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car-controller.py
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car-controller.py
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from __future__ import print_function
# -- find carla module
import glob
import os
import sys
try:
sys.path.append(glob.glob('C:/CARLA_0.9.8/WindowsNoEditor/PythonAPI/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 as err:
print(err)
pass
# -- imports
import carla
import random
import time
import numpy as np
import cv2
actors = []
IM_WIDTH = 640
IM_HEIGHT = 480
def process_img(image):
i = np.array(image.raw_data)
print(i.shape)
i2 = i.reshape((IM_HEIGHT, IM_WIDTH, 4))
# The entire height, the entire width, thr first three of r, g, b, a
# Kinda nifty way to grab r,g,b there is an open cv method to do the exact same thing
# Basically converts rgb alpha to just straight up rgb, interestingly enough it is slower than the numpy method
# You would have expected it to do the same thing, but simply does not
i3 = i2[:, :, :3]
print(i3.shape)
cv2.imshow("", i3)
cv2.waitKey(1)
return i3/255.0
# -- attempt to connect to server and clean ups
try:
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
world = client.get_world()
blueprint_library = world.get_blueprint_library()
blueprint = blueprint_library.filter("model3")[0]
print(blueprint)
spawn_point = random.choice(world.get_map().get_spawn_points())
vehicle = world.spawn_actor(blueprint, spawn_point)
# vehicle.set_autopilot(True)
vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=0.0))
actors.append(vehicle)
# attach a camera sensor to the car
cam_blueprint = blueprint_library.find("sensor.camera.rgb")
cam_blueprint.set_attribute("image_size_x", f"{IM_WIDTH}")
cam_blueprint.set_attribute("image_size_y", f"{IM_HEIGHT}")
cam_blueprint.set_attribute("fov", "110")
spawn_point = carla.Transform(carla.Location(x=2.5, z=0.7))
sensor = world.spawn_actor(cam_blueprint, spawn_point, attach_to=vehicle)
actors.append(sensor)
# listening
sensor.listen(lambda data: process_img(data))
time.sleep(15)
finally:
for actor in actors:
actor.destroy()
print("All cleaned up!")