129 lines
4.7 KiB
Python
129 lines
4.7 KiB
Python
#!/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 <https://opensource.org/licenses/MIT>.
|
|
|
|
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
|
|
|
|
import carla
|
|
|
|
import random
|
|
import time
|
|
|
|
|
|
def main():
|
|
actor_list = []
|
|
|
|
# In this tutorial script, we are going to add a vehicle to the simulation
|
|
# and let it drive in autopilot. We will also create a camera attached to
|
|
# that vehicle, and save all the images generated by the camera to disk.
|
|
|
|
try:
|
|
# First of all, we need to create the client that will send the requests
|
|
# to the simulator. Here we'll assume the simulator is accepting
|
|
# requests in the localhost at port 2000.
|
|
client = carla.Client('localhost', 2000)
|
|
client.set_timeout(2.0)
|
|
|
|
# Once we have a client we can retrieve the world that is currently
|
|
# running.
|
|
world = client.get_world()
|
|
|
|
# The world contains the list blueprints that we can use for adding new
|
|
# actors into the simulation.
|
|
blueprint_library = world.get_blueprint_library()
|
|
|
|
# Now let's filter all the blueprints of type 'vehicle' and choose one
|
|
# at random.
|
|
bp = random.choice(blueprint_library.filter('vehicle'))
|
|
|
|
# A blueprint contains the list of attributes that define a vehicle's
|
|
# instance, we can read them and modify some of them. For instance,
|
|
# let's randomize its color.
|
|
if bp.has_attribute('color'):
|
|
color = random.choice(bp.get_attribute('color').recommended_values)
|
|
bp.set_attribute('color', color)
|
|
|
|
# Now we need to give an initial transform to the vehicle. We choose a
|
|
# random transform from the list of recommended spawn points of the map.
|
|
transform = random.choice(world.get_map().get_spawn_points())
|
|
|
|
# So let's tell the world to spawn the vehicle.
|
|
vehicle = world.spawn_actor(bp, transform)
|
|
|
|
# It is important to note that the actors we create won't be destroyed
|
|
# unless we call their "destroy" function. If we fail to call "destroy"
|
|
# they will stay in the simulation even after we quit the Python script.
|
|
# For that reason, we are storing all the actors we create so we can
|
|
# destroy them afterwards.
|
|
actor_list.append(vehicle)
|
|
print('created %s' % vehicle.type_id)
|
|
|
|
# Let's put the vehicle to drive around.
|
|
vehicle.set_autopilot(True)
|
|
|
|
# Let's add now a "depth" camera attached to the vehicle. Note that the
|
|
# transform we give here is now relative to the vehicle.
|
|
camera_bp = blueprint_library.find('sensor.camera.depth')
|
|
camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
|
|
camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
|
|
actor_list.append(camera)
|
|
print('created %s' % camera.type_id)
|
|
|
|
# Now we register the function that will be called each time the sensor
|
|
# receives an image. In this example we are saving the image to disk
|
|
# converting the pixels to gray-scale.
|
|
cc = carla.ColorConverter.LogarithmicDepth
|
|
camera.listen(lambda image: image.save_to_disk('_out/%06d.png' % image.frame, cc))
|
|
|
|
# Oh wait, I don't like the location we gave to the vehicle, I'm going
|
|
# to move it a bit forward.
|
|
location = vehicle.get_location()
|
|
location.x += 40
|
|
vehicle.set_location(location)
|
|
print('moved vehicle to %s' % location)
|
|
|
|
# But the city now is probably quite empty, let's add a few more
|
|
# vehicles.
|
|
transform.location += carla.Location(x=40, y=-3.2)
|
|
transform.rotation.yaw = -180.0
|
|
for _ in range(0, 10):
|
|
transform.location.x += 8.0
|
|
|
|
bp = random.choice(blueprint_library.filter('vehicle'))
|
|
|
|
# This time we are using try_spawn_actor. If the spot is already
|
|
# occupied by another object, the function will return None.
|
|
npc = world.try_spawn_actor(bp, transform)
|
|
if npc is not None:
|
|
actor_list.append(npc)
|
|
npc.set_autopilot(True)
|
|
print('created %s' % npc.type_id)
|
|
|
|
time.sleep(5)
|
|
|
|
finally:
|
|
|
|
print('destroying actors')
|
|
camera.destroy()
|
|
client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
|
|
print('done.')
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
main()
|