test.py

#!/usr/bin/env python

# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.

import glob
import os
import sys
import time

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

import carla

import random
import time

import numpy as np
import cv2

counter = 0

def main():
    actor_list = []
    all_id = []

    # 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()
        ### Listed below

        # 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.location.x=9.33
        transform.location.y=134
        transform.location.z=1.84
        transform.rotation.pitch=0
        transform.rotation.yaw=0
        transform.rotation.roll=0

        # 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)

        for j in range(0, 10):

            # Let's add now a "depth" camera attached to the vehicle. Note that the
            # transform we give here is now relative to the vehicle.
            camera_bp = blueprint_library.find('sensor.camera.depth')
            #fov = camera_bp.get_attribute('fov').recommended_values
            #fov.ActorAttribute.value = 45
            #print(fov)
            camera_bp.set_attribute('fov', '140')
            camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
            camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
            actor_list.append(camera)
            print('created %s' % camera.type_id)

            # Now we register the function that will be called each time the sensor
            # receives an image. In this example we are saving the image to disk
            # converting the pixels to gray-scale.
            cc = carla.ColorConverter.Depth
            def imageCb(image):
                #print("A")
                global counter
                #image.convert(cc)
                counter+=1
                array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) 
                array = np.reshape(array, (image.height, image.width, 4)) # RGBA format
                array = array[:, :, :3] #  Take only RGB
                array = array[:, :, ::-1] # BGR
                array = array.astype(np.float32) # 2ms
                gray_depth  = ((array[:,:,0] + array[:,:,1]*256.0 + array[:,:,2]*256.0*256.0)/((256.0*256.0*256.0) - 1)) # 2.5ms
                gray_depth = 1000 * gray_depth
                # image.frame

                #cv2.imwrite('_out/%06d.png' % counter, gray_depth)

            camera.listen(imageCb)

        # Oh wait, I don't like the location we gave to the vehicle, I'm going
        # to move it a bit forward.
        location = vehicle.get_location()
        location.x += 40
        vehicle.set_location(location)
        print('moved vehicle to %s' % location)


        time.sleep(5)



    finally:

        print('destroying actors')
        for actor in actor_list:
            actor.destroy()
        print('done.')






if __name__ == '__main__':

    main()


# [ActorBlueprint(id=static.prop.advertisement,tags=[advertisement, prop, static])
# ActorBlueprint(id=static.prop.doghouse,tags=[doghouse, prop, static])
# ActorBlueprint(id=static.prop.travelcase,tags=[travelcase, prop, static])
# ActorBlueprint(id=static.prop.trashcan02,tags=[trashcan02, prop, static])
# ActorBlueprint(id=static.prop.trashbag,tags=[trashbag, prop, static])
# ActorBlueprint(id=static.prop.trampoline,tags=[prop, trampoline, static])
# ActorBlueprint(id=static.prop.trafficcone02,tags=[trafficcone02, prop, static])
# ActorBlueprint(id=static.prop.trafficcone01,tags=[prop, trafficcone01, static])
# ActorBlueprint(id=static.prop.trashcan03,tags=[prop, trashcan03, static])
# ActorBlueprint(id=static.prop.swingcouch,tags=[prop, swingcouch, static])
# ActorBlueprint(id=static.prop.streetfountain,tags=[streetfountain, prop, static])
# ActorBlueprint(id=static.prop.streetsign04,tags=[streetsign04, prop, static])
# ActorBlueprint(id=static.prop.streetsign,tags=[streetsign, prop, static])
# ActorBlueprint(id=static.prop.slide,tags=[slide, prop, static])
# ActorBlueprint(id=static.prop.wateringcan,tags=[wateringcan, prop, static])
# ActorBlueprint(id=static.prop.shoppingbag,tags=[shoppingbag, prop, static])
# ActorBlueprint(id=static.prop.shop01,tags=[shop01, prop, static])
# ActorBlueprint(id=static.prop.platformgarbage01,tags=[platformgarbage01, prop, static])
# ActorBlueprint(id=static.prop.plastictable,tags=[plastictable, prop, static])
# ActorBlueprint(id=static.prop.plantpot08,tags=[plantpot08, prop, static])
# ActorBlueprint(id=static.prop.trashcan01,tags=[prop, trashcan01, static])
# ActorBlueprint(id=static.prop.plantpot07,tags=[plantpot07, prop, static])
# ActorBlueprint(id=static.prop.plantpot06,tags=[plantpot06, prop, static])
# ActorBlueprint(id=static.prop.plantpot05,tags=[prop, plantpot05, static])
# ActorBlueprint(id=static.prop.pergola,tags=[pergola, prop, static])
# ActorBlueprint(id=static.prop.mobile,tags=[prop, mobile, static])
# ActorBlueprint(id=static.prop.shoppingcart,tags=[shoppingcart, prop, static])
# ActorBlueprint(id=static.prop.maptable,tags=[maptable, prop, static])
# ActorBlueprint(id=static.prop.trafficwarning,tags=[trafficwarning, prop, static])
# ActorBlueprint(id=static.prop.mailbox,tags=[mailbox, prop, static])
# ActorBlueprint(id=static.prop.gnome,tags=[gnome, prop, static])
# ActorBlueprint(id=static.prop.glasscontainer,tags=[glasscontainer, prop, static])
# ActorBlueprint(id=static.prop.trashcan05,tags=[trashcan05, prop, static])
# ActorBlueprint(id=static.prop.gardenlamp,tags=[gardenlamp, prop, static])
# ActorBlueprint(id=static.prop.garbage06,tags=[garbage06, prop, static])
# ActorBlueprint(id=static.prop.swing,tags=[swing, prop, static])
# ActorBlueprint(id=static.prop.guitarcase,tags=[guitarcase, prop, static])
# ActorBlueprint(id=static.prop.garbage05,tags=[garbage05, prop, static])
# ActorBlueprint(id=static.prop.ironplank,tags=[prop, ironplank, static])
# ActorBlueprint(id=static.prop.garbage02,tags=[prop, garbage02, static])
# ActorBlueprint(id=static.prop.garbage01,tags=[garbage01, prop, static])
# ActorBlueprint(id=static.prop.fountain,tags=[fountain, prop, static])
# ActorBlueprint(id=static.prop.dirtdebris03,tags=[prop, dirtdebris03, static])
# ActorBlueprint(id=static.prop.constructioncone,tags=[prop, constructioncone, static])
# ActorBlueprint(id=static.prop.colacan,tags=[prop, colacan, static])
# ActorBlueprint(id=static.prop.chainbarrier,tags=[chainbarrier, prop, static])
# ActorBlueprint(id=static.prop.vendingmachine,tags=[vendingmachine, prop, static])
# ActorBlueprint(id=static.prop.busstop,tags=[prop, busstop, static])
# ActorBlueprint(id=static.prop.brokentile04,tags=[brokentile04, prop, static])
# ActorBlueprint(id=static.prop.creasedbox03,tags=[creasedbox03, prop, static])
# ActorBlueprint(id=static.prop.brokentile03,tags=[brokentile03, prop, static])
# ActorBlueprint(id=static.prop.brokentile01,tags=[brokentile01, prop, static])
# ActorBlueprint(id=static.prop.box03,tags=[box03, prop, static])
# ActorBlueprint(id=static.prop.box01,tags=[box01, prop, static])
# ActorBlueprint(id=static.prop.purse,tags=[prop, purse, static])
# ActorBlueprint(id=static.prop.bin,tags=[bin, prop, static])
# ActorBlueprint(id=static.prop.bikeparking,tags=[bikeparking, prop, static])
# ActorBlueprint(id=static.prop.bike helmet,tags=[bike helmet, prop, static])
# ActorBlueprint(id=static.prop.garbage04,tags=[garbage04, prop, static])
# ActorBlueprint(id=static.prop.bench03,tags=[bench03, prop, static])
# ActorBlueprint(id=static.prop.container,tags=[container, prop, static])
# ActorBlueprint(id=static.prop.bench02,tags=[bench02, prop, static])
# ActorBlueprint(id=static.prop.bench01,tags=[bench01, prop, static])
# ActorBlueprint(id=static.prop.streetsign01,tags=[streetsign01, prop, static])
# ActorBlueprint(id=static.prop.barbeque,tags=[prop, barbeque, static])
# ActorBlueprint(id=static.prop.plantpot03,tags=[plantpot03, prop, static])
# ActorBlueprint(id=static.prop.clothcontainer,tags=[clothcontainer, prop, static])
# ActorBlueprint(id=static.prop.atm,tags=[atm, prop, static])
# ActorBlueprint(id=walker.pedestrian.0014,tags=[0014, pedestrian, walker])
# ActorBlueprint(id=walker.pedestrian.0011,tags=[0011, pedestrian, walker])
# ActorBlueprint(id=walker.pedestrian.0010,tags=[0010, pedestrian, walker])
# ActorBlueprint(id=static.trigger.friction,tags=[friction, trigger, static])
# ActorBlueprint(id=static.prop.brokentile02,tags=[prop, brokentile02, static])
# ActorBlueprint(id=walker.pedestrian.0008,tags=[0008, pedestrian, walker])
# ActorBlueprint(id=static.prop.kiosk_01,tags=[kiosk_01, prop, static])
# ActorBlueprint(id=static.prop.creasedbox02,tags=[creasedbox02, prop, static])
# ActorBlueprint(id=walker.pedestrian.0007,tags=[0007, pedestrian, walker])
# ActorBlueprint(id=walker.pedestrian.0006,tags=[0006, pedestrian, walker])
# ActorBlueprint(id=walker.pedestrian.0004,tags=[pedestrian, 0004, walker])
# ActorBlueprint(id=static.prop.dirtdebris02,tags=[prop, dirtdebris02, static])
# ActorBlueprint(id=walker.pedestrian.0003,tags=[0003, pedestrian, walker])
# ActorBlueprint(id=walker.pedestrian.0002,tags=[pedestrian, 0002, walker])
# ActorBlueprint(id=static.prop.plantpot04,tags=[plantpot04, prop, static])
# ActorBlueprint(id=walker.pedestrian.0001,tags=[0001, pedestrian, walker])
# ActorBlueprint(id=sensor.other.lane_invasion,tags=[lane_invasion, other, sensor])
# ActorBlueprint(id=walker.pedestrian.0012,tags=[0012, pedestrian, walker])
# ActorBlueprint(id=sensor.other.gnss,tags=[gnss, other, sensor])
# ActorBlueprint(id=walker.pedestrian.0009,tags=[0009, pedestrian, walker])
# ActorBlueprint(id=sensor.other.collision,tags=[collision, other, sensor])
# ActorBlueprint(id=static.prop.motorhelmet,tags=[motorhelmet, prop, static])
# ActorBlueprint(id=sensor.lidar.ray_cast,tags=[ray_cast, lidar, sensor])
# ActorBlueprint(id=sensor.camera.semantic_segmentation,tags=[semantic_segmentation, camera, sensor])
# ActorBlueprint(id=static.prop.chainbarrierend,tags=[chainbarrierend, prop, static])
# ActorBlueprint(id=sensor.camera.rgb,tags=[rgb, camera, sensor])
# ActorBlueprint(id=static.prop.briefcase,tags=[briefcase, prop, static])
# ActorBlueprint(id=walker.pedestrian.0013,tags=[0013, pedestrian, walker])
# ActorBlueprint(id=vehicle.audi.etron,tags=[etron
# Audi, vehicle])
# ActorBlueprint(id=walker.pedestrian.0005,tags=[0005, pedestrian, walker])
# ActorBlueprint(id=vehicle.diamondback.century,tags=[diamondback, century, vehicle])
# ActorBlueprint(id=vehicle.gazelle.omafiets,tags=[omafiets, gazelle, vehicle])
# ActorBlueprint(id=vehicle.bh.crossbike,tags=[crossbike, bh, vehicle])
# ActorBlueprint(id=vehicle.kawasaki.ninja,tags=[ninja, kawasaki, vehicle])
# ActorBlueprint(id=static.prop.plantpot01,tags=[plantpot01, prop, static])
# ActorBlueprint(id=vehicle.yamaha.yzf,tags=[yzf, yamaha, vehicle])
# ActorBlueprint(id=vehicle.harley-davidson.low rider,tags=[low rider, harley-davidson, vehicle])
# ActorBlueprint(id=vehicle.lincoln.mkz2017,tags=[mkz2017, lincoln, vehicle])
# ActorBlueprint(id=vehicle.volkswagen.t2,tags=[t2, volkswagen, vehicle])
# ActorBlueprint(id=vehicle.toyota.prius,tags=[prius, toyota, vehicle])
# ActorBlueprint(id=static.prop.plasticchair,tags=[prop, plasticchair, static])
# ActorBlueprint(id=static.prop.clothesline,tags=[prop, clothesline, static])
# ActorBlueprint(id=sensor.camera.depth,tags=[camera, depth, sensor])
# ActorBlueprint(id=vehicle.tesla.model3,tags=[model3, tesla, vehicle])
# ActorBlueprint(id=static.prop.streetbarrier,tags=[streetbarrier, prop, static])
# ActorBlueprint(id=static.prop.creasedbox01,tags=[creasedbox01, prop, static])
# ActorBlueprint(id=vehicle.seat.leon,tags=[leon, seat, vehicle])
# ActorBlueprint(id=static.prop.plantpot02,tags=[plantpot02, prop, static])
# ActorBlueprint(id=static.prop.garbage03,tags=[garbage03, prop, static])
# ActorBlueprint(id=vehicle.nissan.patrol,tags=[nissan, patrol, vehicle])
# ActorBlueprint(id=vehicle.nissan.micra,tags=[micra, nissan, vehicle])
# ActorBlueprint(id=vehicle.ford.mustang,tags=[ford, mustang, vehicle])
# ActorBlueprint(id=static.prop.trashcan04,tags=[trashcan04, prop, static])
# ActorBlueprint(id=static.prop.box02,tags=[box02, prop, static])
# ActorBlueprint(id=vehicle.mini.cooperst,tags=[mini, cooperst, vehicle])
# ActorBlueprint(id=vehicle.jeep.wrangler_rubicon,tags=[wrangler_rubicon, jeep, vehicle])
# ActorBlueprint(id=vehicle.dodge_charger.police,tags=[dodge_charger, police, vehicle])
# ActorBlueprint(id=static.prop.table,tags=[table, prop, static])
# ActorBlueprint(id=static.prop.plasticbag,tags=[plasticbag, prop, static])
# ActorBlueprint(id=vehicle.citroen.c3,tags=[c3, citroen, vehicle])
# ActorBlueprint(id=static.prop.barrel,tags=[barrel, prop, static])
# ActorBlueprint(id=vehicle.chevrolet.impala,tags=[chevrolet, impala, vehicle])
# ActorBlueprint(id=vehicle.carlamotors.carlacola,tags=[carlacola, carlamotors, vehicle])
# ActorBlueprint(id=vehicle.bmw.isetta,tags=[isetta, bmw, vehicle])
# ActorBlueprint(id=static.prop.dirtdebris01,tags=[dirtdebris01, prop, static])
# ActorBlueprint(id=sensor.other.obstacle,tags=[obstacle, other, sensor])
# ActorBlueprint(id=vehicle.bmw.grandtourer,tags=[grandtourer, bmw, vehicle])
# ActorBlueprint(id=controller.ai.walker,tags=[walker
# Ai, controller])
# ActorBlueprint(id=static.prop.shoppingtrolley,tags=[shoppingtrolley, prop, static])
# ActorBlueprint(id=vehicle.mercedes-benz.coupe,tags=[mercedes-benz, coupe, vehicle])
# ActorBlueprint(id=vehicle.audi.tt,tags=[tt
# Audi, vehicle])
# ActorBlueprint(id=vehicle.audi.a2,tags=[a2
# Audi, vehicle])]