Add more examples
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nsubiron
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#!/usr/bin/env python
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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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# Keyboard controlling for CARLA. Please refer to client_example.py for a simpler
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# and more documented example.
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"""
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Welcome to CARLA manual control.
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Use ARROWS or WASD keys for control.
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W : throttle
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S : brake
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AD : steer
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Q : toggle reverse
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Space : hand-brake
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P : toggle autopilot
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STARTING in a moment...
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"""
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from __future__ import print_function
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import sys
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sys.path.append(
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'PythonAPI/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
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sys.version_info.minor))
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import carla
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import argparse
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import logging
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import random
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import time
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try:
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import pygame
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from pygame.locals import K_DOWN
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from pygame.locals import K_LEFT
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from pygame.locals import K_RIGHT
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from pygame.locals import K_SPACE
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from pygame.locals import K_UP
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from pygame.locals import K_a
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from pygame.locals import K_d
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from pygame.locals import K_p
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from pygame.locals import K_q
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from pygame.locals import K_r
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from pygame.locals import K_s
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from pygame.locals import K_w
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except ImportError:
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raise RuntimeError('cannot import pygame, make sure pygame package is installed')
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try:
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import numpy as np
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except ImportError:
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raise RuntimeError('cannot import numpy, make sure numpy package is installed')
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WINDOW_WIDTH = 800
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WINDOW_HEIGHT = 600
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START_POSITION = carla.Transform(carla.Location(x=180.0, y=199.0, z=40.0))
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CAMERA_POSITION = carla.Transform(carla.Location(x=0.5, z=1.40))
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class CarlaGame(object):
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def __init__(self, args):
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self._client = carla.Client(args.host, args.port)
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self._display = None
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self._surface = None
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self._camera = None
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self._vehicle = None
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self._autopilot_enabled = args.autopilot
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self._is_on_reverse = False
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def execute(self):
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pygame.init()
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try:
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self._display = pygame.display.set_mode(
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(WINDOW_WIDTH, WINDOW_HEIGHT),
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pygame.HWSURFACE | pygame.DOUBLEBUF)
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logging.debug('pygame started')
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world = self._client.get_world()
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blueprint = random.choice(world.get_blueprint_library().filter('vehicle'))
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self._vehicle = world.spawn_actor(blueprint, START_POSITION)
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self._vehicle.set_autopilot(self._autopilot_enabled)
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cam_blueprint = world.get_blueprint_library().find('sensor.camera')
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self._camera = world.spawn_actor(cam_blueprint, CAMERA_POSITION, attach_to=self._vehicle)
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self._camera.listen(lambda image: self._parse_image(image))
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while True:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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return
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self._on_loop()
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self._on_render()
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finally:
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pygame.quit()
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if self._camera is not None:
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self._camera.destroy()
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self._camera = None
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if self._vehicle is not None:
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self._vehicle.destroy()
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self._vehicle = None
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def _parse_image(self, image):
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array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
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array = np.reshape(array, (image.height, image.width, 4))
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array = array[:, :, :3]
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array = array[:, :, ::-1]
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self._surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
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def _on_loop(self):
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autopilot = self._autopilot_enabled
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control = self._get_keyboard_control(pygame.key.get_pressed())
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if autopilot != self._autopilot_enabled:
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self._vehicle.set_autopilot(autopilot)
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self._autopilot_enabled = autopilot
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if not self._autopilot_enabled:
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self._vehicle.apply_control(control)
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def _get_keyboard_control(self, keys):
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control = carla.VehicleControl()
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if keys[K_LEFT] or keys[K_a]:
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control.steer = -1.0
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if keys[K_RIGHT] or keys[K_d]:
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control.steer = 1.0
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if keys[K_UP] or keys[K_w]:
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control.throttle = 1.0
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if keys[K_DOWN] or keys[K_s]:
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control.brake = 1.0
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if keys[K_SPACE]:
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control.hand_brake = True
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if keys[K_q]:
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self._is_on_reverse = not self._is_on_reverse
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if keys[K_p]:
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self._autopilot_enabled = not self._autopilot_enabled
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control.reverse = self._is_on_reverse
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return control
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def _on_render(self):
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if self._surface is not None:
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self._display.blit(self._surface, (0, 0))
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pygame.display.flip()
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def main():
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argparser = argparse.ArgumentParser(
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description='CARLA Manual Control Client')
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argparser.add_argument(
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'-v', '--verbose',
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action='store_true',
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dest='debug',
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help='print debug information')
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argparser.add_argument(
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'--host',
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metavar='H',
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default='localhost',
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help='IP of the host server (default: localhost)')
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argparser.add_argument(
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'-p', '--port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument(
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'-a', '--autopilot',
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action='store_true',
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help='enable autopilot')
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args = argparser.parse_args()
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log_level = logging.DEBUG if args.debug else logging.INFO
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logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
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logging.info('listening to server %s:%s', args.host, args.port)
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print(__doc__)
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while True:
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try:
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game = CarlaGame(args)
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game.execute()
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break
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except Exception as error:
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logging.error(error)
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time.sleep(1)
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if __name__ == '__main__':
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try:
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main()
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except KeyboardInterrupt:
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print('\nCancelled by user. Bye!')
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@ -0,0 +1,48 @@
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#!/usr/bin/env python
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import sys
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sys.path.append(
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'PythonAPI/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
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sys.version_info.minor))
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import carla
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import math
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import time
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# Nice spot on Town01.
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LOCATION = carla.Location(x=155.5, y=55.8, z=39)
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def get_transform(angle, d=6.5):
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a = math.radians(angle)
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location = carla.Location(d * math.cos(a), d * math.sin(a), 2.0) + LOCATION
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return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-15))
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def main():
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client = carla.Client('localhost', 2000)
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world = client.get_world()
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spectator = world.get_spectator()
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vehicle_blueprints = world.get_blueprint_library().filter('vehicle');
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for blueprint in vehicle_blueprints:
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transform = carla.Transform(LOCATION, carla.Rotation(yaw=-45.0))
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vehicle = world.spawn_actor(blueprint, transform)
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try:
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print(vehicle.type_id)
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for x in range(2, 360, 2):
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spectator.set_transform(get_transform(x - 90))
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time.sleep(0.02)
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finally:
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vehicle.destroy()
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if __name__ == '__main__':
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main()
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@ -100,6 +100,8 @@ if $DO_COPY_FILES ; then
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copy_if_changed "./Util/Docker/Release.Dockerfile" "${DESTINATION}/Dockerfile"
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copy_if_changed "./PythonAPI/dist/*.egg" "${DESTINATION}/PythonAPI/"
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copy_if_changed "./PythonAPI/example.py" "${DESTINATION}/example.py"
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copy_if_changed "./PythonAPI/manual_control.py" "${DESTINATION}/manual_control.py"
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copy_if_changed "./PythonAPI/vehicle_gallery.py" "${DESTINATION}/vehicle_gallery.py"
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popd >/dev/null
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