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Fix Pylint errors of manual_control_steeringwheel.py

This commit is contained in:
nsubiron 2019-03-19 12:14:37 +01:00
parent 1c3713459c
commit 0c1f17f05f
2 changed files with 51 additions and 44 deletions
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2
PythonAPI/.pylintrc
View File

@ -3,4 +3,4 @@ max-line-length=120
[MASTER]
disable=I0011,E1121
[TYPECHECK]
ignored-modules=carla,carla.command,libcarla,pygame,numpy
ignored-modules=carla,carla.command,libcarla,pygame,numpy,configparser,ConfigParser

93
PythonAPI/manual_control_steeringwheel.py
View File

@ -50,7 +50,6 @@ from carla import ColorConverter as cc
import argparse
import collections
from configparser import ConfigParser
import datetime
import logging
import math
@ -58,6 +57,14 @@ import random
import re
import weakref
if sys.version_info >= (3, 0):
from configparser import ConfigParser
else:
from ConfigParser import RawConfigParser as ConfigParser
try:
import pygame
from pygame.locals import KMOD_CTRL
@ -135,8 +142,8 @@ class World(object):
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
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')
@ -160,7 +167,7 @@ class World(object):
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.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)
@ -569,9 +576,9 @@ class HelpText(object):
class CollisionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._history = []
self.history = []
self._parent = parent_actor
self._hud = hud
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)
@ -582,7 +589,7 @@ class CollisionSensor(object):
def get_collision_history(self):
history = collections.defaultdict(int)
for frame, intensity in self._history:
for frame, intensity in self.history:
history[frame] += intensity
return history
@ -592,12 +599,12 @@ class CollisionSensor(object):
if not self:
return
actor_type = get_actor_display_name(event.other_actor)
self._hud.notification('Collision with %r' % actor_type)
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)
self.history.append((event.frame_number, intensity))
if len(self.history) > 4000:
self.history.pop(0)
# ==============================================================================
@ -609,7 +616,7 @@ class LaneInvasionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._parent = parent_actor
self._hud = hud
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)
@ -624,7 +631,7 @@ class LaneInvasionSensor(object):
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))
self.hud.notification('Crossed line %s' % ' and '.join(text))
# ==============================================================================
# -- GnssSensor --------------------------------------------------------
@ -662,15 +669,15 @@ class GnssSensor(object):
class CameraManager(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._surface = None
self.surface = None
self._parent = parent_actor
self._hud = hud
self._recording = False
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 = [
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)'],
@ -680,7 +687,7 @@ class CameraManager(object):
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self._sensors:
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]))
@ -688,69 +695,69 @@ class CameraManager(object):
elif item[0].startswith('sensor.lidar'):
bp.set_attribute('range', '5000')
item.append(bp)
self._index = None
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])
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]
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.surface = None
self.sensor = self._parent.get_world().spawn_actor(
self._sensors[index][-1],
self._camera_transforms[self._transform_index],
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
self.hud.notification(self.sensors[index][2])
self.index = index
def next_sensor(self):
self.set_sensor(self._index + 1)
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'))
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))
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'):
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 *= 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_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)
self.surface = pygame.surfarray.make_surface(lidar_img)
else:
image.convert(self._sensors[self._index][1])
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:
self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
if self.recording:
image.save_to_disk('_out/%08d' % image.frame_number)