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Add lidar to manual_control.py

This commit is contained in:
nsubiron 2018-10-29 20:23:50 +01:00
parent c9952328c7
commit db4f5082ee
1 changed files with 29 additions and 13 deletions
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26
PythonAPI/manual_control.py
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@ -21,9 +21,9 @@ Use ARROWS or WASD keys for control.
Space : hand-brake
P : toggle autopilot
TAB : change camera position
` : next camera sensor
[1-9] : change to camera sensor [1-9]
TAB : change sensor position
` : next sensor
[1-9] : change to sensor [1-9]
C : change weather (Shift+C reverse)
Backspace : change vehicle
@ -207,7 +207,7 @@ class KeyboardControl(object):
elif event.key == K_BACKQUOTE:
world.camera_manager.next_sensor()
elif event.key > K_0 and event.key <= K_9:
world.camera_manager.set_sensor(event.key - 1)
world.camera_manager.set_sensor(event.key - 1 - K_0)
elif event.key == K_r:
world.camera_manager.toggle_recording()
elif event.key == K_q:
@ -380,11 +380,13 @@ class CameraManager(object):
['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'],
['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'],
['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'],
['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)']]
['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)'],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self._sensors:
bp = bp_library.find(item[0])
if item[0].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(hud.dim[0]))
bp.set_attribute('image_size_y', str(hud.dim[1]))
item.append(bp)
@ -433,6 +435,20 @@ class CameraManager(object):
return
self._server_clock.tick()
self._hud.server_fps = self._server_clock.get_fps()
if self._sensors[self._index][0].startswith('sensor.lidar'):
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0]/3), 3))
lidar_data = np.array(points[:, :2])
lidar_data *= min(self._hud.dim) / 100.0
lidar_data += (0.5 * self._hud.dim[0], 0.5 * self._hud.dim[1])
lidar_data = np.fabs(lidar_data)
lidar_data = lidar_data.astype(np.int32)
lidar_data = np.reshape(lidar_data, (-1, 2))
lidar_img_size = (self._hud.dim[0], self._hud.dim[1], 3)
lidar_img = np.zeros(lidar_img_size)
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
self._surface = pygame.surfarray.make_surface(lidar_img)
else:
image.convert(self._sensors[self._index][1])
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))