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Changed manual control example display method and changed SemSeg palette to match city-scapes

This commit is contained in:
Marc Garcia Puig 2017-11-17 16:50:17 +01:00
parent 54051420e6
commit d4f413d784
1 changed files with 38 additions and 27 deletions
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65
PythonClient/carla_manual_control.py
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@ -43,21 +43,22 @@ from carla import CARLA
from carla import Control
def join_classes(labels_image):
classes_join = {
0: [0, 0, 0],
1: [64, 64, 64],
2: [96, 96, 96],
3: [255, 255, 255],
4: [255, 0, 0],
5: [128, 128, 128],
6: [196, 196, 196],
7: [128, 0, 128],
8: [255, 0, 255],
9: [0, 255, 0],
10: [0, 0, 255],
11: [32, 32, 32],
12: [220, 220, 0]
0: [0, 0, 0], # None
1: [70, 70, 70], # Buildings
2: [190, 153, 153], # Fences
3: [72, 0, 90], # Other
4: [220, 20, 60], # Pedestrians
5: [153, 153, 153], # Poles
6: [157, 234, 50], # RoadLines
7: [128, 64, 128], # Roads
8: [244, 35, 232], # Sidewalks
9: [107, 142, 35], # Vegetation
10: [0, 0, 255], # Vehicles
11: [102, 102, 156], # Walls
12: [220, 220, 0] # TrafficSigns
}
compressed_labels_image = np.zeros((labels_image.shape[0], labels_image.shape[1], 3))
for (key, value) in classes_join.items():
@ -102,7 +103,7 @@ class App(object):
port=2000,
host='127.0.0.1',
config='./CarlaSettings.ini',
resolution=(2400, 600),
resolution=(800, 600),
verbose=True):
self._running = True
self._display_surf = None
@ -215,7 +216,19 @@ class App(object):
The render method plots the First RGB, the First Depth and First
Semantic Segmentation Camera.
"""
pos_x = 0
auxImgResolution = (320, 180)
auxImgYPos = self.height - auxImgResolution[1] - 25
nImages = 2
f = ((self.weight - nImages * auxImgResolution[0]) / (nImages + 1) + auxImgResolution[0])
x_pos = (self.weight - nImages * auxImgResolution[0]) / (nImages + 1)
if self.img_vec:
self.img_vec[0] = self.img_vec[0][:, :, :3]
self.img_vec[0] = self.img_vec[0][:, :, ::-1]
surface = pygame.surfarray.make_surface(
np.transpose(self.img_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (0, 0))
if self.depth_vec:
self.depth_vec[0] = self.depth_vec[0][:, :, :3]
@ -223,23 +236,21 @@ class App(object):
self.depth_vec[0] = convert_depth(self.depth_vec[0])
surface = pygame.surfarray.make_surface(
np.transpose(self.depth_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.depth_vec[0].shape[1]
if self.img_vec:
self.img_vec[0] = self.img_vec[0][:, :, :3]
self.img_vec[0] = self.img_vec[0][:, :, ::-1]
surface = pygame.surfarray.make_surface(
np.transpose(self.img_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.img_vec[0].shape[1]
# Resize image
auxImgXPos = (self.weight / 4) - (auxImgResolution[0] / 2)
surface = pygame.transform.scale(surface, auxImgResolution)
self._display_surf.blit(surface, (x_pos, auxImgYPos))
x_pos += f
if self.labels_vec:
self.labels_vec[0] = join_classes(self.labels_vec[0][:, :, 2])
surface = pygame.surfarray.make_surface(
np.transpose(self.labels_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.labels_vec[0].shape[1]
# Resize image
auxImgXPos = ((self.weight / 4) * 3) - (auxImgResolution[0] / 2)
surface = pygame.transform.scale(surface, auxImgResolution)
self._display_surf.blit(surface, (x_pos, auxImgYPos))
x_pos += f
pygame.display.flip()