115 lines
3.1 KiB
Python
Executable File
115 lines
3.1 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
import sys
|
|
|
|
sys.path.append(
|
|
'PythonAPI/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
|
|
sys.version_info.minor))
|
|
|
|
import carla
|
|
|
|
import os
|
|
import random
|
|
import time
|
|
|
|
# This function is here because this functionality haven't been ported to the
|
|
# new API yet.
|
|
def save_to_disk(image):
|
|
"""Save this image to disk (requires PIL installed)."""
|
|
|
|
filename = '_images/{:0>6d}_{:s}.png'.format(image.frame_number, image.type)
|
|
|
|
try:
|
|
from PIL import Image as PImage
|
|
except ImportError:
|
|
raise RuntimeError(
|
|
'cannot import PIL, make sure pillow package is installed')
|
|
|
|
image = PImage.frombytes(
|
|
mode='RGBA',
|
|
size=(image.width, image.height),
|
|
data=image.raw_data,
|
|
decoder_name='raw')
|
|
color = image.split()
|
|
image = PImage.merge("RGB", color[2::-1])
|
|
|
|
folder = os.path.dirname(filename)
|
|
if not os.path.isdir(folder):
|
|
os.makedirs(folder)
|
|
image.save(filename)
|
|
|
|
|
|
def main(add_a_camera, enable_autopilot):
|
|
client = carla.Client('localhost', 2000)
|
|
client.set_timeout(2000)
|
|
|
|
print('client version: %s' % client.get_client_version())
|
|
print('server version: %s' % client.get_server_version())
|
|
|
|
world = client.get_world()
|
|
|
|
blueprint_library = world.get_blueprint_library();
|
|
|
|
vehicle_blueprints = blueprint_library.filter('vehicle');
|
|
|
|
|
|
actor_list = []
|
|
|
|
try:
|
|
|
|
while True:
|
|
|
|
bp = random.choice(vehicle_blueprints)
|
|
|
|
if bp.contains_attribute('number_of_wheels'):
|
|
n = bp.get_attribute('number_of_wheels')
|
|
print('spawning vehicle %r with %d wheels' % (bp.id, n))
|
|
|
|
color = random.choice(bp.get_attribute('color').recommended_values)
|
|
bp.set_attribute('color', color)
|
|
|
|
transform = carla.Transform(
|
|
carla.Location(x=180.0, y=199.0, z=40.0),
|
|
carla.Rotation(yaw=0.0))
|
|
|
|
vehicle = world.try_spawn_actor(bp, transform)
|
|
|
|
if vehicle is None:
|
|
continue
|
|
|
|
actor_list.append(vehicle)
|
|
|
|
print(vehicle)
|
|
|
|
if add_a_camera:
|
|
add_a_camera = False
|
|
|
|
camera_bp = blueprint_library.find('sensor.camera')
|
|
# camera_bp.set_attribute('post_processing', 'Depth')
|
|
camera_transform = carla.Transform(carla.Location(x=0.4, y=0.0, z=1.4))
|
|
camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
|
|
camera.listen(save_to_disk)
|
|
|
|
if enable_autopilot:
|
|
vehicle.set_autopilot()
|
|
else:
|
|
vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=-1.0))
|
|
|
|
time.sleep(3)
|
|
|
|
print('vehicle at %s' % vehicle.get_location())
|
|
vehicle.set_location(carla.Location(x=220, y=199, z=38))
|
|
print('is now at %s' % vehicle.get_location())
|
|
|
|
time.sleep(2)
|
|
|
|
finally:
|
|
|
|
for actor in actor_list:
|
|
actor.destroy()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
main(add_a_camera=False, enable_autopilot=True)
|