#!/usr/bin/env python # Copyright (c) 2019 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 . # Allows controlling a vehicle with a keyboard. For a simpler and more # documented example, please take a look at tutorial.py. """ Welcome to CARLA manual control. Use ARROWS or WASD keys for control. W : throttle S : brake A/D : steer left/right Q : toggle reverse Space : hand-brake P : toggle autopilot M : toggle manual transmission ,/. : gear up/down L : toggle next light type SHIFT + L : toggle high beam Z/X : toggle right/left blinker I : toggle interior light TAB : change sensor position ` or N : next sensor [1-9] : change to sensor [1-9] G : toggle radar visualization C : change weather (Shift+C reverse) Backspace : change vehicle R : toggle recording images to disk CTRL + R : toggle recording of simulation (replacing any previous) CTRL + P : start replaying last recorded simulation CTRL + + : increments the start time of the replay by 1 second (+SHIFT = 10 seconds) CTRL + - : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds) F1 : toggle HUD H/? : toggle help ESC : quit """ from __future__ import print_function # ============================================================================== # -- find carla module --------------------------------------------------------- # ============================================================================== import glob import os import sys 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 # ============================================================================== # -- imports ------------------------------------------------------------------- # ============================================================================== import carla from carla import ColorConverter as cc import argparse import collections import datetime import logging import math import random import re import weakref try: import pygame from pygame.locals import KMOD_CTRL from pygame.locals import KMOD_SHIFT from pygame.locals import K_0 from pygame.locals import K_9 from pygame.locals import K_BACKQUOTE from pygame.locals import K_BACKSPACE from pygame.locals import K_COMMA from pygame.locals import K_DOWN from pygame.locals import K_ESCAPE from pygame.locals import K_F1 from pygame.locals import K_LEFT from pygame.locals import K_PERIOD from pygame.locals import K_RIGHT from pygame.locals import K_SLASH from pygame.locals import K_SPACE from pygame.locals import K_TAB from pygame.locals import K_UP from pygame.locals import K_a from pygame.locals import K_c from pygame.locals import K_g from pygame.locals import K_d from pygame.locals import K_h from pygame.locals import K_m from pygame.locals import K_n from pygame.locals import K_p from pygame.locals import K_q from pygame.locals import K_r from pygame.locals import K_s from pygame.locals import K_w from pygame.locals import K_l from pygame.locals import K_i from pygame.locals import K_z from pygame.locals import K_x from pygame.locals import K_MINUS from pygame.locals import K_EQUALS except ImportError: raise RuntimeError('cannot import pygame, make sure pygame package is installed') try: import numpy as np except ImportError: raise RuntimeError('cannot import numpy, make sure numpy package is installed') # ============================================================================== # -- Global functions ---------------------------------------------------------- # ============================================================================== def find_weather_presets(): rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)') name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x)) presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)] return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets] def get_actor_display_name(actor, truncate=250): name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:]) return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name # ============================================================================== # -- World --------------------------------------------------------------------- # ============================================================================== class World(object): def __init__(self, carla_world, hud, args): self.world = carla_world self.actor_role_name = args.rolename try: self.map = self.world.get_map() except RuntimeError as error: print('RuntimeError: {}'.format(error)) print(' The server could not send the OpenDRIVE (.xodr) file:') print(' Make sure it exists, has the same name of your town, and is correct.') sys.exit(1) self.hud = hud self.player = None self.collision_sensor = None self.lane_invasion_sensor = None self.gnss_sensor = None self.imu_sensor = None self.radar_sensor = None self.camera_manager = None self._weather_presets = find_weather_presets() self._weather_index = 0 self._actor_filter = args.filter self._gamma = args.gamma self.restart() self.world.on_tick(hud.on_world_tick) self.recording_enabled = False self.recording_start = 0 def restart(self): self.player_max_speed = 1.589 self.player_max_speed_fast = 3.713 # Keep same camera config if the camera manager exists. cam_index = self.camera_manager.index if self.camera_manager is not None else 0 cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0 # Get a random blueprint. blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter)) blueprint.set_attribute('role_name', self.actor_role_name) if blueprint.has_attribute('color'): color = random.choice(blueprint.get_attribute('color').recommended_values) blueprint.set_attribute('color', color) if blueprint.has_attribute('driver_id'): driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values) blueprint.set_attribute('driver_id', driver_id) if blueprint.has_attribute('is_invincible'): blueprint.set_attribute('is_invincible', 'true') # set the max speed if blueprint.has_attribute('speed'): self.player_max_speed = float(blueprint.get_attribute('speed').recommended_values[1]) self.player_max_speed_fast = float(blueprint.get_attribute('speed').recommended_values[2]) else: print("No recommended values for 'speed' attribute") # Spawn the player. if self.player is not None: spawn_point = self.player.get_transform() spawn_point.location.z += 2.0 spawn_point.rotation.roll = 0.0 spawn_point.rotation.pitch = 0.0 self.destroy() self.player = self.world.try_spawn_actor(blueprint, spawn_point) while self.player is None: if not self.map.get_spawn_points(): print('There are no spawn points available in your map/town.') print('Please add some Vehicle Spawn Point to your UE4 scene.') sys.exit(1) spawn_points = self.map.get_spawn_points() spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() self.player = self.world.try_spawn_actor(blueprint, spawn_point) # Set up the sensors. self.collision_sensor = CollisionSensor(self.player, self.hud) self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud) self.gnss_sensor = GnssSensor(self.player) self.imu_sensor = IMUSensor(self.player) self.camera_manager = CameraManager(self.player, self.hud, self._gamma) self.camera_manager.transform_index = cam_pos_index self.camera_manager.set_sensor(cam_index, notify=False) actor_type = get_actor_display_name(self.player) self.hud.notification(actor_type) def next_weather(self, reverse=False): self._weather_index += -1 if reverse else 1 self._weather_index %= len(self._weather_presets) preset = self._weather_presets[self._weather_index] self.hud.notification('Weather: %s' % preset[1]) self.player.get_world().set_weather(preset[0]) def toggle_radar(self): if self.radar_sensor is None: self.radar_sensor = RadarSensor(self.player) elif self.radar_sensor.sensor is not None: self.radar_sensor.sensor.destroy() self.radar_sensor = None def tick(self, clock): self.hud.tick(self, clock) def render(self, display): self.camera_manager.render(display) self.hud.render(display) def destroy_sensors(self): self.camera_manager.sensor.destroy() self.camera_manager.sensor = None self.camera_manager.index = None def destroy(self): if self.radar_sensor is not None: self.toggle_radar() actors = [ self.camera_manager.sensor, self.collision_sensor.sensor, self.lane_invasion_sensor.sensor, self.gnss_sensor.sensor, self.imu_sensor.sensor, self.player] for actor in actors: if actor is not None: actor.destroy() # ============================================================================== # -- KeyboardControl ----------------------------------------------------------- # ============================================================================== class KeyboardControl(object): """Class that handles keyboard input.""" def __init__(self, world, start_in_autopilot): self._autopilot_enabled = start_in_autopilot if isinstance(world.player, carla.Vehicle): self._control = carla.VehicleControl() self._lights = carla.VehicleLightState.NONE world.player.set_autopilot(self._autopilot_enabled) world.player.set_light_state(self._lights) elif isinstance(world.player, carla.Walker): self._control = carla.WalkerControl() self._autopilot_enabled = False self._rotation = world.player.get_transform().rotation else: raise NotImplementedError("Actor type not supported") self._steer_cache = 0.0 world.hud.notification("Press 'H' or '?' for help.", seconds=4.0) def parse_events(self, client, world, clock): if isinstance(self._control, carla.VehicleControl): current_lights = self._lights for event in pygame.event.get(): if event.type == pygame.QUIT: return True elif event.type == pygame.KEYUP: if self._is_quit_shortcut(event.key): return True elif event.key == K_BACKSPACE: world.restart() elif event.key == K_F1: world.hud.toggle_info() elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT): world.hud.help.toggle() elif event.key == K_TAB: world.camera_manager.toggle_camera() elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT: world.next_weather(reverse=True) elif event.key == K_c: world.next_weather() elif event.key == K_g: world.toggle_radar() elif event.key == K_BACKQUOTE: world.camera_manager.next_sensor() elif event.key == K_n: world.camera_manager.next_sensor() elif event.key > K_0 and event.key <= K_9: world.camera_manager.set_sensor(event.key - 1 - K_0) elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL): world.camera_manager.toggle_recording() elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL): if (world.recording_enabled): client.stop_recorder() world.recording_enabled = False world.hud.notification("Recorder is OFF") else: client.start_recorder("manual_recording.rec") world.recording_enabled = True world.hud.notification("Recorder is ON") elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL): # stop recorder client.stop_recorder() world.recording_enabled = False # work around to fix camera at start of replaying current_index = world.camera_manager.index world.destroy_sensors() # disable autopilot self._autopilot_enabled = False world.player.set_autopilot(self._autopilot_enabled) world.hud.notification("Replaying file 'manual_recording.rec'") # replayer client.replay_file("manual_recording.rec", world.recording_start, 0, 0) world.camera_manager.set_sensor(current_index) elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL): if pygame.key.get_mods() & KMOD_SHIFT: world.recording_start -= 10 else: world.recording_start -= 1 world.hud.notification("Recording start time is %d" % (world.recording_start)) elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL): if pygame.key.get_mods() & KMOD_SHIFT: world.recording_start += 10 else: world.recording_start += 1 world.hud.notification("Recording start time is %d" % (world.recording_start)) if isinstance(self._control, carla.VehicleControl): if event.key == K_q: self._control.gear = 1 if self._control.reverse else -1 elif event.key == K_m: self._control.manual_gear_shift = not self._control.manual_gear_shift self._control.gear = world.player.get_control().gear world.hud.notification('%s Transmission' % ('Manual' if self._control.manual_gear_shift else 'Automatic')) elif self._control.manual_gear_shift and event.key == K_COMMA: self._control.gear = max(-1, self._control.gear - 1) elif self._control.manual_gear_shift and event.key == K_PERIOD: self._control.gear = self._control.gear + 1 elif event.key == K_p and not pygame.key.get_mods() & KMOD_CTRL: self._autopilot_enabled = not self._autopilot_enabled world.player.set_autopilot(self._autopilot_enabled) world.hud.notification( 'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off')) elif event.key == K_l and pygame.key.get_mods() & KMOD_CTRL: current_lights ^= carla.VehicleLightState.Special1 elif event.key == K_l and pygame.key.get_mods() & KMOD_SHIFT: current_lights ^= carla.VehicleLightState.HighBeam elif event.key == K_l: # Use 'L' key to switch between lights: # closed -> position -> low beam -> fog if not self._lights & carla.VehicleLightState.Position: world.hud.notification("Position lights") current_lights |= carla.VehicleLightState.Position else: world.hud.notification("Low beam lights") current_lights |= carla.VehicleLightState.LowBeam if self._lights & carla.VehicleLightState.LowBeam: world.hud.notification("Fog lights") current_lights |= carla.VehicleLightState.Fog if self._lights & carla.VehicleLightState.Fog: world.hud.notification("Lights off") current_lights ^= carla.VehicleLightState.Position current_lights ^= carla.VehicleLightState.LowBeam current_lights ^= carla.VehicleLightState.Fog elif event.key == K_i: current_lights ^= carla.VehicleLightState.Interior elif event.key == K_z: current_lights ^= carla.VehicleLightState.LeftBlinker elif event.key == K_x: current_lights ^= carla.VehicleLightState.RightBlinker if not self._autopilot_enabled: if isinstance(self._control, carla.VehicleControl): self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time()) self._control.reverse = self._control.gear < 0 # Set automatic control-related vehicle lights if self._control.brake: current_lights |= carla.VehicleLightState.Brake else: # Remove the Brake flag current_lights &= carla.VehicleLightState.All ^ carla.VehicleLightState.Brake if self._control.reverse: current_lights |= carla.VehicleLightState.Reverse else: # Remove the Reverse flag current_lights &= carla.VehicleLightState.All ^ 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)) elif isinstance(self._control, carla.WalkerControl): self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time(), world) world.player.apply_control(self._control) def _parse_vehicle_keys(self, keys, milliseconds): self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0 steer_increment = 5e-4 * milliseconds if keys[K_LEFT] or keys[K_a]: if self._steer_cache > 0: self._steer_cache = 0 else: self._steer_cache -= steer_increment elif keys[K_RIGHT] or keys[K_d]: if self._steer_cache < 0: self._steer_cache = 0 else: self._steer_cache += steer_increment else: self._steer_cache = 0.0 self._steer_cache = min(0.7, max(-0.7, self._steer_cache)) self._control.steer = round(self._steer_cache, 1) self._control.brake = 1.0 if keys[K_DOWN] or keys[K_s] else 0.0 self._control.hand_brake = keys[K_SPACE] def _parse_walker_keys(self, keys, milliseconds, world): self._control.speed = 0.0 if keys[K_DOWN] or keys[K_s]: self._control.speed = 0.0 if keys[K_LEFT] or keys[K_a]: self._control.speed = .01 self._rotation.yaw -= 0.08 * milliseconds if keys[K_RIGHT] or keys[K_d]: self._control.speed = .01 self._rotation.yaw += 0.08 * milliseconds if keys[K_UP] or keys[K_w]: self._control.speed = world.player_max_speed_fast if pygame.key.get_mods() & KMOD_SHIFT else world.player_max_speed self._control.jump = keys[K_SPACE] self._rotation.yaw = round(self._rotation.yaw, 1) self._control.direction = self._rotation.get_forward_vector() @staticmethod def _is_quit_shortcut(key): return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL) # ============================================================================== # -- HUD ----------------------------------------------------------------------- # ============================================================================== class HUD(object): def __init__(self, width, height): self.dim = (width, height) font = pygame.font.Font(pygame.font.get_default_font(), 20) font_name = 'courier' if os.name == 'nt' else 'mono' fonts = [x for x in pygame.font.get_fonts() if font_name in x] default_font = 'ubuntumono' mono = default_font if default_font in fonts else fonts[0] mono = pygame.font.match_font(mono) self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14) self._notifications = FadingText(font, (width, 40), (0, height - 40)) self.help = HelpText(pygame.font.Font(mono, 16), width, height) self.server_fps = 0 self.frame = 0 self.simulation_time = 0 self._show_info = True self._info_text = [] self._server_clock = pygame.time.Clock() def on_world_tick(self, timestamp): self._server_clock.tick() self.server_fps = self._server_clock.get_fps() self.frame = timestamp.frame self.simulation_time = timestamp.elapsed_seconds def tick(self, world, clock): self._notifications.tick(world, clock) if not self._show_info: return t = world.player.get_transform() v = world.player.get_velocity() c = world.player.get_control() compass = world.imu_sensor.compass heading = 'N' if compass > 270.5 or compass < 89.5 else '' heading += 'S' if 90.5 < compass < 269.5 else '' heading += 'E' if 0.5 < compass < 179.5 else '' heading += 'W' if 180.5 < compass < 359.5 else '' colhist = world.collision_sensor.get_collision_history() collision = [colhist[x + self.frame - 200] for x in range(0, 200)] max_col = max(1.0, max(collision)) collision = [x / max_col for x in collision] vehicles = world.world.get_actors().filter('vehicle.*') self._info_text = [ 'Server: % 16.0f FPS' % self.server_fps, 'Client: % 16.0f FPS' % clock.get_fps(), '', 'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20), 'Map: % 20s' % world.map.name, 'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)), '', 'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)), u'Compass:% 17.0f\N{DEGREE SIGN} % 2s' % (compass, heading), 'Accelero: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.accelerometer), 'Gyroscop: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.gyroscope), 'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)), 'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)), 'Height: % 18.0f m' % t.location.z, ''] if isinstance(c, carla.VehicleControl): self._info_text += [ ('Throttle:', c.throttle, 0.0, 1.0), ('Steer:', c.steer, -1.0, 1.0), ('Brake:', c.brake, 0.0, 1.0), ('Reverse:', c.reverse), ('Hand brake:', c.hand_brake), ('Manual:', c.manual_gear_shift), 'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)] elif isinstance(c, carla.WalkerControl): self._info_text += [ ('Speed:', c.speed, 0.0, 5.556), ('Jump:', c.jump)] self._info_text += [ '', 'Collision:', collision, '', 'Number of vehicles: % 8d' % len(vehicles)] if len(vehicles) > 1: self._info_text += ['Nearby vehicles:'] distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2) vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id] for d, vehicle in sorted(vehicles): if d > 200.0: break vehicle_type = get_actor_display_name(vehicle, truncate=22) self._info_text.append('% 4dm %s' % (d, vehicle_type)) def toggle_info(self): self._show_info = not self._show_info def notification(self, text, seconds=2.0): self._notifications.set_text(text, seconds=seconds) def error(self, text): self._notifications.set_text('Error: %s' % text, (255, 0, 0)) def render(self, display): if self._show_info: info_surface = pygame.Surface((220, self.dim[1])) info_surface.set_alpha(100) display.blit(info_surface, (0, 0)) v_offset = 4 bar_h_offset = 100 bar_width = 106 for item in self._info_text: if v_offset + 18 > self.dim[1]: break if isinstance(item, list): if len(item) > 1: points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)] pygame.draw.lines(display, (255, 136, 0), False, points, 2) item = None v_offset += 18 elif isinstance(item, tuple): if isinstance(item[1], bool): rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6)) pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1) else: rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6)) pygame.draw.rect(display, (255, 255, 255), rect_border, 1) f = (item[1] - item[2]) / (item[3] - item[2]) if item[2] < 0.0: rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6)) else: rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6)) pygame.draw.rect(display, (255, 255, 255), rect) item = item[0] if item: # At this point has to be a str. surface = self._font_mono.render(item, True, (255, 255, 255)) display.blit(surface, (8, v_offset)) v_offset += 18 self._notifications.render(display) self.help.render(display) # ============================================================================== # -- FadingText ---------------------------------------------------------------- # ============================================================================== class FadingText(object): def __init__(self, font, dim, pos): self.font = font self.dim = dim self.pos = pos self.seconds_left = 0 self.surface = pygame.Surface(self.dim) def set_text(self, text, color=(255, 255, 255), seconds=2.0): text_texture = self.font.render(text, True, color) self.surface = pygame.Surface(self.dim) self.seconds_left = seconds self.surface.fill((0, 0, 0, 0)) self.surface.blit(text_texture, (10, 11)) def tick(self, _, clock): delta_seconds = 1e-3 * clock.get_time() self.seconds_left = max(0.0, self.seconds_left - delta_seconds) self.surface.set_alpha(500.0 * self.seconds_left) def render(self, display): display.blit(self.surface, self.pos) # ============================================================================== # -- HelpText ------------------------------------------------------------------ # ============================================================================== class HelpText(object): """Helper class to handle text output using pygame""" def __init__(self, font, width, height): lines = __doc__.split('\n') self.font = font self.line_space = 18 self.dim = (780, len(lines) * self.line_space + 12) self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1]) self.seconds_left = 0 self.surface = pygame.Surface(self.dim) self.surface.fill((0, 0, 0, 0)) for n, line in enumerate(lines): text_texture = self.font.render(line, True, (255, 255, 255)) self.surface.blit(text_texture, (22, n * self.line_space)) self._render = False self.surface.set_alpha(220) def toggle(self): self._render = not self._render def render(self, display): if self._render: display.blit(self.surface, self.pos) # ============================================================================== # -- CollisionSensor ----------------------------------------------------------- # ============================================================================== class CollisionSensor(object): def __init__(self, parent_actor, hud): self.sensor = None self.history = [] self._parent = parent_actor self.hud = hud world = self._parent.get_world() bp = world.get_blueprint_library().find('sensor.other.collision') 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: CollisionSensor._on_collision(weak_self, event)) def get_collision_history(self): history = collections.defaultdict(int) for frame, intensity in self.history: history[frame] += intensity return history @staticmethod def _on_collision(weak_self, event): self = weak_self() if not self: return actor_type = get_actor_display_name(event.other_actor) self.hud.notification('Collision with %r' % actor_type) impulse = event.normal_impulse intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2) self.history.append((event.frame, intensity)) if len(self.history) > 4000: self.history.pop(0) # ============================================================================== # -- LaneInvasionSensor -------------------------------------------------------- # ============================================================================== 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)) @staticmethod def _on_invasion(weak_self, event): self = weak_self() if not self: return lane_types = set(x.type for x in event.crossed_lane_markings) text = ['%r' % str(x).split()[-1] for x in lane_types] self.hud.notification('Crossed line %s' % ' and '.join(text)) # ============================================================================== # -- GnssSensor ---------------------------------------------------------------- # ============================================================================== class GnssSensor(object): def __init__(self, parent_actor): self.sensor = None self._parent = parent_actor self.lat = 0.0 self.lon = 0.0 world = self._parent.get_world() bp = world.get_blueprint_library().find('sensor.other.gnss') self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), 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: GnssSensor._on_gnss_event(weak_self, event)) @staticmethod def _on_gnss_event(weak_self, event): self = weak_self() if not self: return self.lat = event.latitude self.lon = event.longitude # ============================================================================== # -- IMUSensor ----------------------------------------------------------------- # ============================================================================== class IMUSensor(object): def __init__(self, parent_actor): self.sensor = None self._parent = parent_actor self.accelerometer = () self.gyroscope = () self.compass = 0.0 world = self._parent.get_world() bp = world.get_blueprint_library().find('sensor.other.imu') 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 sensor_data: IMUSensor._IMU_callback(weak_self, sensor_data)) @staticmethod def _IMU_callback(weak_self, sensor_data): self = weak_self() if not self: return limits = (-99.9, 99.9) self.accelerometer = ( max(limits[0], min(limits[1], sensor_data.accelerometer.x)), max(limits[0], min(limits[1], sensor_data.accelerometer.y)), max(limits[0], min(limits[1], sensor_data.accelerometer.z))) self.gyroscope = ( max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.x))), max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.y))), max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.z)))) self.compass = math.degrees(sensor_data.compass) # ============================================================================== # -- RadarSensor --------------------------------------------------------------- # ============================================================================== class RadarSensor(object): def __init__(self, parent_actor): self.sensor = None self._parent = parent_actor self.velocity_range = 7.5 # m/s world = self._parent.get_world() self.debug = world.debug bp = world.get_blueprint_library().find('sensor.other.radar') bp.set_attribute('horizontal_fov', str(35)) bp.set_attribute('vertical_fov', str(20)) self.sensor = world.spawn_actor( bp, carla.Transform( carla.Location(x=2.8, z=1.0), carla.Rotation(pitch=5)), attach_to=self._parent) # We need a weak reference to self to avoid circular reference. weak_self = weakref.ref(self) self.sensor.listen( lambda radar_data: RadarSensor._Radar_callback(weak_self, radar_data)) @staticmethod def _Radar_callback(weak_self, radar_data): self = weak_self() if not self: return # To get a numpy [[vel, altitude, azimuth, depth],...[,,,]]: # points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4')) # points = np.reshape(points, (len(radar_data), 4)) current_rot = radar_data.transform.rotation for detect in radar_data: azi = math.degrees(detect.azimuth) alt = math.degrees(detect.altitude) # The 0.25 adjusts a bit the distance so the dots can # be properly seen fw_vec = carla.Vector3D(x=detect.depth - 0.25) carla.Transform( carla.Location(), carla.Rotation( pitch=current_rot.pitch + alt, yaw=current_rot.yaw + azi, roll=current_rot.roll)).transform(fw_vec) def clamp(min_v, max_v, value): return max(min_v, min(value, max_v)) norm_velocity = detect.velocity / self.velocity_range # range [-1, 1] r = int(clamp(0.0, 1.0, 1.0 - norm_velocity) * 255.0) g = int(clamp(0.0, 1.0, 1.0 - abs(norm_velocity)) * 255.0) b = int(abs(clamp(- 1.0, 0.0, - 1.0 - norm_velocity)) * 255.0) self.debug.draw_point( radar_data.transform.location + fw_vec, size=0.075, life_time=0.06, persistent_lines=False, color=carla.Color(r, g, b)) # ============================================================================== # -- CameraManager ------------------------------------------------------------- # ============================================================================== class CameraManager(object): def __init__(self, parent_actor, hud, gamma_correction): self.sensor = None self.surface = None self._parent = parent_actor self.hud = hud self.recording = False bound_y = 0.5 + self._parent.bounding_box.extent.y Attachment = carla.AttachmentType 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=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)] self.transform_index = 1 self.sensors = [ ['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}], ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)', {}], ['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.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {}], ['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted', {'lens_circle_multiplier': '3.0', 'lens_circle_falloff': '3.0', 'chromatic_aberration_intensity': '0.5', 'chromatic_aberration_offset': '0'}]] 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])) if bp.has_attribute('gamma'): bp.set_attribute('gamma', str(gamma_correction)) for attr_name, attr_value in item[3].items(): bp.set_attribute(attr_name, attr_value) elif item[0].startswith('sensor.lidar'): bp.set_attribute('range', '50') item.append(bp) self.index = None def toggle_camera(self): self.transform_index = (self.transform_index + 1) % len(self._camera_transforms) self.set_sensor(self.index, notify=False, force_respawn=True) def set_sensor(self, index, notify=True, force_respawn=False): index = index % len(self.sensors) needs_respawn = True if self.index is None else \ (force_respawn or (self.sensors[index][2] != self.sensors[self.index][2])) if needs_respawn: if self.sensor is not None: self.sensor.destroy() self.surface = None self.sensor = self._parent.get_world().spawn_actor( self.sensors[index][-1], self._camera_transforms[self.transform_index][0], attach_to=self._parent, attachment_type=self._camera_transforms[self.transform_index][1]) # We need to pass the lambda a weak reference to self to avoid # circular reference. weak_self = weakref.ref(self) self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image)) if notify: self.hud.notification(self.sensors[index][2]) self.index = index def next_sensor(self): self.set_sensor(self.index + 1) def toggle_recording(self): self.recording = not self.recording self.hud.notification('Recording %s' % ('On' if self.recording else 'Off')) def render(self, display): if self.surface is not None: display.blit(self.surface, (0, 0)) @staticmethod def _parse_image(weak_self, image): self = weak_self() if not self: return 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) # pylint: disable=E1111 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 = int) 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)) array = array[:, :, :3] array = array[:, :, ::-1] self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) if self.recording: image.save_to_disk('_out/%08d' % image.frame) # ============================================================================== # -- game_loop() --------------------------------------------------------------- # ============================================================================== def game_loop(args): pygame.init() pygame.font.init() world = None try: client = carla.Client(args.host, args.port) client.set_timeout(2.0) display = pygame.display.set_mode( (args.width, args.height), pygame.HWSURFACE | pygame.DOUBLEBUF) hud = HUD(args.width, args.height) world = World(client.get_world(), hud, args) controller = KeyboardControl(world, args.autopilot) clock = pygame.time.Clock() while True: clock.tick_busy_loop(60) if controller.parse_events(client, world, clock): return world.tick(clock) world.render(display) pygame.display.flip() finally: if (world and world.recording_enabled): client.stop_recorder() if world is not None: world.destroy() pygame.quit() # ============================================================================== # -- main() -------------------------------------------------------------------- # ============================================================================== def main(): argparser = argparse.ArgumentParser( description='CARLA Manual Control Client') argparser.add_argument( '-v', '--verbose', action='store_true', dest='debug', help='print debug information') 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( '-a', '--autopilot', action='store_true', help='enable autopilot') argparser.add_argument( '--res', metavar='WIDTHxHEIGHT', default='1280x720', help='window resolution (default: 1280x720)') argparser.add_argument( '--filter', metavar='PATTERN', default='vehicle.*', help='actor filter (default: "vehicle.*")') argparser.add_argument( '--rolename', metavar='NAME', default='hero', help='actor role name (default: "hero")') argparser.add_argument( '--gamma', default=2.2, type=float, help='Gamma correction of the camera (default: 2.2)') args = argparser.parse_args() args.width, args.height = [int(x) for x in args.res.split('x')] log_level = logging.DEBUG if args.debug else logging.INFO logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) logging.info('listening to server %s:%s', args.host, args.port) print(__doc__) try: game_loop(args) except KeyboardInterrupt: print('\nCancelled by user. Bye!') if __name__ == '__main__': main()