carla

first.py

import carla
import random
import time


def main():
    actor_list = []

    # In this tutorial script, we are going to add a vehicle to the simulation
    # and let it drive in autopilot. We will also create a camera attached to
    # that vehicle, and save all the images generated by the camera to disk.

    try:
        # First of all, we need to create the client that will send the requests
        # to the simulator. Here we'll assume the simulator is accepting
        # requests in the localhost at port 2000.
        client = carla.Client('localhost', 2000)
        client.set_timeout(2.0)

        # Once we have a client we can retrieve the world that is currently
        # running.
        world = client.get_world()

        # The world contains the list blueprints that we can use for adding new
        # actors into the simulation.
        blueprint_library = world.get_blueprint_library()

        # Now let's filter all the blueprints of type 'vehicle' and choose one
        # at random.
        bp = random.choice(blueprint_library.filter('vehicle'))

        # A blueprint contains the list of attributes that define a vehicle's
        # instance, we can read them and modify some of them. For instance,
        # let's randomize its color.
        if bp.has_attribute('color'):
            color = random.choice(bp.get_attribute('color').recommended_values)
            bp.set_attribute('color', color)

        # Now we need to give an initial transform to the vehicle. We choose a
        # random transform from the list of recommended spawn points of the map.
        #transform = random.choice(world.get_map().get_spawn_points())
        transform = carla.Transform(carla.Location(x=40, y=-3.2), carla.Rotation())

        # So let's tell the world to spawn the vehicle.
        vehicle = world.spawn_actor(bp, transform)

        # It is important to note that the actors we create won't be destroyed
        # unless we call their "destroy" function. If we fail to call "destroy"
        # they will stay in the simulation even after we quit the Python script.
        # For that reason, we are storing all the actors we create so we can
        # destroy them afterwards.
        actor_list.append(vehicle)
        print('created %s' % vehicle.type_id)

        # Let's put the vehicle to drive around.
        #vehicle.set_autopilot(True)

        camera_bp = blueprint_library.find('sensor.camera.depth')
        camera_transform = carla.Transform(carla.Location(x=1.5, y=0, z=2.4))
        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
        actor_list.append(camera)
        print('created %s' % camera.type_id)
        cc = carla.ColorConverter.LogarithmicDepth
        def camera_callback(image):
            image.save_to_disk('_out/depth_%06d.png' % image.frame, cc)
        camera.listen(camera_callback)

        """
        lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
        lidar_bp.set_attribute('range', str(200))
        lidar_bp.set_attribute('channels', str(32))
        lidar_bp.set_attribute('rotation_frequency', str(10))
        lidar_bp.set_attribute('points_per_second', str(360*10*10*32))
        lidar_sensor = world.spawn_actor(lidar_bp, carla.Transform(carla.Location(x=1.5, y=0, z=2.4)), attach_to=vehicle)
        actor_list.append(lidar_sensor)
        print('created %s' % lidar_sensor.type_id)

        def lidar_callback(measurement):
            measurement.save_to_disk('_out/pc_%06d.ply' % measurement.frame)

        lidar_sensor.listen(lidar_callback)
        """

        time.sleep(10)

    finally:

        print('destroying actors')
        actor_list.reverse()
        for actor in actor_list:
            print('destroy %s' % actor.type_id)
            if(isinstance(actor, carla.Sensor)):
                print('stop %s' % actor.type_id)
                actor.stop()
            actor.destroy()
        print('done.')


if __name__ == '__main__':

    main()
    print('last sleep')
    time.sleep(2)