carla学习笔记(七)
今天主要是学习了automatic_control.py,感觉挺复杂的，有了pygame的操作。一些地方理解的不是很全面，感觉纯学习源码不太行，得自己用起来，才能理解的更加深入。
#!/usr/bin/env python
# Copyright (c) 2018 Intel Labs.
# authors: German Ros ([email protected])
#
# This work is licensed under the terms of the MIT license.
# For a copy, see .
"""Example of automatic vehicle control from client side."""
from __future__ import print_function
import argparse
import collections
import datetime
import glob
import logging
import math
import os
import random
import re
import sys
# 一个弱引用包，以前没有见过
import weakref
try:
import pygame
from pygame.locals import KMOD_CTRL
from pygame.locals import K_ESCAPE
from pygame.locals import K_q
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')
# ==============================================================================
# -- Find CARLA module ---------------------------------------------------------
# ==============================================================================
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
# ==============================================================================
# -- Add PythonAPI for release mode --------------------------------------------
# ==============================================================================
# 这个有问题，之前的错误全部都是在这里出现的
# try:
# sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla')
# except IndexError:
# pass
import carla
from carla import ColorConverter as cc
# sys.path.append('/media/hhh/75c0c2a9-f565-4a05-b2a5-5599a918e2f0/hhh/carlaLearning/PythonAPI/carla/agents/navigation')
from agents.navigation.behavior_agent import BehaviorAgent # pylint: disable=import-error
from agents.navigation.roaming_agent import RoamingAgent # pylint: disable=import-error
# from roaming_agent import BehaviorAgent
from agents.navigation.basic_agent import BasicAgent # pylint: disable=import-error
# ==============================================================================
# -- Global functions ----------------------------------------------------------
# ==============================================================================
# 大概是设定天气
def find_weather_presets():
"""Method to find weather presets"""
rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
def name(x): return ' '.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):
"""Method to get actor display name"""
# 好像是把type_id里面'_'替换成'.',然后对于'.'分割进行切片
# 然后将' '.join就是将' '成为连接它们之间的符号
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):
""" Class representing the surrounding environment """
# hud应该是后面定义的HUD的类，具体作用是显示一个独立的窗口，然后
# 在设置窗口的参数之类的吧
def __init__(self, carla_world, hud, args):
"""Constructor method"""
# 默认构造函数，也是默认世界生成的参数设置
self.world = carla_world
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
# 这里的None是未被定义
self.player = None
self.collision_sensor = None
self.lane_invasion_sensor = None
self.gnss_sensor = None
self.camera_manager = None
self._weather_presets = find_weather_presets()
self._weather_index = 0
# 这里的args.filter默认是vehicle*
self._actor_filter = args.filter
# camera的矫正系数，默认2.2
self._gamma = args.gamma
self.restart(args)
# 大概是设定与world相同
self.world.on_tick(hud.on_world_tick)
# 将记录默认关闭
self.recording_enabled = False
self.recording_start = 0
def restart(self, args):
"""Restart the world"""
# Keep same camera config if the camera manager exists.
# 这里的if else给我搞混了
# 查阅了一点点资料后，搞明白了
# 这个None判断是是否有定义不仅仅是是否是赋值
"""
x = 0
x = None
y = 1 if x is not None else 0
上面的代码可以简单的判断
"""
# 这行代码的意思是如果self.camera_manager 定义了就将它赋值给cam_index,否则就将cam_index初始化为0
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_id = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Set the seed if requested by user
if args.seed is not None:
random.seed(args.seed)
# Get a random blueprint.
blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Spawn the player.
print("Spawning the player")
# 如果self.player定义了
if self.player is not None:
spawn_point = self.player.get_transform()
# 这里的加了2.0好像之前看过一篇文章，是在上面说了原理
spawn_point.location.z += 2.0
spawn_point.rotation.roll = 0.0
spawn_point.rotation.pitch = 0.0
self.destroy()
# 这里的try_spawn_actor()函数是说如果生成的vehicle没有碰撞就会直接生成，有碰撞就不会生成且返回None
# self,player = None
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# 与前面的代码是对比
# 这里的部分感觉是真正的初始化
while self.player is None:
if not self.map.get_spawn_points():
print('There are no spawn points available in your map/town.')
# 这里证明了昨天的猜想，spawn point是在ue4的操作界面生成的。
print('Please add some Vehicle Spawn Point to your UE4 scene.')
sys.exit(1)
spawn_points = self.map.get_spawn_points()
# 几乎所有的生成点全部都是随机选择的
# 思考：关于spawn_points和waypoints的关系，
# 如果我在任意位置生成一个spawn_points并将车辆设置为自动驾驶模式，车辆会行驶吗？
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# Set up the sensors.
# 下面是设置相关的传感器
# 碰撞传感器
self.collision_sensor = CollisionSensor(self.player, self.hud)
# 变道传感器
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
# GNSS传感器
self.gnss_sensor = GnssSensor(self.player)
# camera传感器
self.camera_manager = CameraManager(self.player, self.hud, self._gamma)
self.camera_manager.transform_index = cam_pos_id
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
# 在hud的界面心显示车辆的信息
self.hud.notification(actor_type)
# weather的函数
def next_weather(self, reverse=False):
"""Get next weather setting"""
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 tick(self, clock):
"""Method for every tick"""
self.hud.tick(self, clock)
def render(self, display):
"""Render world"""
self.camera_manager.render(display)
self.hud.render(display)
def destroy_sensors(self):
"""Destroy sensors"""
self.camera_manager.sensor.destroy()
self.camera_manager.sensor = None
self.camera_manager.index = None
def destroy(self):
"""Destroys all actors"""
actors = [
self.camera_manager.sensor,
self.collision_sensor.sensor,
self.lane_invasion_sensor.sensor,
self.gnss_sensor.sensor,
self.player]
for actor in actors:
if actor is not None:
actor.destroy()
# ==============================================================================
# -- KeyboardControl -----------------------------------------------------------
# ==============================================================================
class KeyboardControl(object):
def __init__(self, world):
world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
def parse_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
if event.type == pygame.KEYUP:
if self._is_quit_shortcut(event.key):
return True
@staticmethod
def _is_quit_shortcut(key):
"""Shortcut for quitting"""
return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
# ==============================================================================
# -- HUD -----------------------------------------------------------------------
# ==============================================================================
# 文字显示在pygame上的类
class HUD(object):
"""Class for HUD text"""
def __init__(self, width, height):
"""Constructor method"""
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, 24), 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):
"""Gets informations from the world at every tick"""
self._server_clock.tick()
self.server_fps = self._server_clock.get_fps()
self.frame = timestamp.frame_count
self.simulation_time = timestamp.elapsed_seconds
def tick(self, world, clock):
"""HUD method for every tick"""
self._notifications.tick(world, clock)
if not self._show_info:
return
transform = world.player.get_transform()
vel = world.player.get_velocity()
control = world.player.get_control()
heading = 'N' if abs(transform.rotation.yaw) < 89.5 else ''
heading += 'S' if abs(transform.rotation.yaw) > 90.5 else ''
heading += 'E' if 179.5 > transform.rotation.yaw > 0.5 else ''
heading += 'W' if -0.5 > transform.rotation.yaw > -179.5 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(vel.x**2 + vel.y**2 + vel.z**2)),
u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (transform.rotation.yaw, heading),
'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (transform.location.x, transform.location.y)),
'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
'Height: % 18.0f m' % transform.location.z,
'']
if isinstance(control, carla.VehicleControl):
self._info_text += [
('Throttle:', control.throttle, 0.0, 1.0),
('Steer:', control.steer, -1.0, 1.0),
('Brake:', control.brake, 0.0, 1.0),
('Reverse:', control.reverse),
('Hand brake:', control.hand_brake),
('Manual:', control.manual_gear_shift),
'Gear: %s' % {-1: 'R', 0: 'N'}.get(control.gear, control.gear)]
elif isinstance(control, carla.WalkerControl):
self._info_text += [
('Speed:', control.speed, 0.0, 5.556),
('Jump:', control.jump)]
self._info_text += [
'',
'Collision:',
collision,
'',
'Number of vehicles: % 8d' % len(vehicles)]
if len(vehicles) > 1:
self._info_text += ['Nearby vehicles:']
def dist(l):
return math.sqrt((l.x - transform.location.x)**2 + (l.y - transform.location.y)
** 2 + (l.z - transform.location.z)**2)
vehicles = [(dist(x.get_location()), x) for x in vehicles if x.id != world.player.id]
for dist, vehicle in sorted(vehicles):
if dist > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
self._info_text.append('% 4dm %s' % (dist, vehicle_type))
def toggle_info(self):
"""Toggle info on or off"""
self._show_info = not self._show_info
def notification(self, text, seconds=2.0):
"""Notification text"""
self._notifications.set_text(text, seconds=seconds)
def error(self, text):
"""Error text"""
self._notifications.set_text('Error: %s' % text, (255, 0, 0))
def render(self, display):
"""Render for HUD class"""
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 - 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)
fig = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect(
(bar_h_offset + fig * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (fig * 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):
""" Class for fading text """
def __init__(self, font, dim, pos):
"""Constructor method"""
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):
"""Set fading text"""
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):
"""Fading text method for every tick"""
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):
"""Render fading text method"""
display.blit(self.surface, self.pos)
# ==============================================================================
# -- HelpText ------------------------------------------------------------------
# ==============================================================================
class HelpText(object):
""" Helper class for text render"""
def __init__(self, font, width, height):
"""Constructor method"""
lines = __doc__.split('\n')
self.font = font
self.dim = (680, len(lines) * 22 + 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 i, line in enumerate(lines):
text_texture = self.font.render(line, True, (255, 255, 255))
self.surface.blit(text_texture, (22, i * 22))
self._render = False
self.surface.set_alpha(220)
def toggle(self):
"""Toggle on or off the render help"""
self._render = not self._render
def render(self, display):
"""Render help text method"""
if self._render:
display.blit(self.surface, self.pos)
# ==============================================================================
# -- CollisionSensor -----------------------------------------------------------
# ==============================================================================
# 碰撞传感器的设置
class CollisionSensor(object):
""" Class for collision sensors"""
def __init__(self, parent_actor, hud):
"""Constructor method"""
self.sensor = None
self.history = []
self._parent = parent_actor
self.hud = hud
world = self._parent.get_world()
blueprint = world.get_blueprint_library().find('sensor.other.collision')
self.sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self._parent)
# 让我想起了c++里面的智能指针weak_ptr,不知道有什么区别
# 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):
"""Gets the history of collisions"""
history = collections.defaultdict(int)
for frame, intensity in self.history:
history[frame] += intensity
return history
@staticmethod
def _on_collision(weak_self, event):
"""On collision method"""
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
# **是平方的意思
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 --------------------------------------------------------
# ==============================================================================
# 换道传感器
class LaneInvasionSensor(object):
"""Class for lane invasion sensors"""
def __init__(self, parent_actor, hud):
"""Constructor method"""
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):
"""On invasion method"""
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]
# 这里就是i在屏幕上面显示文字内容吧
self.hud.notification('Crossed line %s' % ' and '.join(text))
# ==============================================================================
# -- GnssSensor --------------------------------------------------------
# ==============================================================================
# GNSS传感器
class GnssSensor(object):
""" Class for GNSS sensors"""
def __init__(self, parent_actor):
"""Constructor method"""
self.sensor = None
self._parent = parent_actor
# 经纬度设置为0.0
self.lat = 0.0
self.lon = 0.0
world = self._parent.get_world()
blueprint = world.get_blueprint_library().find('sensor.other.gnss')
self.sensor = world.spawn_actor(blueprint, 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):
"""GNSS method"""
self = weak_self()
if not self:
return
self.lat = event.latitude
self.lon = event.longitude
# ==============================================================================
# -- CameraManager -------------------------------------------------------------
# ==============================================================================
# 这个比较重要
class CameraManager(object):
""" Class for camera management"""
def __init__(self, parent_actor, hud, gamma_correction):
"""Constructor method"""
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
# 这里的cc应该是前面的ColorConverter
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)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self.sensors:
blp = bp_library.find(item[0])
if item[0].startswith('sensor.camera'):
blp.set_attribute('image_size_x', str(hud.dim[0])) #这里的hud.dim[0]是width
blp.set_attribute('image_size_y', str(hud.dim[1]))#这里的hud.dim[1]是height
if blp.has_attribute('gamma'):
blp.set_attribute('gamma', str(gamma_correction))
# 用来判断是选择生成camera还是lidar
elif item[0].startswith('sensor.lidar'):
blp.set_attribute('range', '50')
item.append(blp)
self.index = None
def toggle_camera(self):
"""Activate a camera"""
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):
"""Set a sensor"""
index = index % len(self.sensors)
needs_respawn = True if self.index is None else (
force_respawn or (self.sensors[index][0] != self.sensors[self.index][0]))
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):
"""Get the next sensor"""
self.set_sensor(self.index + 1)
def toggle_recording(self):
"""Toggle recording on or off"""
self.recording = not self.recording
self.hud.notification('Recording %s' % ('On' if self.recording else 'Off'))
def render(self, display):
"""Render method"""
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) / 100.0
lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
lidar_data = np.fabs(lidar_data) # pylint: disable=assignment-from-no-return
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)
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)
# ==============================================================================
# -- Game Loop ---------------------------------------------------------
# ==============================================================================
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode(
(args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
# 核心就是下面的代码，设置目的地的点
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points()
random.shuffle(spawn_points)
# 这里是为了防止生成点与目的地的点重复
if spawn_points[0].location != agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location
agent.set_destination(agent.vehicle.get_location(), destination, clean=True)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information()
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) + " times.", seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
# ==============================================================================
# -- main() --------------------------------------------------------------
# ==============================================================================
def main():
"""Main method"""
argparser = argparse.ArgumentParser(
description='CARLA Automatic 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='vehicle.*',
help='Actor filter (default: "vehicle.*")')
argparser.add_argument(
'--gamma',
default=2.2,
type=float,
help='Gamma correction of the camera (default: 2.2)')
argparser.add_argument(
'-l', '--loop',
action='store_true',
dest='loop',
help='Sets a new random destination upon reaching the previous one (default: False)')
argparser.add_argument(
'-b', '--behavior', type=str,
choices=["cautious", "normal", "aggressive"],
help='Choose one of the possible agent behaviors (default: normal) ',
default='normal')
argparser.add_argument(
"-a", "--agent", type=str,
choices=["Behavior", "Roaming", "Basic"],
help="select which agent to run",
default="Behavior")
argparser.add_argument(
'-s', '--seed',
help='Set seed for repeating executions (default: None)',
default=None,
type=int)
args = argparser.parse_args()
# 设置长宽
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()
然后在源码中找到了关于spawn_points的注释，原来和我设想的一样spawn_points是在ue的界面操作生成的。明天在自己搭建的小地图上面尝试着显示spawn_points，验证一下自己的想法是否正确。
今天又摸了一天的鱼，昨天的计划一个也没有完成。
还是得回到实验室的传统优势方向上去，自己一个人学习这个实在有点独木难枝，slam还是有前途些。