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

Further cleanup

This commit is contained in:
Pasch, Frederik 2020-07-06 15:40:03 +02:00 committed by Marc Garcia Puig
parent bc898acdf9
commit 2cb29ba938
3 changed files with 13 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
PythonAPI/examples/rss/manual_control_rss.py
View File

@ -22,6 +22,7 @@ Use ARROWS or WASD keys for control.
Space : hand-brake
P : toggle autopilot
TAB : change view
Backspace : change vehicle
R : toggle recording images to disk
@ -102,7 +103,6 @@ try:
from pygame.locals import K_r
from pygame.locals import K_s
from pygame.locals import K_t
from pygame.locals import K_u
from pygame.locals import K_w
from pygame.locals import K_l
from pygame.locals import K_i
@ -138,7 +138,7 @@ class World(object):
print(' Make sure it exists, has the same name of your town, and is correct.')
sys.exit(1)
self.external_actor = args.externalActor
self.hud = HUD(args.width, args.height, carla_world)
self.recording_frame_num = 0
self.recording = False
@ -668,7 +668,8 @@ class HUD(object):
if len(item) == 6 and item[2] < 0.0:
for steering_range in item[5]:
starting_value = min(steering_range[0], steering_range[1])
length = (max(steering_range[0], steering_range[1]) - min(steering_range[0], steering_range[1])) / 2
length = (max(steering_range[0], steering_range[1]) -
min(steering_range[0], steering_range[1])) / 2
rect = pygame.Rect(
(bar_h_offset + (starting_value + 1) * (bar_width / 2), v_offset + 2), (length * bar_width, 14))
pygame.draw.rect(display, (0, 255, 0), rect)

4
PythonAPI/examples/rss/rss_sensor.py
View File

@ -42,7 +42,7 @@ class RssStateInfo(object):
if object_state:
self.distance = math.sqrt((float(ego_dynamics_on_route.ego_center.x) - float(object_state.centerPoint.x))**2 +
(float(ego_dynamics_on_route.ego_center.y) - float(object_state.centerPoint.y))**2)
(float(ego_dynamics_on_route.ego_center.y) - float(object_state.centerPoint.y))**2)
def get_actor(self, world):
return world.get_actor(self.rss_state.objectId)
@ -402,7 +402,7 @@ class RssSensor(object):
if self.state_visualizer:
self.state_visualizer.tick(self.individual_rss_states)
self.debug_visualizer.tick(self.route, not response.proper_response.isSafe,
self.individual_rss_states, self.ego_dynamics_on_route)
self.individual_rss_states, self.ego_dynamics_on_route)
else:
print("ignore outdated response {}".format(delta_time))

11
PythonAPI/examples/rss/rss_visualization.py
View File

@ -20,6 +20,7 @@ else:
import libad_map_access_python2 as admap
import libad_rss_map_integration_python2 as rssmap
class RssStateVisualizer(object):
def __init__(self, display_dimensions, font, world):
@ -77,27 +78,27 @@ class RssStateVisualizer(object):
pygame.draw.polygon(
state_surface, (
255, 255, 255), ((xpos + 1, v_offset + 1 + 4), (xpos + 6, v_offset + 1 + 0), (xpos + 11, v_offset + 1 + 4),
(xpos + 7, v_offset + 1 + 4), (xpos + 7, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 4)))
(xpos + 7, v_offset + 1 + 4), (xpos + 7, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 4)))
xpos += 14
if not state.rss_state.longitudinalState.isSafe and ((state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirectionEgoCorrectLane") or (state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirection")):
pygame.draw.polygon(
state_surface, (
255, 255, 255), ((xpos + 2, v_offset + 1 + 8), (xpos + 6, v_offset + 1 + 12), (xpos + 10, v_offset + 1 + 8),
(xpos + 7, v_offset + 1 + 8), (xpos + 7, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 8)))
(xpos + 7, v_offset + 1 + 8), (xpos + 7, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 8)))
xpos += 14
if not state.rss_state.lateralStateRight.isSafe and not (state.rss_state.lateralStateRight.rssStateInformation.evaluator == "None"):
pygame.draw.polygon(
state_surface, (
255, 255, 255), ((xpos + 0, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 1),
(xpos + 12, v_offset + 1 + 6), (xpos + 8, v_offset + 1 + 10), (xpos + 8, v_offset + 1 + 8), (xpos + 0, v_offset + 1 + 8)))
(xpos + 12, v_offset + 1 + 6), (xpos + 8, v_offset + 1 + 10), (xpos + 8, v_offset + 1 + 8), (xpos + 0, v_offset + 1 + 8)))
xpos += 14
if not state.rss_state.lateralStateLeft.isSafe and not (state.rss_state.lateralStateLeft.rssStateInformation.evaluator == "None"):
pygame.draw.polygon(
state_surface, (
255, 255, 255), ((xpos + 0, v_offset + 1 + 6), (xpos + 4, v_offset + 1 + 1), (xpos + 4, v_offset + 1 + 4),
(xpos + 12, v_offset + 1 + 4), (xpos + 12, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 10)))
(xpos + 12, v_offset + 1 + 4), (xpos + 12, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 10)))
xpos += 14
elif state.actor_calculation_mode == rssmap.RssMode.Unstructured:
text = ""
@ -117,6 +118,7 @@ class RssStateVisualizer(object):
if self._surface:
display.blit(self._surface, (0, v_offset))
def get_matrix(transform):
"""
Creates matrix from carla transform.
@ -419,6 +421,7 @@ class RssUnstructuredSceneVisualizer(object):
# -- RssBoundingBoxVisualizer ------------------------------------------------------
# ==============================================================================
class RssBoundingBoxVisualizer(object):
def __init__(self, display_dimensions, world, camera):