1097 lines
45 KiB
Python
1097 lines
45 KiB
Python
#!/usr/bin/env python
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# Copyright (c) 2019 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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# Allows controlling a vehicle with a keyboard. For a simpler and more
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# documented example, please take a look at tutorial.py.
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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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A/D : steer left/right
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Q : toggle reverse
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Space : hand-brake
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M : toggle manual transmission
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,/. : gear up/down
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CTRL + W : toggle constant velocity mode at 60 km/h
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L : toggle next light type
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SHIFT + L : toggle high beam
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Z/X : toggle right/left blinker
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I : toggle interior light
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TAB : change sensor position
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` or N : next sensor
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[1-9] : change to sensor [1-9]
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G : toggle radar visualization
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C : change weather (Shift+C reverse)
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Backspace : change vehicle
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V : Select next map layer (Shift+V reverse)
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B : Load current selected map layer (Shift+B to unload)
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R : toggle recording images to disk
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CTRL + R : toggle recording of simulation (replacing any previous)
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CTRL + P : start replaying last recorded simulation
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CTRL + + : increments the start time of the replay by 1 second (+SHIFT = 10 seconds)
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CTRL + - : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds)
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F1 : toggle HUD
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H/? : toggle help
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ESC : quit
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"""
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from __future__ import print_function
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# ==============================================================================
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# -- find carla module ---------------------------------------------------------
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# ==============================================================================
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import carla
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from carla import ColorConverter as cc
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# ==============================================================================
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# -- imports -------------------------------------------------------------------
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# ==============================================================================
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import argparse
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import collections
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import datetime
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import logging
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import math
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import random
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import re
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import os
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import weakref
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try:
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import pygame
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from pygame.locals import KMOD_CTRL
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from pygame.locals import KMOD_SHIFT
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from pygame.locals import K_0
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from pygame.locals import K_9
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from pygame.locals import K_BACKQUOTE
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from pygame.locals import K_BACKSPACE
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from pygame.locals import K_COMMA
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from pygame.locals import K_DOWN
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from pygame.locals import K_ESCAPE
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from pygame.locals import K_F1
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from pygame.locals import K_LEFT
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from pygame.locals import K_PERIOD
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from pygame.locals import K_RIGHT
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from pygame.locals import K_SLASH
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from pygame.locals import K_SPACE
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from pygame.locals import K_TAB
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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_b
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from pygame.locals import K_c
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from pygame.locals import K_d
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from pygame.locals import K_f
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from pygame.locals import K_g
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from pygame.locals import K_h
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from pygame.locals import K_i
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from pygame.locals import K_l
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from pygame.locals import K_m
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from pygame.locals import K_n
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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_v
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from pygame.locals import K_w
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from pygame.locals import K_x
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from pygame.locals import K_z
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from pygame.locals import K_MINUS
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from pygame.locals import K_EQUALS
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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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# ==============================================================================
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# -- Global functions ----------------------------------------------------------
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# ==============================================================================
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def find_weather_presets():
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rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
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name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
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presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
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return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
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def get_actor_display_name(actor, truncate=250):
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name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
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return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
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def get_actor_blueprints(world, filter, generation):
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bps = world.get_blueprint_library().filter(filter)
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if generation.lower() == "all":
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return bps
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# If the filter returns only one bp, we assume that this one needed
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# and therefore, we ignore the generation
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if len(bps) == 1:
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return bps
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try:
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int_generation = int(generation)
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# Check if generation is in available generations
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if int_generation in [1, 2, 3]:
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bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
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return bps
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else:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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except:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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# ==============================================================================
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# -- World ---------------------------------------------------------------------
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# ==============================================================================
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class World(object):
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def __init__(self, carla_world, hud, args):
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self.world = carla_world
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self.sync = args.sync
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self.map = self.world.get_map()
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self.hud = hud
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self.player = None
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self.collision_sensor = None
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# self.lane_invasion_sensor = None
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self.gnss_sensor = None
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self.imu_sensor = None
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self.radar_sensor = None
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self.camera_manager = None
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self._weather_presets = find_weather_presets()
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self._weather_index = 0
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self._actor_filter = args.filter
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self._actor_generation = args.generation
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self.restart()
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self.world.on_tick(hud.on_world_tick)
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self.recording_enabled = False
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self.recording_start = 0
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self.current_map_layer = 0
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self.map_layer_names = [
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carla.MapLayer.NONE,
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carla.MapLayer.Buildings,
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carla.MapLayer.Decals,
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carla.MapLayer.Foliage,
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carla.MapLayer.Ground,
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carla.MapLayer.ParkedVehicles,
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carla.MapLayer.Particles,
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carla.MapLayer.Props,
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carla.MapLayer.StreetLights,
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carla.MapLayer.Walls,
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carla.MapLayer.All
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]
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def restart(self):
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self.player_max_speed = 1.589
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self.player_max_speed_fast = 3.713
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# Keep same camera config if the camera manager exists.
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cam_index = self.camera_manager.index if self.camera_manager is not None else 0
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cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
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# Get a random blueprint.
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blueprint_list = get_actor_blueprints(self.world, self._actor_filter, self._actor_generation)
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if not blueprint_list:
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raise ValueError("Couldn't find any blueprints with the specified filters")
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blueprint = random.choice(blueprint_list)
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if blueprint.has_attribute('terramechanics'):
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blueprint.set_attribute('terramechanics', 'true')
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if blueprint.has_attribute('color'):
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color = random.choice(blueprint.get_attribute('color').recommended_values)
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blueprint.set_attribute('color', color)
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if blueprint.has_attribute('driver_id'):
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driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
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blueprint.set_attribute('driver_id', driver_id)
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if blueprint.has_attribute('is_invincible'):
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blueprint.set_attribute('is_invincible', 'true')
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# set the max speed
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if blueprint.has_attribute('speed'):
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self.player_max_speed = float(blueprint.get_attribute('speed').recommended_values[1])
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self.player_max_speed_fast = float(blueprint.get_attribute('speed').recommended_values[2])
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# Spawn the player.
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if self.player is not None:
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spawn_point = self.player.get_transform()
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spawn_point.location.z += 2.0
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spawn_point.rotation.roll = 0.0
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spawn_point.rotation.pitch = 0.0
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self.destroy()
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self.player = self.world.try_spawn_actor(blueprint, spawn_point)
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while self.player is None:
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spawn_points = self.map.get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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self.player = self.world.try_spawn_actor(blueprint, spawn_point)
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self.world.get_spectator().set_transform(carla.Transform(spawn_point.location + carla.Location(z=10), carla.Rotation(pitch=-90)))
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# Set up the sensors.
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self.collision_sensor = CollisionSensor(self.player, self.hud)
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# self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
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self.gnss_sensor = GnssSensor(self.player)
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self.imu_sensor = IMUSensor(self.player)
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self.camera_manager = CameraManager(self.player, self.hud)
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self.camera_manager.transform_index = cam_pos_index
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self.camera_manager.set_sensor(cam_index, notify=False)
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actor_type = get_actor_display_name(self.player)
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self.hud.notification(actor_type)
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if self.sync:
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self.world.tick()
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else:
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self.world.wait_for_tick()
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def next_weather(self, reverse=False):
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self._weather_index += -1 if reverse else 1
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self._weather_index %= len(self._weather_presets)
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preset = self._weather_presets[self._weather_index]
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self.hud.notification('Weather: %s' % preset[1])
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self.player.get_world().set_weather(preset[0])
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def next_map_layer(self, reverse=False):
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self.current_map_layer += -1 if reverse else 1
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self.current_map_layer %= len(self.map_layer_names)
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selected = self.map_layer_names[self.current_map_layer]
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self.hud.notification('LayerMap selected: %s' % selected)
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def load_map_layer(self, unload=False):
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selected = self.map_layer_names[self.current_map_layer]
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if unload:
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self.hud.notification('Unloading map layer: %s' % selected)
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self.world.unload_map_layer(selected)
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else:
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self.hud.notification('Loading map layer: %s' % selected)
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self.world.load_map_layer(selected)
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def toggle_radar(self):
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if self.radar_sensor is None:
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self.radar_sensor = RadarSensor(self.player)
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elif self.radar_sensor.sensor is not None:
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self.radar_sensor.sensor.destroy()
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self.radar_sensor = None
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def tick(self, clock):
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self.hud.tick(self, clock)
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def render(self, display):
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self.camera_manager.render(display)
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self.hud.render(display)
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def destroy_sensors(self):
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self.camera_manager.sensor.destroy()
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self.camera_manager.sensor = None
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self.camera_manager.index = None
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def destroy(self):
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if self.radar_sensor is not None:
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self.toggle_radar()
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sensors = [
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self.camera_manager.sensor,
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self.collision_sensor.sensor,
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# self.lane_invasion_sensor.sensor,
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self.gnss_sensor.sensor,
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self.imu_sensor.sensor]
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for sensor in sensors:
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if sensor is not None:
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sensor.stop()
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sensor.destroy()
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if self.player is not None:
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self.player.destroy()
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# ==============================================================================
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# -- KeyboardControl -----------------------------------------------------------
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# ==============================================================================
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class KeyboardControl(object):
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"""Class that handles keyboard input."""
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def __init__(self, world):
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self.player = world.player
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self._speed = 0.007
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self._angular_speed = 0.1
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world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
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def parse_events(self, client, world, clock):
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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return True
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elif event.type == pygame.KEYUP:
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if self._is_quit_shortcut(event.key):
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return True
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elif event.key == K_BACKSPACE:
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world.restart()
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elif event.key == K_F1:
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world.hud.toggle_info()
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elif event.key == K_v and pygame.key.get_mods() & KMOD_SHIFT:
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world.next_map_layer(reverse=True)
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elif event.key == K_v:
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world.next_map_layer()
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elif event.key == K_b and pygame.key.get_mods() & KMOD_SHIFT:
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world.load_map_layer(unload=True)
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elif event.key == K_b:
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world.load_map_layer()
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elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
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world.hud.help.toggle()
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elif event.key == K_TAB:
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world.camera_manager.toggle_camera()
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elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
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world.next_weather(reverse=True)
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elif event.key == K_c:
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world.next_weather()
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elif event.key == K_g:
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world.toggle_radar()
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elif event.key == K_BACKQUOTE:
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world.camera_manager.next_sensor()
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elif event.key == K_n:
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world.camera_manager.next_sensor()
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elif event.key > K_0 and event.key <= K_9:
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index_ctrl = 0
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if pygame.key.get_mods() & KMOD_CTRL:
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index_ctrl = 9
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world.camera_manager.set_sensor(event.key - 1 - K_0 + index_ctrl)
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elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
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world.camera_manager.toggle_recording()
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elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):
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if (world.recording_enabled):
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client.stop_recorder()
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world.recording_enabled = False
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world.hud.notification("Recorder is OFF")
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else:
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client.start_recorder("manual_recording.rec")
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world.recording_enabled = True
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world.hud.notification("Recorder is ON")
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elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL):
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# stop recorder
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client.stop_recorder()
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world.recording_enabled = False
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# work around to fix camera at start of replaying
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current_index = world.camera_manager.index
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world.destroy_sensors()
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world.hud.notification("Replaying file 'manual_recording.rec'")
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# replayer
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client.replay_file("manual_recording.rec", world.recording_start, 0, 0)
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world.camera_manager.set_sensor(current_index)
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elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
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if pygame.key.get_mods() & KMOD_SHIFT:
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world.recording_start -= 10
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else:
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world.recording_start -= 1
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world.hud.notification("Recording start time is %d" % (world.recording_start))
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elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL):
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if pygame.key.get_mods() & KMOD_SHIFT:
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world.recording_start += 10
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else:
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world.recording_start += 1
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world.hud.notification("Recording start time is %d" % (world.recording_start))
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self._parse_keys(pygame.key.get_pressed(), clock.get_time())
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def _parse_keys(self, keys, milliseconds):
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new_transform = self.player.get_transform()
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if keys[K_LEFT] or keys[K_a]:
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new_transform.rotation.yaw -= self._angular_speed * milliseconds
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if keys[K_RIGHT] or keys[K_d]:
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new_transform.rotation.yaw += self._angular_speed * milliseconds
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f_vec = new_transform.get_forward_vector()
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move_dist = 0
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if keys[K_UP] or keys[K_w]:
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move_dist += self._speed * milliseconds
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if keys[K_DOWN] or keys[K_s]:
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move_dist -= self._speed * milliseconds
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new_transform.location += carla.Location(x=move_dist*f_vec.x, y=move_dist*f_vec.y)
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self.player.set_transform(new_transform)
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@staticmethod
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def _is_quit_shortcut(key):
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return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
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# ==============================================================================
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# -- HUD -----------------------------------------------------------------------
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# ==============================================================================
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class HUD(object):
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def __init__(self, width, height):
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self.dim = (width, height)
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font = pygame.font.Font(pygame.font.get_default_font(), 20)
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font_name = 'courier' if os.name == 'nt' else 'mono'
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fonts = [x for x in pygame.font.get_fonts() if font_name in x]
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default_font = 'ubuntumono'
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mono = default_font if default_font in fonts else fonts[0]
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mono = pygame.font.match_font(mono)
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self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
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self._notifications = FadingText(font, (width, 40), (0, height - 40))
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self.help = HelpText(pygame.font.Font(mono, 16), width, height)
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self.server_fps = 0
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self.frame = 0
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self.simulation_time = 0
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self._show_info = True
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self._info_text = []
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self._server_clock = pygame.time.Clock()
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self._show_ackermann_info = False
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self._ackermann_control = carla.VehicleAckermannControl()
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def on_world_tick(self, timestamp):
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self._server_clock.tick()
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self.server_fps = self._server_clock.get_fps()
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self.frame = timestamp.frame
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self.simulation_time = timestamp.elapsed_seconds
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def tick(self, world, clock):
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self._notifications.tick(world, clock)
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if not self._show_info:
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return
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t = world.player.get_transform()
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v = world.player.get_velocity()
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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]
|
|
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.split('/')[-1],
|
|
'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,
|
|
'']
|
|
|
|
def show_ackermann_info(self, enabled):
|
|
self._show_ackermann_info = enabled
|
|
|
|
def update_ackermann_control(self, ackermann_control):
|
|
self._ackermann_control = ackermann_control
|
|
|
|
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
|
|
|
|
# If the spawn object is not a vehicle, we cannot use the Lane Invasion Sensor
|
|
if parent_actor.type_id.startswith("vehicle."):
|
|
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 = (0.0, 0.0, 0.0)
|
|
self.gyroscope = (0.0, 0.0, 0.0)
|
|
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
|
|
bound_x = 0.5 + self._parent.bounding_box.extent.x
|
|
bound_z = 0.5 + self._parent.bounding_box.extent.z
|
|
|
|
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=bound_x + 0.05, z=bound_z+0.05), 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):
|
|
self.sensor = None
|
|
self.surface = None
|
|
self._parent = parent_actor
|
|
self.hud = hud
|
|
self.recording = False
|
|
bound_x = 0.5 + self._parent.bounding_box.extent.x
|
|
bound_y = 0.5 + self._parent.bounding_box.extent.y
|
|
bound_z = 0.5 + self._parent.bounding_box.extent.z
|
|
Attachment = carla.AttachmentType
|
|
|
|
if not self._parent.type_id.startswith("walker.pedestrian"):
|
|
self._camera_transforms = [
|
|
(carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid),
|
|
(carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
|
|
else:
|
|
self._camera_transforms = [
|
|
(carla.Transform(carla.Location(x=-2.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
|
|
(carla.Transform(carla.Location(x=2.5, y=0.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=-4.0, z=2.0), carla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
|
|
(carla.Transform(carla.Location(x=0, y=-2.5, z=-0.0), carla.Rotation(yaw=90.0)), 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.camera.instance_segmentation', cc.CityScapesPalette, 'Camera Instance Segmentation (CityScapes Palette)', {}],
|
|
['sensor.camera.instance_segmentation', cc.Raw, 'Camera Instance Segmentation (Raw)', {}],
|
|
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)',
|
|
{'range': '50', 'rotation_frequency': '60', 'channels': '64', 'points_per_second': '600000',}],
|
|
['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
|
|
['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'}],
|
|
# ['sensor.camera.optical_flow', cc.Raw, 'Optical Flow', {}],
|
|
['sensor.camera.normals', cc.Raw, 'Camera Normals', {}],
|
|
]
|
|
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]))
|
|
for attr_name, attr_value in item[3].items():
|
|
bp.set_attribute(attr_name, attr_value)
|
|
elif item[0].startswith('sensor.lidar'):
|
|
self.lidar_range = 50
|
|
for attr_name, attr_value in item[3].items():
|
|
bp.set_attribute(attr_name, attr_value)
|
|
if attr_name == 'range':
|
|
self.lidar_range = float(attr_value)
|
|
|
|
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] / 4), 4))
|
|
lidar_data = np.array(points[:, :2])
|
|
lidar_data *= min(self.hud.dim) / (2.0 * self.lidar_range)
|
|
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=np.uint8)
|
|
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
|
|
self.surface = pygame.surfarray.make_surface(lidar_img)
|
|
elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
|
|
# Example of converting the raw_data from a carla.DVSEventArray
|
|
# sensor into a NumPy array and using it as an image
|
|
dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
|
|
('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
|
|
dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
|
|
# Blue is positive, red is negative
|
|
dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
|
|
self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
|
|
elif self.sensors[self.index][0].startswith('sensor.camera.optical_flow'):
|
|
image = image.get_color_coded_flow()
|
|
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))
|
|
else:
|
|
image.convert(self.sensors[self.index][1])
|
|
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
|
|
# TODO: Remove the length
|
|
# length = image.height * image.width * 4 - array.size
|
|
# if length > 0:
|
|
# array = np.concatenate((array, np.zeros(length)))
|
|
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
|
|
original_settings = None
|
|
|
|
try:
|
|
client = carla.Client(args.host, args.port)
|
|
client.set_timeout(2000.0)
|
|
|
|
sim_world = client.get_world()
|
|
if args.sync:
|
|
original_settings = sim_world.get_settings()
|
|
settings = sim_world.get_settings()
|
|
if not settings.synchronous_mode:
|
|
settings.synchronous_mode = True
|
|
settings.fixed_delta_seconds = 0.05
|
|
sim_world.apply_settings(settings)
|
|
|
|
display = pygame.display.set_mode(
|
|
(args.width, args.height),
|
|
pygame.HWSURFACE | pygame.DOUBLEBUF)
|
|
display.fill((0,0,0))
|
|
pygame.display.flip()
|
|
|
|
hud = HUD(args.width, args.height)
|
|
world = World(sim_world, hud, args)
|
|
controller = KeyboardControl(world)
|
|
|
|
if args.sync:
|
|
sim_world.tick()
|
|
else:
|
|
sim_world.wait_for_tick()
|
|
|
|
clock = pygame.time.Clock()
|
|
while True:
|
|
if args.sync:
|
|
sim_world.tick()
|
|
clock.tick_busy_loop(60)
|
|
if controller.parse_events(client, world, clock):
|
|
return
|
|
world.tick(clock)
|
|
world.render(display)
|
|
pygame.display.flip()
|
|
|
|
finally:
|
|
|
|
if original_settings:
|
|
sim_world.apply_settings(original_settings)
|
|
|
|
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(
|
|
'--res',
|
|
metavar='WIDTHxHEIGHT',
|
|
default='1280x720',
|
|
help='window resolution (default: 1280x720)')
|
|
argparser.add_argument(
|
|
'--filter',
|
|
metavar='PATTERN',
|
|
default='*vendingmachine*',
|
|
help='actor filter (default: "vehicle.*")')
|
|
argparser.add_argument(
|
|
'--generation',
|
|
metavar='G',
|
|
default='2',
|
|
help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
|
|
argparser.add_argument(
|
|
'--sync',
|
|
action='store_true',
|
|
help='Activate synchronous mode execution')
|
|
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()
|