carla切换建筑物

最新推荐文章于 2023-10-19 17:49:02 发布

sea_lichenglin

最新推荐文章于 2023-10-19 17:49:02 发布

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分类专栏： carla 文章标签： python

本文链接：https://blog.csdn.net/Fakerlinux/article/details/127906477

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from concurrent.futures.thread import _worker
import glob
import importlib
from optparse import check_choice
import os
import random
# from re import A, T
import sys
# from turtle import update
import numpy as np
import time
# import open3d as o3d
# from matplotlib import cm
from datetime import datetime
import threading
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

try:
    sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla')
    sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla/agents/navigation')
except IndexError:
    pass
import carla

from behavior_agent import BehaviorAgent  

actor_list=[]


try:
    client=carla.Client("127.0.0.1",2000)
    world=client.get_world()
    client.set_timeout(2.0)
    world = client.load_world('Town04')

    blueprint_library=world.get_blueprint_library()
    ego_vehicle_name=blueprint_library.filter("model3")[0]
    ego_vehicle_spawn_point = world.get_map().get_spawn_points()[166]
    ego_vehicle=world.spawn_actor(ego_vehicle_name,ego_vehicle_spawn_point)
    actor_list.append(ego_vehicle)

  
    # obstacle_bench_name=blueprint_library.find("static.prop.bench03")
    # obstacle_bench_spawn_point = world.get_map().get_spawn_points()[104]
    # obstacle=world.spawn_actor(obstacle_bench_name,obstacle_bench_spawn_point)
    # actor_list.append(obstacle)




    spawn_points = world.get_map().get_spawn_points()
    for i, spawn_point in enumerate(spawn_points):
        world.debug.draw_string(spawn_point.location, str(i), life_time=100)
        world.debug.draw_arrow(spawn_point.location, spawn_point.location + spawn_point.get_forward_vector(), life_time=10)
    env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)




    env_objs2 = world.get_environment_objects(carla.CityObjectLabel.Tree)   #获取该地图上所有带有tree类的建筑物
    building_01 = env_objs[40]   #交换第40个和第2个
    building_02 = env_objs2[2]
    print("=========",building_02.id)
    spectator = world.get_spectator()                 #为了方便看改变我把镜头移到这里了，不过这里是车的镜头，可以把你获取的建筑物的坐标传给镜头看你的改变，至于怎么传不做解释了，需要再加
    transform = ego_vehicle.get_transform()
    transform.location.x=transform.location.x+10
    spectator.set_transform(carla.Transform(transform.location + carla.Location(z=10),
                                                carla.Rotation(pitch=-30)))                                          
    print("start change")
    objects_to_toggle = {building_01.id, building_02.id}
    time.sleep(10)
    world.enable_environment_objects(objects_to_toggle, False)  #个人没有做深入研究初步感觉这里是意思是先移除这两个障碍物然后再做交换的意思
    time.sleep(10)
    world.enable_environment_objects(objects_to_toggle, True)
    print("change success")

    time.sleep(7)
    

finally:
    for i in actor_list:
        i.destroy()
    print("All actor cleaned up")

本段代码主要解释Carla中改变建筑物、参与者的布置的代码，个人觉得对场景设计还是比较有意思的