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Armin Co
LearningEnvironment
Commits
2994f0c1
Commit
2994f0c1
authored
4 years ago
by
Armin Co
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Camera update
parent
e88e8237
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1 changed file
carla_environment.py
+40
-17
40 additions, 17 deletions
carla_environment.py
with
40 additions
and
17 deletions
carla_environment.py
+
40
−
17
View file @
2994f0c1
"""
Carla.org environment
"""
"""
Carla.org environment
"""
import
glob
import
glob
import
os
import
os
import
sys
import
random
import
random
import
sys
import
numpy
as
np
import
numpy
as
np
import
pygame
import
pygame
import
math
import
atexit
from
steering_wheel
import
Controller
from
steering_wheel
import
Controller
# find carla module
# find carla module
try
:
try
:
sys
.
path
.
append
(
glob
.
glob
(
'
/media/armin/Games/carla/PythonAPI/carla/dist/carla-*%d.%d-%s.egg
'
%
(
CARLA_PATH
=
'
/media/armin/Games/carla/PythonAPI/carla/dist/carla-*%d.%d-%s.egg
'
sys
.
path
.
append
(
glob
.
glob
(
CARLA_PATH
%
(
sys
.
version_info
.
major
,
sys
.
version_info
.
major
,
sys
.
version_info
.
minor
,
sys
.
version_info
.
minor
,
'
win-amd64
'
if
os
.
name
==
'
nt
'
else
'
linux-x86_64
'
))[
0
])
'
win-amd64
'
if
os
.
name
==
'
nt
'
else
'
linux-x86_64
'
))[
0
])
...
@@ -20,31 +21,37 @@ except IndexError:
...
@@ -20,31 +21,37 @@ except IndexError:
import
carla
import
carla
class
Camera
:
class
Camera
:
"""
Add camera sensor to the carla world
"""
"""
Add camera sensor to the carla world
"""
sensor
=
None
sensor
=
None
display
=
None
surface
=
None
surface
=
None
display
=
None
width
=
None
width
=
None
height
=
None
height
=
None
surface
=
None
surface
=
None
camera_type
=
None
def
__init__
(
self
,
world
,
width
=
64
0
,
height
=
48
0
):
def
__init__
(
self
,
world
,
camera_type
=
'
rgb
'
,
width
=
128
0
,
height
=
72
0
):
self
.
width
=
width
self
.
width
=
width
self
.
height
=
height
self
.
height
=
height
self
.
camera_type
=
camera_type
self
.
display
=
pygame
.
display
.
set_mode
(
self
.
display
=
pygame
.
display
.
set_mode
(
(
width
,
height
),
(
width
,
height
),
pygame
.
HWSURFACE
|
pygame
.
DOUBLEBUF
)
pygame
.
HWSURFACE
|
pygame
.
DOUBLEBUF
)
self
.
display
.
fill
((
0
,
0
,
0
))
self
.
display
.
fill
((
0
,
0
,
0
))
camera_blueprint
=
world
.
world
.
get_blueprint_library
().
find
(
'
sensor.camera.rgb
'
)
camera_blueprint
=
world
.
world
.
get_blueprint_library
().
find
(
'
sensor.camera.
'
+
camera_type
)
camera_transform
=
carla
.
Transform
(
carla
.
Location
(
x
=
1.5
,
z
=
2.4
))
camera_blueprint
.
set_attribute
(
'
image_size_x
'
,
f
'
{
self
.
width
}
'
)
camera_blueprint
.
set_attribute
(
'
image_size_x
'
,
f
'
{
self
.
width
}
'
)
camera_blueprint
.
set_attribute
(
'
image_size_y
'
,
f
'
{
self
.
height
}
'
)
camera_blueprint
.
set_attribute
(
'
image_size_y
'
,
f
'
{
self
.
height
}
'
)
camera_blueprint
.
set_attribute
(
'
fov
'
,
'
110
'
)
camera_blueprint
.
set_attribute
(
'
fov
'
,
'
95
'
)
camera_transform
=
carla
.
Transform
(
carla
.
Location
(
x
=-
3.0
,
z
=
2.2
))
self
.
sensor
=
world
.
world
.
spawn_actor
(
camera_blueprint
,
camera_transform
,
attach_to
=
world
.
player
)
self
.
sensor
=
world
.
world
.
spawn_actor
(
camera_blueprint
,
camera_transform
,
attach_to
=
world
.
player
)
self
.
sensor
.
listen
(
lambda
data
:
self
.
process_img
(
data
))
self
.
sensor
.
listen
(
lambda
data
:
self
.
process_img
(
data
))
def
process_img
(
self
,
data
):
def
process_img
(
self
,
data
):
"""
Callback for rgb-camera sensor.
"""
if
self
.
camera_type
==
'
semantic_segmentation
'
:
data
.
convert
(
carla
.
ColorConverter
.
CityScapesPalette
)
array
=
np
.
frombuffer
(
data
.
raw_data
,
dtype
=
np
.
dtype
(
"
uint8
"
))
array
=
np
.
frombuffer
(
data
.
raw_data
,
dtype
=
np
.
dtype
(
"
uint8
"
))
array
=
np
.
reshape
(
array
,
(
self
.
height
,
self
.
width
,
4
))
array
=
np
.
reshape
(
array
,
(
self
.
height
,
self
.
width
,
4
))
array
=
array
[:,
:,
:
3
]
array
=
array
[:,
:,
:
3
]
...
@@ -52,10 +59,12 @@ class Camera:
...
@@ -52,10 +59,12 @@ class Camera:
self
.
surface
=
pygame
.
surfarray
.
make_surface
(
array
.
swapaxes
(
0
,
1
))
self
.
surface
=
pygame
.
surfarray
.
make_surface
(
array
.
swapaxes
(
0
,
1
))
def
on_update
(
self
):
def
on_update
(
self
):
"""
Update the pygame display.
"""
if
self
.
surface
is
not
None
:
if
self
.
surface
is
not
None
:
self
.
display
.
blit
(
self
.
surface
,
(
0
,
0
))
self
.
display
.
blit
(
self
.
surface
,
(
0
,
0
))
pygame
.
display
.
flip
()
pygame
.
display
.
flip
()
class
World
:
class
World
:
"""
Wrapper for the carla environment, incl. player/vehicle
"""
"""
Wrapper for the carla environment, incl. player/vehicle
"""
player
=
None
player
=
None
...
@@ -70,47 +79,61 @@ class World:
...
@@ -70,47 +79,61 @@ class World:
self
.
reset
()
self
.
reset
()
def
reset
(
self
):
def
reset
(
self
):
"""
Remove and create new player/vehicle.
"""
self
.
destroy
()
self
.
destroy
()
self
.
spawn_player
()
self
.
spawn_player
()
def
spawn_player
(
self
):
def
spawn_player
(
self
):
"""
Add a vehicle to the world.
"""
while
self
.
player
is
None
:
while
self
.
player
is
None
:
blueprint
=
random
.
choice
(
self
.
blueprint_library
.
filter
(
'
vehicle
'
))
blueprint
=
random
.
choice
(
self
.
blueprint_library
.
filter
(
'
model3
'
))
position
=
random
.
choice
(
self
.
spawn_points
)
position
=
random
.
choice
(
self
.
spawn_points
)
self
.
player
=
self
.
world
.
try_spawn_actor
(
blueprint
,
position
)
self
.
player
=
self
.
world
.
try_spawn_actor
(
blueprint
,
position
)
start_location
=
self
.
player
.
get_location
()
print
(
str
(
start_location
))
# start_location.x = 288.0
# start_location.y = 55.0
# self.player.set_location(start_location)
def
destroy
(
self
):
def
destroy
(
self
):
"""
Remove vehicle from the world.
"""
if
self
.
player
is
not
None
:
if
self
.
player
is
not
None
:
self
.
player
.
destroy
()
self
.
player
.
destroy
()
def
step
(
self
,
action
):
def
step
(
self
,
action
):
"""
Apply controls to vehicle.
"""
self
.
player
.
apply_control
(
action
)
self
.
player
.
apply_control
(
action
)
# print(str(self.player.get_location()))
# print(str(self.player.get_velocity()))
class
CarlaEnvironment
:
class
CarlaEnvironment
:
world
=
None
world
=
None
client
=
None
client
=
None
def
__init__
(
self
,
host
=
"
127.0.0.1
"
,
port
=
2000
,
width
=
1280
,
height
=
720
):
def
__init__
(
self
,
host
=
"
127.0.0.1
"
,
port
=
2000
):
self
.
client
=
carla
.
Client
(
host
,
port
)
self
.
client
=
carla
.
Client
(
host
,
port
)
self
.
client
.
set_timeout
(
2.0
)
self
.
client
.
set_timeout
(
2.0
)
self
.
client
.
load_world
(
'
Town07
'
)
self
.
world
=
World
(
self
.
client
.
get_world
())
self
.
world
=
World
(
self
.
client
.
get_world
())
def
step
(
self
,
action
):
def
step
(
self
,
action
):
control
=
carla
.
VehicleControl
(
throttle
=
action
[
0
],
steer
=
action
[
2
],
brake
=
action
[
1
])
control
=
carla
.
VehicleControl
(
throttle
=
action
[
0
],
steer
=
action
[
2
],
brake
=
action
[
1
]
,
reverse
=
action
[
3
]
)
self
.
world
.
step
(
control
)
self
.
world
.
step
(
control
)
if
__name__
==
"
__main__
"
:
if
__name__
==
"
__main__
"
:
LOCALHOST
=
"
127.0.0.1
"
SERVER
=
"
192.168.188.20
"
pygame
.
init
()
pygame
.
init
()
clock
=
pygame
.
time
.
Clock
()
env
=
CarlaEnvironment
()
env
=
CarlaEnvironment
(
host
=
LOCALHOST
)
cam
=
Camera
(
env
.
world
)
cam
=
Camera
(
env
.
world
,
camera_type
=
'
semantic_segmentation
'
)
ctrl
=
Controller
()
ctrl
=
Controller
()
running
=
True
while
ctrl
.
is_running
():
while
ctrl
.
is_running
():
clock
.
tick
(
60
)
ctrl
.
on_update
()
ctrl
.
on_update
()
env
.
step
(
ctrl
.
get_action
())
env
.
step
(
ctrl
.
get_action
())
cam
.
on_update
()
cam
.
on_update
()
...
...
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