/
manual_control_json.py
1259 lines (1102 loc) · 53.4 KB
/
manual_control_json.py
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#!/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>.
# 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
import time
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()
spawn_point = spawn_points[0] 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:
if self._autopilot_enabled:
# world.player.set_autopilot(False)
world.restart()
# world.player.set_autopilot(True)
else:
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):
if keys[K_UP] or keys[K_w]:
self._control.throttle = min(self._control.throttle + 0.01, 1)
else:
self._control.throttle = 0.0
if keys[K_DOWN] or keys[K_s]:
self._control.brake = min(self._control.brake + 0.2, 1)
else:
self._control.brake = 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.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 = (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
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)