Camera update

carla_environment.py

 """ Carla.org environment"""
 import glob
 import os
-import sys
 import random
+import sys
+
 import numpy as np
 import pygame
-import math
-import atexit
+
 from steering_wheel import Controller
 
 # find carla module
 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.minor,
         'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
@@ -20,31 +21,37 @@ except IndexError:
 
 import carla
 
+
 class Camera:
     """ Add camera sensor to the carla world """
     sensor = None
-    display = None
     surface = None
+    display = None
     width = None
     height = None
     surface = None
+    camera_type = None
 
-    def __init__(self, world, width=640, height=480):
+    def __init__(self, world, camera_type='rgb', width=1280, height=720):
         self.width = width
         self.height = height
+        self.camera_type = camera_type
         self.display = pygame.display.set_mode(
             (width, height),
             pygame.HWSURFACE | pygame.DOUBLEBUF)
         self.display.fill((0,0,0))
-        camera_blueprint = world.world.get_blueprint_library().find('sensor.camera.rgb')
-        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
+        camera_blueprint = world.world.get_blueprint_library().find('sensor.camera.' + camera_type)
         camera_blueprint.set_attribute('image_size_x', f'{self.width}')
         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.listen(lambda data: self.process_img(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.reshape(array, (self.height, self.width, 4))
         array = array[:, :, :3]
@@ -52,10 +59,12 @@ class Camera:
         self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
     
     def on_update(self):
+        """ Update the pygame display. """
         if self.surface is not None:
             self.display.blit(self.surface, (0, 0))
             pygame.display.flip()
 
+
 class World:
     """ Wrapper for the carla environment, incl. player/vehicle """
     player = None
@@ -70,47 +79,61 @@ class World:
         self.reset()
     
     def reset(self):
+        """ Remove and create new player/vehicle. """
         self.destroy()
         self.spawn_player()
 
     def spawn_player(self):
+        """ Add a vehicle to the world. """
         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)
             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):
+        """ Remove vehicle from the world. """
         if self.player is not None:
             self.player.destroy()
 
     def step(self, action):
+        """ Apply controls to vehicle. """
         self.player.apply_control(action)
-
+        # print(str(self.player.get_location()))
+        # print(str(self.player.get_velocity()))
 
 
 class CarlaEnvironment:
     world = 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.set_timeout(2.0)
+        self.client.load_world('Town07')
         self.world = World(self.client.get_world())
     
     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)
         
-
 if __name__ == "__main__":
+    LOCALHOST="127.0.0.1"
+    SERVER="192.168.188.20"
+
     pygame.init()
+    clock = pygame.time.Clock()
 
-    env = CarlaEnvironment()
-    cam = Camera(env.world)
+    env = CarlaEnvironment(host=LOCALHOST)
+    cam = Camera(env.world, camera_type='semantic_segmentation')
     ctrl = Controller()
-    running = True
 
     while ctrl.is_running():
+        clock.tick(60)
         ctrl.on_update()
         env.step(ctrl.get_action())
         cam.on_update()