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Updated manual control with new camera shots for pedestrians

This commit is contained in:
Daniel Santos-Olivan 2021-03-11 10:46:40 +01:00 committed by bernat
parent a0c15d9649
commit e1938e13bd
1 changed files with 16 additions and 13 deletions
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29
PythonAPI/examples/manual_control.py
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@ -793,15 +793,18 @@ class CollisionSensor(object):
class LaneInvasionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._parent = parent_actor
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
# If the spawn object is not a vehicle, we cannot use the Lane Invasion Sensor
if parent_actor.type_id.startswith("vehicle."):
self._parent = parent_actor
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
@staticmethod
def _on_invasion(weak_self, event):
@ -969,11 +972,11 @@ class CameraManager(object):
(carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
else:
self._camera_transforms = [
(carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-2.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
(carla.Transform(carla.Location(x=5.5, y=1.5, z=1.5)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-1, y=-bound_y, z=0.5)), Attachment.Rigid)]
(carla.Transform(carla.Location(x=2.5, y=0.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=-4.0, z=2.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
(carla.Transform(carla.Location(x=0, y=-2.5, z=-0.0), carla.Rotation(yaw=90.0)), Attachment.Rigid)]
self.transform_index = 1
self.sensors = [