Added example script for runtime texture update

PythonAPI/util/apply_texture.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python
+""" TL info printer
+"""
+# Copyright (c) 2021 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>.
+
+# ==============================================================================
+# -- imports -------------------------------------------------------------------
+# ==============================================================================
+
+import glob
+import os
+import sys
+import argparse
+import math
+import time
+import queue
+import imageio
+
+# ==============================================================================
+# -- find carla module ---------------------------------------------------------
+# ==============================================================================
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+
+def get_8bit_texture(image):
+    if image is None:
+        return carla.TextureFloatColor(0,0)
+    height = len(image)
+    width = len(image[0])
+    texture = carla.TextureColor(width,height)
+    for x in range(0,width):
+        for y in range(0,height):
+            color = image[y][x]
+            r = int(color[0])
+            g = int(color[1])
+            b = int(color[2])
+            a = int(color[3])
+            texture.set(x, height - y - 1, carla.Color(r,g,b,a))
+    return texture
+
+def get_float_texture(image):
+    if image is None:
+        return carla.TextureFloatColor(0,0)
+    height = len(image)
+    width = len(image[0])
+    texturefloat = carla.TextureFloatColor(width,height)
+    for x in range(0,width):
+        for y in range(0,height):
+            color = image[y][x]
+            r = int(color[0])/255.0 * 5
+            g = int(color[1])/255.0 * 5
+            b = int(color[2])/255.0 * 5
+            a = 1.0
+            texturefloat.set(x, height - y - 1, carla.FloatColor(r,g,b,a))
+    return texturefloat
+
+def main():
+    argparser = argparse.ArgumentParser()
+    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(
+        '-d', '--diffuse',
+        type=str,
+        default='',
+        help='Path to diffuse image to update')
+    argparser.add_argument(
+        '-o', '--object-name',
+        type=str,
+        help='Object name')
+    argparser.add_argument(
+        '-l', '--list',
+        action='store_true',
+        help='Prints names of all objects in the scene')
+    argparser.add_argument(
+        '-n', '--normal',
+        type=str,
+        default='',
+        help='Path to normal map to update')
+    argparser.add_argument(
+        '--ao_roughness_metallic_emissive',
+        type=str,
+        default='',
+        help='Path to normal map to update')
+    args = argparser.parse_args()
+
+    client = carla.Client(args.host, args.port)
+    client.set_timeout(20.0)
+
+    world = client.get_world()
+
+    if args.list:
+        names = world.get_names_of_all_objects()
+        for name in names:
+            print(name)
+        return
+
+    if args.object_name is '':
+        print('Error: missing object name to apply texture')
+        return
+
+    diffuse = None
+    normal = None
+    ao_r_m_e = None
+    if args.diffuse is not '':
+        diffuse = imageio.imread(args.diffuse)
+    if args.normal is not '':
+        normal = imageio.imread(args.normal)
+    if args.ao_roughness_metallic_emissive is not '':
+        ao_r_m_e = imageio.imread(args.ao_roughness_metallic_emissive)
+
+    tex_diffuse = get_8bit_texture(diffuse)
+    tex_normal = get_float_texture(normal)
+    tex_ao_r_m_e = get_float_texture(ao_r_m_e)
+
+    world.apply_textures_to_object(args.object_name, tex_diffuse, carla.TextureFloatColor(0,0), tex_normal, tex_ao_r_m_e)
+
+if __name__ == '__main__':
+    main()