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Removed DVS and added semantic lidar to mcwt

This commit is contained in:
glopezdiest 2024-12-17 10:27:52 +01:00 committed by Blyron
parent 4734831605
commit e2dc71c39a
2 changed files with 60 additions and 28 deletions
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23
PythonAPI/examples/manual_control.py
View File

@ -200,9 +200,10 @@ def get_actor_blueprints(world, filter, generation):
class World(object):
def __init__(self, carla_world, hud, args):
def __init__(self, carla_world, hud, traffic_manager, args):
self.world = carla_world
self.sync = args.sync
self.traffic_manager = traffic_manager
self.actor_role_name = args.rolename
try:
self.map = self.world.get_map()
@ -303,6 +304,7 @@ class World(object):
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
self.traffic_manager.update_vehicle_lights(self.player, True)
if self.sync:
self.world.tick()
@ -590,8 +592,7 @@ class KeyboardControl(object):
else: # Remove the Reverse flag
current_lights &= ~carla.VehicleLightState.Reverse
if current_lights != self._lights: # Change the light state only if necessary
self._lights = current_lights
world.player.set_light_state(carla.VehicleLightState(self._lights))
world.player.set_light_state(carla.VehicleLightState(current_lights))
# Apply control
if not self._ackermann_enabled:
world.player.apply_control(self._control)
@ -606,6 +607,8 @@ class KeyboardControl(object):
self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time(), world)
world.player.apply_control(self._control)
self._lights = current_lights
def _parse_vehicle_keys(self, keys, milliseconds):
if keys[K_UP] or keys[K_w]:
if not self._ackermann_enabled:
@ -1128,7 +1131,6 @@ class CameraManager(object):
['sensor.camera.instance_segmentation', cc.Raw, 'Camera Instance Segmentation (Raw)', {}],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
['sensor.lidar.ray_cast_semantic', None, 'Semantic Lidar (Ray-Cast)', {'range': '50'}],
['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
{'lens_circle_multiplier': '3.0',
'lens_circle_falloff': '3.0',
@ -1228,15 +1230,6 @@ class CameraManager(object):
lidar_tag = image[i].object_tag
lidar_img[tuple(point.T)] = OBJECT_TO_COLOR[int(lidar_tag)]
self.surface = pygame.surfarray.make_surface(lidar_img)
elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
# Example of converting the raw_data from a carla.DVSEventArray
# sensor into a NumPy array and using it as an image
dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool_)]))
dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
# Blue is positive, red is negative
dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
elif self.sensors[self.index][0].startswith('sensor.camera.optical_flow'):
image = image.get_color_coded_flow()
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
@ -1271,6 +1264,7 @@ def game_loop(args):
client.set_timeout(2000.0)
sim_world = client.get_world()
traffic_manager = client.get_trafficmanager()
if args.sync:
original_settings = sim_world.get_settings()
settings = sim_world.get_settings()
@ -1279,7 +1273,6 @@ def game_loop(args):
settings.fixed_delta_seconds = 0.05
sim_world.apply_settings(settings)
traffic_manager = client.get_trafficmanager()
traffic_manager.set_synchronous_mode(True)
if args.autopilot and not sim_world.get_settings().synchronous_mode:
@ -1293,7 +1286,7 @@ def game_loop(args):
pygame.display.flip()
hud = HUD(args.width, args.height)
world = World(sim_world, hud, args)
world = World(sim_world, hud, traffic_manager, args)
controller = KeyboardControl(world, args.autopilot)
if args.sync:

65
PythonAPI/examples/manual_control_with_traffic.py
View File

@ -125,6 +125,37 @@ try:
except ImportError:
raise RuntimeError('cannot import numpy, make sure numpy package is installed')
OBJECT_TO_COLOR = [
(255, 255, 255),
(128, 64, 128),
(244, 35, 232),
(70, 70, 70),
(102, 102, 156),
(190, 153, 153),
(153, 153, 153),
(250, 170, 30),
(220, 220, 0),
(107, 142, 35),
(152, 251, 152),
(70, 130, 180),
(220, 20, 60),
(255, 0, 0),
(0, 0, 142),
(0, 0, 70),
(0, 60, 100),
(0, 80, 100),
(0, 0, 230),
(119, 11, 32),
(110, 190, 160),
(170, 120, 50),
(55, 90, 80),
(45, 60, 150),
(157, 234, 50),
(81, 0, 81),
(150, 100, 100),
(230, 150, 140),
(180, 165, 180),
]
# ==============================================================================
# -- Global functions ----------------------------------------------------------
@ -173,9 +204,10 @@ def get_actor_blueprints(world, filter, generation):
class World(object):
def __init__(self, carla_world, hud, args):
def __init__(self, carla_world, hud, traffic_manager, args):
self.world = carla_world
self.args = args
self.traffic_manager = traffic_manager
self.sync = args.sync
self.actor_role_name = args.rolename
try:
@ -279,6 +311,7 @@ class World(object):
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
self.traffic_manager.update_vehicle_lights(self.player, True)
if self.sync:
self.world.tick()
@ -1103,7 +1136,7 @@ class CameraManager(object):
['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)', {}],
['sensor.camera.instance_segmentation', cc.Raw, 'Camera Instance Segmentation (Raw)', {}],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
['sensor.lidar.ray_cast_semantic', None, 'Semantic Lidar (Ray-Cast)', {'range': '50'}],
['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
{'lens_circle_multiplier': '3.0',
'lens_circle_falloff': '3.0',
@ -1175,7 +1208,7 @@ class CameraManager(object):
self = weak_self()
if not self:
return
if self.sensors[self.index][0].startswith('sensor.lidar'):
if self.sensors[self.index][0] == 'sensor.lidar.ray_cast':
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0] / 4), 4))
lidar_data = np.array(points[:, :2])
@ -1188,15 +1221,21 @@ class CameraManager(object):
lidar_img = np.zeros((lidar_img_size), dtype=np.uint8)
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
self.surface = pygame.surfarray.make_surface(lidar_img)
elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
# Example of converting the raw_data from a carla.DVSEventArray
# sensor into a NumPy array and using it as an image
dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool_)]))
dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
# Blue is positive, red is negative
dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
elif self.sensors[self.index][0] == 'sensor.lidar.ray_cast_semantic':
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0] / 6), 6))
lidar_data = np.array(points[:, :2])
lidar_data *= min(self.hud.dim) / (2.0 * self.lidar_range)
lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
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), dtype=np.uint8)
for i in range(len(image)):
point = lidar_data[i]
lidar_tag = image[i].object_tag
lidar_img[tuple(point.T)] = OBJECT_TO_COLOR[int(lidar_tag)]
self.surface = pygame.surfarray.make_surface(lidar_img)
elif self.sensors[self.index][0].startswith('sensor.camera.optical_flow'):
image = image.get_color_coded_flow()
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
@ -1449,7 +1488,7 @@ def game_loop(args):
pygame.display.flip()
hud = HUD(args.width, args.height)
world = World(sim_world, hud, args)
world = World(sim_world, hud, traffic_manager, args)
controller = KeyboardControl(world, args.autopilot)
traffic = Traffic(client, sim_world, traffic_manager, args)