More scripts

PythonAPI/util/manage_lights.py

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+#!/usr/bin/env python
+
+# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# 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.
+
+import argparse
+import sys
+import carla
+
+
+LIGHT_GROUP = {
+    'NONE': carla.LightGroup.NONE,
+    'Vehicle':  carla.LightGroup.Vehicle,
+    'Street': carla.LightGroup.Street,
+    'Building':  carla.LightGroup.Building,
+    'Other':  carla.LightGroup.Other,
+}
+
+def main():
+    argparser = argparse.ArgumentParser(
+        description='CARLA Manual Control Client')
+    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('-g', '--group', default='NONE', help='Light group')
+
+    args = argparser.parse_args()
+
+    client = carla.Client(args.host, args.port)
+    world = client.get_world()
+    light_manager = world.get_lightmanager()
+
+    try:
+        group = LIGHT_GROUP[args.group]
+    except KeyError:
+        print(f"Light group '{args.group}' doesn't exist. The possible ones are:")
+        print(list(LIGHT_GROUP.keys()))
+        sys.exit()
+
+    lights = light_manager.get_all_lights(group)
+
+    # get_color(lights)
+    # get_intensity(lights)
+    # get_light_group(lights)
+    # get_light_state(lights)
+    # get_turned_off_lights(group)
+    # get_turned_on_lights(group)
+
+    # light_manager.set_active(lights, [True] * len(lights))
+    light_manager.set_color(lights, carla.Color(255,0,0))
+    # light_manager.set_intensity(lights, 1000)
+    # light_manager.set_light_state(lights, )
+    # light_manager.turn_on(lights)
+    # light_manager.turn_off(lights)
+
+if __name__ == '__main__':
+    main()

PythonAPI/util/showcase_vehicle_lights.py

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+#!/usr/bin/env python
+
+# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# 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.
+
+import argparse
+import sys
+import time
+import math
+
+import carla
+
+
+def get_transform(vehicle, angle, d=2.5):
+
+    vehicle_location = vehicle.get_location()
+    radius = vehicle.bounding_box.extent.x * d
+    height = vehicle.bounding_box.extent.x * 0.8
+    a = math.radians(angle)
+    location = carla.Location(radius * math.cos(a), radius * math.sin(a), height) + vehicle_location
+    return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-15))
+
+def main():
+    argparser = argparse.ArgumentParser(
+        description='CARLA Manual Control Client')
+    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('-b', '--blueprint', default='lincoln', help="Blueprint to be used. 'all' cycles through all vehicles")
+    argparser.add_argument('--speed', default=36, type=int, help="Camera rotation speed")
+    args = argparser.parse_args()
+
+    client = carla.Client(args.host, args.port)
+    client.set_timeout(10)
+    world = client.load_world('Town10HD_Opt')
+    tmap = world.get_map()
+
+    bp_lib = world.get_blueprint_library()
+
+    bps = []
+    if args.blueprint == 'all':
+        all_vehicle_bps = bp_lib.filter('vehicle')
+        for bp in all_vehicle_bps:
+            if bp.has_attribute('has_lights') and bp.get_attribute('has_lights'):
+                bps.append(bp)
+    else:
+        bps.append(bp_lib.filter(args.blueprint)[0])
+
+    vehicle = None
+    try:
+        for bp in bps:
+            vehicle = world.spawn_actor(bp, carla.Transform(carla.Location(-47, 20, 0.3)))
+            spectator = world.get_spectator()
+            world.wait_for_tick()
+
+            lights = vehicle.get_light_state()
+            lights |= carla.VehicleLightState.Interior          # Add a specific light
+            lights |= carla.VehicleLightState.LowBeam           # Add a specific light
+            lights |= carla.VehicleLightState.Position          # Add a specific light
+            lights |= carla.VehicleLightState.Reverse           # Add a specific light
+            
+            vehicle.set_light_state(carla.VehicleLightState(lights))
+
+            angle_315 = False
+            angle_675 = False
+
+            angle = -45
+            while angle < 1035:
+                timestamp = world.wait_for_tick().timestamp
+                angle += timestamp.delta_seconds * args.speed
+                spectator.set_transform(get_transform(vehicle, angle))
+
+                if not angle_315 and angle >= 315:
+                    lights = vehicle.get_light_state()
+                    lights &= ~carla.VehicleLightState.LowBeam          # Remove specific light
+                    lights &= ~carla.VehicleLightState.Position         # Remove specific light
+                    lights &= ~carla.VehicleLightState.Reverse         # Remove specific light
+                    lights |= carla.VehicleLightState.HighBeam          # Add a specific light
+                    lights |= carla.VehicleLightState.Brake             # Add a specific light
+                    vehicle.set_light_state(carla.VehicleLightState(lights))
+                    angle_315 = True
+
+                if not angle_675 and angle >= 675:
+                    lights = vehicle.get_light_state()
+                    lights &= ~carla.VehicleLightState.HighBeam         # Remove specific light
+                    lights &= ~carla.VehicleLightState.Brake            # Remove specific light
+                    lights |= carla.VehicleLightState.Fog             # Add a specific light
+                    lights |= carla.VehicleLightState.RightBlinker  # Add a specific light
+                    lights |= carla.VehicleLightState.LeftBlinker   # Add a specific light
+                    lights |= carla.VehicleLightState.Special1  # Add a specific light
+                    lights |= carla.VehicleLightState.Special2   # Add a specific light
+                    vehicle.set_light_state(carla.VehicleLightState(lights))
+                    angle_675 = True
+
+            lights = vehicle.get_light_state()
+            lights |= carla.VehicleLightState.HighBeam      # Add a specific light
+            lights |= carla.VehicleLightState.Brake      # Add a specific light
+            lights |= carla.VehicleLightState.RightBlinker      # Add a specific light
+            lights |= carla.VehicleLightState.LeftBlinker      # Add a specific light
+
+            vehicle.destroy()
+            vehicle = None
+            for _ in range(10):
+                world.wait_for_tick()
+
+    except KeyboardInterrupt:
+        pass
+
+    finally:
+        if vehicle is not None:
+            vehicle.destroy()
+
+if __name__ == '__main__':
+    main()