利用Pygame实时显示Carla中RGB相机的画面

前言

  关于显示Carla中RGB相机的画面，我找到的几乎都是使用cv来显示的画面的，但是经过我自己尝试发现，利用cv来显示的画面帧数非常低，画面及其不流畅。如果你尝试过Carla自带的demo就会发现demo中用pygame制作窗口显示的画面就十分流畅，所以我就试着模仿demo利用pygame来显示RGB相机画面。
  先给大家推荐一篇文章，里面十分详细地介绍了Carla中大部分的传感器，大家可以根据这篇文章来试用cv来显示传感器中的画面。
  https://blog.csdn.net/weixin_44169614/article/details/119824465

开始主题

1.创建Pygame窗口：

下面是使用pygame编写游戏的基本结构：

def main():
    #初始化游戏并创建一个屏幕对象
    pygame.init()
    pygame.font.init()
    display = pygame.display.set_mode((1920, 1080), pygame.HWSURFACE | pygame.DOUBLEBUF)   # 窗口可以自己修改大小
    pygame.display.set_caption("Camera Vision")   # 窗口名称

    # 开始游戏的主循环
    while True:
        # 监视键盘和鼠标事件
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
               sys.exit()
        # display.blit()将画面加载到窗口，暂时先不加画面
        # 让最近绘制的屏幕可见
        pygame.display.flip()

2.连接Carla：略

3.Carla内放置一辆车：

这个很多教程的啦，我就不解释了，用类来写方便管理

class CarManager(object):
    def __init__(self, world): # world = client.get_world()
        self.world = world
        self.ego_vehicle = None
        
        blueprint_library = world.get_blueprint_library()
        self.ego_vehicle_bp = blueprint_library.find('vehicle.audi.a2')
        self.ego_vehicle_bp.set_attribute('color', '0, 0, 0')
        transform = random.choice(world.get_map().get_spawn_points())
        # transform = carla.Transform(carla.Location(x=-78.034149, y=12.967159, z=0.6), carla.Rotation(yaw=-179.84079))
        
        self.ego_vehicle = self.world.spawn_actor(self.ego_vehicle_bp, transform)
        self.ego_vehicle.set_autopilot(True)

4.给车加传感器，处理传感器数据

class SensorManager(object):
    def __init__(self, world, car):  # world = client.get_world()    car = CarManager(world) 
        self.surface = None
        self.world = world
        self.car = car
        # 添加RGB相机，相机的图像大小记得和pygame窗口一样哦
        blueprint_library = world.get_blueprint_library()
        self.camera_bp = blueprint_library.find('sensor.camera.rgb')
        self.camera_bp.set_attribute('image_size_x', '1920')
        self.camera_bp.set_attribute('image_size_y', '1080')
        self.camera_bp.set_attribute('fov', '110')
        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
        self.camera = self.world.spawn_actor(self.camera_bp, camera_transform, attach_to=self.car.ego_vehicle)
        # 设置监听传感器的处理函数
        self.camera.listen(lambda image: self._parse_image(image))

    # 这个函数是绘制图像的，提供给pygame来显示
    def render(self, display):
        if self.surface is not None:
            display.blit(self.surface, (0, 0))

    # 对传感器的raw图像进行处理
    def _parse_image(self, image):
        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))

5.完整代码：

import glob
import carla
import sys
import os
import numpy as np
import pygame
from numpy import random

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


class SensorManager(object):
    def __init__(self, world, car):
        self.surface = None
        self.world = world
        self.car = car
        # 添加RGB相机
        blueprint_library = world.get_blueprint_library()
        self.camera_bp = blueprint_library.find('sensor.camera.rgb')
        self.camera_bp.set_attribute('image_size_x', '1920')
        self.camera_bp.set_attribute('image_size_y', '1080')
        self.camera_bp.set_attribute('fov', '110')
        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
        self.camera = self.world.spawn_actor(self.camera_bp, camera_transform, attach_to=self.car.ego_vehicle)
        # set the callback function
        self.camera.listen(lambda image: self._parse_image(image))

    def render(self, display):
        if self.surface is not None:
            display.blit(self.surface, (0, 0))

    def _parse_image(self, image):
        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))


class CarManager(object):
    def __init__(self, world):
        self.world = world
        self.ego_vehicle = None
        blueprint_library = world.get_blueprint_library()
        self.ego_vehicle_bp = blueprint_library.find('vehicle.audi.a2')
        self.ego_vehicle_bp.set_attribute('color', '0, 0, 0')
        # transform = random.choice(world.get_map().get_spawn_points())
        transform = carla.Transform(carla.Location(x=-78.034149, y=12.967159, z=0.6), carla.Rotation(yaw=-179.84079))
        self.ego_vehicle = self.world.spawn_actor(self.ego_vehicle_bp, transform)
        self.ego_vehicle.set_autopilot(True)


def main():
    pygame.init()
    pygame.font.init()
    try:
        client = carla.Client('127.0.0.1', 2000)
        client.set_timeout(20.0)
        world = client.get_world()

        display = pygame.display.set_mode((1920, 1080), pygame.HWSURFACE | pygame.DOUBLEBUF)
        pygame.display.set_caption("Camera Vision")

        car = CarManager(world)
        sensor = SensorManager(world, car)

        clock = pygame.time.Clock()
        while True:
            clock.tick_busy_loop(60)
            for event in pygame.event.get():
                if event.type == pygame.QUIT:
                    return
            world.wait_for_tick()
            sensor.render(display)
            pygame.display.flip()
    finally:
        car.ego_vehicle.destroy()
        sensor.camera.stop()
        sensor.camera.destroy()
        print('done.')
        pygame.quit()


if __name__ == '__main__':
    try:
        main()
    except KeyboardInterrupt:
        print(' - Exited by user -')

各位加油，冲冲冲！！！