ad-python-experiment

demo.mp4

Dependencies

• OpenPCDet (Optional, if you want to use the model built using OpenPCDet)
• CarLA Client or BeamNG Client

Usage

• CarLA

  usage: carla_replay.py [-h] [--host H] [-p P] [-f F] [-c CONFIG_FILENAME] [-r ROLENAME] [-v] [-n]
                         [-e]
  
  options:
    -h, --help            show this help message and exit
    --host H              IP of the host server (default: 127.0.0.1)
    -p P, --port P        TCP port to listen to (default: 2000)
    -f F, --recorder-filename F
                          recorder filename (test1.log)
    -c CONFIG_FILENAME, --config-filename CONFIG_FILENAME
                          config filename (*.yaml)
    -r ROLENAME, --rolename ROLENAME
                          rolename of the ego vehicle
    -v, --preview         open an open3d windows to preview current frame
    -n, --noisy-lidar     switch to noisy lidar
    -e, --evaluate        evaluate result after finishing replay
  

• BeamNG
  • see main_playground.ipynb for more details.

Change log

[2025.4.23] Fixed open3d windows blank screen.