1 = 1.0 # 0.55
steerCmd = K1 * math.tan(1.1 * jsInputs[self._steer_idx])
K2 = 1.6 # 1.6
throttleCmd = K2 + (2.05 * math.log10(
-0.7 * jsInputs[self._throttle_idx] + 1.4) - 1.2) / 0.92
if throttleCmd <= 0:
throttleCmd = 0
elif throttleCmd > 1:
throttleCmd = 1
brakeCmd = 1.6 + (2.05 * math.log10(
-0.7 * jsInputs[self._brake_idx] + 1.4) - 1.2) / 0.92
if brakeCmd <= 0:
brakeCmd = 0
elif brakeCmd > 1:
brakeCmd = 1
self._control.steer = steerCmd
self._control.brake = brakeCmd
self._control.throttle = throttleCmd
#toggle = jsButtons[self._reverse_idx]
self._control.hand_brake = bool(jsButtons[self._handbrake_idx])
def _parse_walker_keys(self, keys, milliseconds):
self._control.speed = 0.0
if keys[K_DOWN] or keys[K_s]:
self._control.speed = 0.0
if keys[K_LEFT] or keys[K_a]:
self._control.speed = .01
self._rotation.yaw -= 0.08 * milliseconds
if keys[K_RIGHT] or keys[K_d]:
self._control.speed = .01
self._rotation.yaw += 0.08 * milliseconds
if keys[K_UP] or keys[K_w]:
self._control.speed = 5.556 if pygame.key.get_mods() & KMOD_SHIFT else 2.778
self._control.jump = keys[K_SPACE]
self._rotation.yaw = round(self._rotation.yaw, 1)
self._control.direction = self._rotation.get_forward_vector()
@staticmethod
def _is_quit_shortcut(key):
return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
# ==============================================================================
# -- HUD -----------------------------------------------------------------------
# ==============================================================================
class HUD(object):
def __init__(self, width, height):
self.dim = (width, height)
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self.server_fps = 0
self.frame_number = 0
self.simulation_time = 0
self._show_info = True
self._info_text = []
self._server_clock = pygame.time.Clock()
def on_world_tick(self, timestamp):
self._server_clock.tick()
self.server_fps = self._server_clock.get_fps()
self.frame_number = timestamp.frame_count
self.simulation_time = timestamp.elapsed_seconds
def tick(self, world, clock):
self._notifications.tick(world, clock)
if not self._show_info:
return
t = world.player.get_transform()
v = world.player.get_velocity()
c = world.player.get_control()
heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
colhist = world.collision_sensor.get_collision_history()
collision = [colhist[x + self.frame_number - 200] for x in range(0, 200)]
max_col = max(1.0, max(collision))
collision = [x / max_col for x in collision]
vehicles = world.world.get_actors().filter('vehicle.*')
self._info_text = [
'Server: % 16.0f FPS' % self.server_fps,
'Client: % 16.0f FPS' % clock.get_fps(),
'',
'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
'Map: % 20s' % world.world.map_name,
'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'',
'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
'Height: % 18.0f m' % t.location.z,
'']
if isinstance(c, carla.VehicleControl):
self._info_text += [
('Throttle:', c.throttle, 0.0, 1.0),
('Steer:', c.steer, -1.0, 1.0),
('Brake:', c.brake, 0.0, 1.0),
('Reverse:', c.reverse),
('Hand brake:', c.hand_brake),
('Manual:', c.manual_gear_shift),
'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
elif isinstance(c, carla.WalkerControl):
self._info_text += [
('Speed:', c.speed, 0.0, 5.556),
('Jump:', c.jump)]
self._info_text += [
'',
'Collision:',
collision,
'',
'Number of vehicles: % 8d' % len(vehicles)]
if len(vehicles) > 1:
self._info_text += ['Nearby vehicles:']
distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
for d, vehicle in sorted(vehicles):
if d > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
self._info_text.append('% 4dm %s' % (d, vehicle_type))
def toggle_info(self):
self._show_info = not self._show_info
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
def error(self, text):
self._notifications.set_text('Error: %s' % text, (255, 0, 0))
def render(self, display):
if self._show_info:
info_surface = pygame.Surface((220, self.dim[1]))
info_surface.set_alpha(100)
display.blit(info_surface, (0, 0))
v_offset = 4
bar_h_offset = 100
bar_width = 106
for item in self._info_text:
if v_offset + 18 > self.dim[1]:
break
if isinstance(item, list):
if len(item) > 1:
points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
pygame.draw.lines(display, (255, 136, 0), False, points, 2)
item = None
v_offset += 18
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, (255, 255, 255))
display.blit(surface, (8, v_offset))
v_offset += 18
self._notifications.render(display)
self.help.render(display)
# ==============================================================================
# -- FadingText ----------------------------------------------------------------
# ==============================================================================
class FadingText(object):
def __init__(self, font, dim, pos):
self.font = font
self.dim = dim
self.pos = pos
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
def set_text(self, text, color=(255, 255, 255), seconds=2.0):
text_texture = self.font.render(text, True, color)
self.surface = pygame.Surface(self.dim)
self.seconds_left = seconds
self.surface.fill((0, 0, 0, 0))
self.surface.blit(text_texture, (10, 11))
def tick(self, _, clock):
delta_seconds = 1e-3 * clock.get_time()
self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
self.surface.set_alpha(500.0 * self.seconds_left)
def render(self, display):
display.blit(self.surface, self.pos)
# ==============================================================================
# -- HelpText ------------------------------------------------------------------
# ==============================================================================
class HelpText(object):
def __init__(self, font, width, height):
lines = __doc__.split('\n')
self.font = font
self.dim = (680, len(lines) * 22 + 12)
self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
self.surface.fill((0, 0, 0, 0))
for n, line in enumerate(lines):
text_texture = self.font.render(line, True, (255, 255, 255))
self.surface.blit(text_texture, (22, n * 22))
self._render = False
self.surface.set_alpha(220)
def toggle(self):
self._render = not self._render
def render(self, display):
if self._render:
display.blit(self.surface, self.pos)
# ==============================================================================
# -- CollisionSensor -----------------------------------------------------------
# ==============================================================================
class CollisionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._history = []
self._parent = parent_actor
self._hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.collision')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
def get_collision_history(self):
history = collections.defaultdict(int)
for frame, intensity in self._history:
history[frame] += intensity
return history
@staticmethod
def _on_collision(weak_self, event):
self = weak_self()
if not self:
return
actor_type = get_actor_display_name(event.other_actor)
self._hud.notification('Collision with %r' % actor_type)
impulse = event.normal_impulse
intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
self._history.append((event.frame_number, intensity))
if len(self._history) > 4000:
self._history.pop(0)
# ==============================================================================
# -- LaneInvasionSensor --------------------------------------------------------
# ==============================================================================
class LaneInvasionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._parent = parent_actor
self._hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.lane_detector')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
@staticmethod
def _on_invasion(weak_self, event):
self = weak_self()
if not self:
return
text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)]
self._hud.notification('Crossed line %s' % ' and '.join(text))
# ==============================================================================
# -- GnssSensor --------------------------------------------------------
# ==============================================================================
class GnssSensor(object):
def __init__(self, parent_actor):
self.sensor = None
self._parent = parent_actor
self.lat = 0.0
self.lon = 0.0
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.gnss')
self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event))
@staticmethod
def _on_gnss_event(weak_self, event):
self = weak_self()
if not self:
return
self.lat = event.latitude
self.lon = event.longitude
# ==============================================================================
# -- CameraManager -------------------------------------------------------------
# ==============================================================================
class CameraManager(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._surface = None
self._parent = parent_actor
self._hud = hud
self._recording = False
self._camera_transforms = [
carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
carla.Transform(carla.Location(x=1.6, z=1.7))]
self._transform_index = 1
self._sensors = [
['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'],
['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'],
['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'],
['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'],
['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)'],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self._sensors:
bp = bp_library.find(item[0])
if item[0].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(hud.dim[0]))
bp.set_attribute('image_size_y', str(hud.dim[1]))
elif item[0].startswith('sensor.lidar'):
bp.set_attribute('range', '5000')
item.append(bp)
self._index = None
def toggle_camera(self):
self._transform_index = (self._transform_index + 1) % len(self._camera_transforms)
self.sensor.set_transform(self._camera_transforms[self._transform_index])
def set_sensor(self, index, notify=True):
index = index % len(self._sensors)
needs_respawn = True if self._index is None \
else self._sensors[index][0] != self._sensors[self._index][0]
if needs_respawn:
if self.sensor is not None:
self.sensor.destroy()
self._surface = None
self.sensor = self._parent.get_world().spawn_actor(
self._sensors[index][-1],
self._camera_transforms[self._transform_index],
attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid
# circular reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
if notify:
self._hud.notification(self._sensors[index][2])
self._index = index
def next_sensor(self):
self.set_sensor(self._index + 1)
def toggle_recording(self):
self._recording = not self._recording
self._hud.notification('Recording %s' % ('On' if self._recording else 'Off'))
def render(self, display):
if self._surface is not None:
display.blit(self._surface, (0, 0))
@staticmethod
def _parse_image(weak_self, image):
self = weak_self()
if not self:
return
if self._sensors[self._index][0].startswith('sensor.lidar'):
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0]/3), 3))
lidar_data = np.array(points[:, :2])
lidar_data *= min(self._hud.dim) / 100.0
lidar_data += (0.5 * self._hud.dim[0], 0.5 * self._hud.dim[1])
lidar_data = np.fabs(lidar_data)
lidar_data = lidar_data.astype(np.int32)
lidar_data = np.reshape(lidar_data, (-1, 2))
lidar_img_size = (self._hud.dim[0], self._hud.dim[1], 3)
lidar_img = np.zeros(lidar_img_size)
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
self._surface = pygame.surfarray.make_surface(lidar_img)
else:
image.convert(self._sensors[self._index][1])
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
self._surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
if self._recording:
image.save_to_disk('_out/%08d' % image.frame_number)
# ==============================================================================
# -- game_loop() ---------------------------------------------------------------
# ==============================================================================
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(2.0)
display = pygame.display.set_mode(
(args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = DualControl(world, args.autopilot)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
if controller.parse_events(world, clock):
return
world.tick(clock)
world.render(display)
pygame.display.flip()
finally:
if world is not None:
world.destroy()
pygame.quit()
# ==============================================================================
# -- main() --------------------------------------------------------------------
# ==============================================================================
def main():
argparser = argparse.ArgumentParser(
description='CARLA Manual Control Client')
argparser.add_argument(
'-v', '--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-a', '--autopilot',
action='store_true',
help='enable autopilot')
argparser.add_argument(
'--res',
metavar='WIDTHxHEIGHT',
default='1280x720',
help='window resolution (default: 1280x720)')
argparser.add_argument(
'--filter',
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
args = argparser.parse_args()
args.width, args.height = [int(x) for x in args.res.split('x')]
log_level = logging.DEBUG if args.debug else logging.INFO
logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
logging.info('listening to server %s:%s', args.host, args.port)
print(__doc__)
try:
game_loop(args)
except KeyboardInterrupt:
print('\nCancelled by user. Bye!')
if __name__ == '__main__':
main()

6
wheel_config.ini Normal file
View File

@ -0,0 +1,6 @@
[G29 Racing Wheel]
steering_wheel = 0
throttle = 2
brake = 3
reverse = 5
handbrake = 4