136 lines
4.1 KiB
Python
Executable File
136 lines
4.1 KiB
Python
Executable File
#!/usr/bin/env python3
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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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"""Connects with a CARLA simulator and displays the available start positions
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for the current map."""
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from __future__ import print_function
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import argparse
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import logging
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import sys
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import time
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import matplotlib.image as mpimg
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import matplotlib.pyplot as plt
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from matplotlib.patches import Circle
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from carla.client import make_carla_client
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from carla.planner.map import CarlaMap
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from carla.settings import CarlaSettings
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from carla.tcp import TCPConnectionError
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def view_start_positions(args):
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# We assume the CARLA server is already waiting for a client to connect at
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# host:port. The same way as in the client example.
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with make_carla_client(args.host, args.port) as client:
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print('CarlaClient connected')
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# We load the default settings to the client.
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scene = client.load_settings(CarlaSettings())
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print("Received the start positions")
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try:
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image = mpimg.imread('carla/planner/%s.png' % scene.map_name)
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carla_map = CarlaMap(scene.map_name, 0.1653, 50)
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except IOError as exception:
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logging.error(exception)
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logging.error('Cannot find map "%s"', scene.map_name)
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sys.exit(1)
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fig, ax = plt.subplots(1)
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ax.imshow(image)
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if args.positions == 'all':
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positions_to_plot = range(len(scene.player_start_spots))
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else:
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positions_to_plot = map(int, args.positions.split(','))
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for position in positions_to_plot:
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# Check if position is valid
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if position >= len(scene.player_start_spots):
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raise RuntimeError('Selected position is invalid')
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# Convert world to pixel coordinates
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pixel = carla_map.convert_to_pixel([scene.player_start_spots[position].location.x,
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scene.player_start_spots[position].location.y,
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scene.player_start_spots[position].location.z])
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circle = Circle((pixel[0], pixel[1]), 12, color='r', label='A point')
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ax.add_patch(circle)
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if not args.no_labels:
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plt.text(pixel[0], pixel[1], str(position), size='x-small')
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plt.axis('off')
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plt.show()
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fig.savefig('town_positions.pdf', orientation='landscape', bbox_inches='tight')
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def main():
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argparser = argparse.ArgumentParser(description=__doc__)
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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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'-pos', '--positions',
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metavar='P',
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default='all',
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help='Indices of the positions that you want to plot on the map. '
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'The indices must be separated by commas (default = all positions)')
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argparser.add_argument(
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'--no-labels',
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action='store_true',
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help='do not display position indices')
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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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while True:
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try:
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view_start_positions(args)
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print('Done.')
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return
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except TCPConnectionError as error:
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logging.error(error)
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time.sleep(1)
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except RuntimeError as error:
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logging.error(error)
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break
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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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