Add CarlaSettings python class

Util/PythonClient/lib/carla_settings.py

@@ -0,0 +1,142 @@
+# CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+
+"""CARLA Settings"""
+
+
+import ConfigParser
+import StringIO
+import random
+
+
+MAX_NUMBER_OF_WEATHER_IDS = 14
+
+
+class Camera(object):
+    def __init__(self, name, **kwargs):
+        self.CameraName = name
+        self.PostProcessing = 'SceneFinal'
+        self.ImageSizeX = 800
+        self.ImageSizeY = 600
+        self.CameraFOV = 90
+        self.CameraPositionX = 15
+        self.CameraPositionY = 0
+        self.CameraPositionZ = 123
+        self.CameraRotationPitch = 8
+        self.CameraRotationRoll = 0
+        self.CameraRotationYaw = 0
+        self.set(**kwargs)
+
+    def set(self, **kwargs):
+        for key, value in kwargs.iteritems():
+            if not hasattr(self, key):
+                raise ValueError('CarlaSettings.Camera: no key named %r' % key)
+            setattr(self, key, value)
+
+    def set_image_size(self, pixels_x, pixels_y):
+        self.ImageSizeX = pixels_x
+        self.ImageSizeY = pixels_y
+
+    def set_position(self, x, y, z):
+        self.CameraPositionX = x
+        self.CameraPositionY = y
+        self.CameraPositionZ = z
+
+    def set_rotation(self, pitch, roll, yaw):
+        self.CameraRotationPitch = pitch
+        self.CameraRotationRoll = roll
+        self.CameraRotationYaw = yaw
+
+
+class CarlaSettings(object):
+    def __init__(self, **kwargs):
+        # [CARLA/Server]
+        self.SynchronousMode = False
+        self.SendNonPlayerAgentsInfo = False
+        # [CARLA/LevelSettings]
+        self.PlayerVehicle = None
+        self.NumberOfVehicles = 20
+        self.NumberOfPedestrians = 30
+        self.WeatherId = random.randint(-1, MAX_NUMBER_OF_WEATHER_IDS)
+        self.SeedVehicles = None
+        self.SeedPedestrians = None
+        self.set(**kwargs)
+        self._cameras = []
+
+    def set(self, **kwargs):
+        for key, value in kwargs.iteritems():
+            if not hasattr(self, key):
+                raise ValueError('CarlaSettings: no key named %r' % key)
+            setattr(self, key, value)
+
+    def get_number_of_agents(self):
+        if not self.SendNonPlayerAgentsInfo:
+            return 0
+        return self.NumberOfVehicles + self.NumberOfPedestrians
+
+    def randomize_seeds(self):
+        self.SeedVehicles = random.getrandbits(64)
+        self.SeedPedestrians = random.getrandbits(64)
+
+    def add_camera(self, camera):
+        if not isinstance(camera, Camera):
+            raise ValueError('Can only add instances of carla_settings.Camera')
+        self._cameras.append(camera)
+
+    def __str__(self):
+        ini = ConfigParser.RawConfigParser()
+        ini.optionxform=str
+        S_SERVER = 'CARLA/Server'
+        S_LEVEL = 'CARLA/LevelSettings'
+        S_CAPTURE = 'CARLA/SceneCapture'
+
+        def add_section(section, obj, keys):
+            for key in keys:
+                if hasattr(obj, key) and getattr(obj, key) is not None:
+                    if not ini.has_section(section):
+                        ini.add_section(section)
+                    ini.set(section, key, getattr(obj, key))
+
+        add_section(S_SERVER, self, [
+            'SynchronousMode',
+            'SendNonPlayerAgentsInfo'])
+        add_section(S_LEVEL, self, [
+            'NumberOfVehicles',
+            'NumberOfPedestrians',
+            'WeatherId',
+            'SeedVehicles',
+            'SeedPedestrians'])
+
+        ini.add_section(S_CAPTURE)
+        ini.set(S_CAPTURE, 'Cameras', ','.join(c.CameraName for c in self._cameras))
+
+        for camera in self._cameras:
+            add_section(S_CAPTURE + '/' + camera.CameraName, camera, [
+                'PostProcessing',
+                'ImageSizeX',
+                'ImageSizeY',
+                'CameraFOV',
+                'CameraPositionX',
+                'CameraPositionY',
+                'CameraPositionZ',
+                'CameraRotationPitch',
+                'CameraRotationRoll',
+                'CameraRotationYaw'])
+
+        text = StringIO.StringIO()
+        ini.write(text)
+        return text.getvalue().replace(' = ', '=')
+
+
+if __name__ == '__main__':
+
+    settings = CarlaSettings(NumberOfVehicles=200, SendNonPlayerAgentsInfo=True)
+    settings.randomize_seeds()
+    camera1 = Camera('Camera1')
+    camera1.set_image_size(1920, 1080)
+    camera1.set_position(20, 0, 100)
+    settings.add_camera(camera1)
+    camera2 = Camera('Camera2')
+    camera2.set(CameraFOV=120, PostProcessing='Depth')
+    settings.add_camera(camera2)
+    print(settings)