Merge pull request #315 from carla-simulator/visualize_start_pos_example

Showing all the start positions.

Docs/connecting_the_client.md

@@ -21,6 +21,7 @@ client_example.py        | Basic usage example of the "carla" module.
 manual_control.py        | A GUI client in which the vehicle can be controlled manually.
 point_cloud_example.py   | Usage example for converting depth images into a point cloud in world coordinates.
 run_benchmark.py         | Run the CoRL'17 benchmark with a trivial agent.
+view_start_positions.py  | Show all the possible start positions in a map
 
 !!! note
     If you are building CARLA from source, the Python code is inside the
@@ -98,3 +99,4 @@ You can see all the available options in the script's help
 The other scripts present in the _"PythonClient"_ folder run in a similar
 fashion. We recommend now launching _"manual_control.py"_ for a GUI interface
 implemented with PyGame.
+

PythonClient/view_start_positions.py

@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2017 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>.
+
+"""Connects with a CARLA simulator and displays the available start positions
+for the current map."""
+
+from __future__ import print_function
+
+import argparse
+import logging
+import time
+
+import matplotlib.image as mpimg
+import matplotlib.pyplot as plt
+
+from matplotlib.patches import Circle
+
+from carla.client import make_carla_client
+from carla.planner.map import CarlaMap
+from carla.settings import CarlaSettings
+from carla.tcp import TCPConnectionError
+
+
+def view_start_positions(args):
+    # We assume the CARLA server is already waiting for a client to connect at
+    # host:port. The same way as in the client example.
+    with make_carla_client(args.host, args.port) as client:
+        print('CarlaClient connected')
+
+        # We load the default settings to the client.
+        scene = client.load_settings(CarlaSettings())
+        print("Received the start positions")
+
+        # We get the number of player starts, in order to detect the city.
+        number_of_player_starts = len(scene.player_start_spots)
+        if number_of_player_starts > 100:  # WARNING: unsafe way to check for city, see issue #313
+            image = mpimg.imread("carla/planner/Town01.png")
+            carla_map = CarlaMap('Town01', 16.53, 50)
+
+        else:
+
+            image = mpimg.imread("carla/planner/Town02.png")
+            carla_map = CarlaMap('Town02', 16.53, 50)
+
+        _, ax = plt.subplots(1)
+
+        ax.imshow(image)
+
+        if args.positions == 'all':
+            positions_to_plot = range(len(scene.player_start_spots))
+        else:
+            positions_to_plot = map(int, args.positions.split(','))
+
+        for position in positions_to_plot:
+            # Check if position is valid
+            if position >= len(scene.player_start_spots):
+                raise RuntimeError('Selected position is invalid')
+
+            # Convert world to pixel coordinates
+            pixel = carla_map.convert_to_pixel([scene.player_start_spots[position].location.x,
+                                                scene.player_start_spots[position].location.y,
+                                                scene.player_start_spots[position].location.z])
+            circle = Circle((pixel[0], pixel[1]), 12, color='r', label='A point')
+            ax.add_patch(circle)
+
+            if not args.no_labels:
+                plt.text(pixel[0], pixel[1], str(position), size='x-small')
+
+        plt.show()
+
+
+def main():
+    argparser = argparse.ArgumentParser(description=__doc__)
+    argparser.add_argument(
+        '-v', '--verbose',
+        action='store_true',
+        dest='debug',
+        help='print debug information')
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='localhost',
+        help='IP of the host server (default: localhost)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-pos', '--positions',
+        metavar='P',
+        default='all',
+        help='Indices of the positions that you want to plot on the map. '
+             'The indices must be separated by commas (default = all positions)')
+    argparser.add_argument(
+        '--no-labels',
+        action='store_true',
+        help='do not display position indices')
+
+    args = argparser.parse_args()
+
+    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)
+
+    while True:
+        try:
+
+            view_start_positions(args)
+            print('Done.')
+            return
+
+        except TCPConnectionError as error:
+            logging.error(error)
+            time.sleep(1)
+        except RuntimeError as error:
+            logging.error(error)
+            break
+
+
+if __name__ == '__main__':
+
+    try:
+        main()
+    except KeyboardInterrupt:
+        print('\nCancelled by user. Bye!')