Carla0.9.13创建小车并附加摄像头

创建小车+摄像头

# 找到Carla包的路径
import glob
import os
import sys

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


# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================


import carla

import time
import random
import cv2
import numpy as np

# 存储生成的actor,方便后续销毁获取
actor_list = []
try:
    # 创建client连接到Carla当中
    client = carla.Client('localhost', 2000)

    # seconds，设置连接超时时间
    client.set_timeout(10.0)

    # 获取世界，之后不再使用client
    world = client.get_world()

    # 通过world获取world中的Blueprint Library
    blueprint_library = world.get_blueprint_library()

    # 通过carla.BlueprintLibrary的find()和filter()方法查找特定ID的bp
    collision_sensor_bp = blueprint_library.find('sensor.other.collision')
    vehicle_bp = random.choice(blueprint_library.filter('vehicle.bmw.*'))
    # 在blueprint_library中找到对应的传感器，其他还有深度传感器，但是需要一些数据处理
    camera_bp = blueprint_library.find('sensor.camera.rgb')

    # carla.ActorBlueprint的get_attribute(key)和set_attribute(key, value)方法获取/设置actor的属性
    # 设置RGB相机的分辨率和视野
    camera_bp.set_attribute('image_size_x', '480')
    camera_bp.set_attribute('image_size_y', '640')
    camera_bp.set_attribute('fov', '110')
    # 设置传感器捕捉数据时间间隔秒
    camera_bp.set_attribute('sensor_tick', '1.0')

    # 生成actors

    # 生成车辆,手动设置生成点
    location = carla.Location(15, 14, 0.7)
    rotation = carla.Rotation(0, -179, 0)
    transform_vehicle = carla.Transform(location, rotation)

    # # 自动选择生成点
    # transform_vehicle = random.choice(world.get_map().get_spawn_points())
    # print(transform_vehicle)

    # 设置RGN相机相对依附对象位置
    transform_RGB = carla.Transform(carla.Location(x=0.8, z=1.7))

    # 生成车辆和RGB摄像机
    my_vehicle = world.spawn_actor(vehicle_bp, transform_vehicle)
    my_camera = world.spawn_actor(camera_bp, transform_RGB, attach_to=my_vehicle)
    actor_list.append(my_camera)
    actor_list.append(my_vehicle)

    # 设置车辆运动参数
    # 官网中查看各参数的设置含义，reverse表示是否进行倒车，一般参数都是再0-1之间
    my_vehicle.apply_control(carla.VehicleControl(throttle=0.8, steer=1, ))
    # 设置相机监听函数
    # my_camera.listen(lambda image: function(image))

    time.sleep(20)
finally:
    for actor in actor_list:
        actor.destroy()
        print(actor.id, "is destroyed.")