Carla 对小车添加摄像头

最新推荐文章于 2024-06-13 02:59:24 发布

EJLU

最新推荐文章于 2024-06-13 02:59:24 发布

阅读量149

点赞数

分类专栏： CARLA征服计划文章标签： python opencv numpy

本文链接：https://blog.csdn.net/qq_21692851/article/details/129735806

版权

CARLA征服计划专栏收录该内容

5 篇文章 1 订阅

订阅专栏

#!/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 numpy as np
import cv2
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])
##寻找启动的版本的python
except IndexError:
    pass

import carla

import random
import time
IM_WIDTH = 640
IM_HEIGHT = 480
def process_img(image):
    i = np.array(image.raw_data)
   # print(i.shape)
    i2 = i.reshape((IM_HEIGHT, IM_WIDTH, 4))
    i3 = i2[:, :, :3]
    cv2.imshow("", i3)
    cv2.waitKey(1)
    return i3/255.0

actor_list = []

try:
    client = carla.Client("localhost", 2000)
    client.set_timeout(2.2)
    world = client.get_world()
    world = client.load_world('Town06')
    blueprint_library = world.get_blueprint_library()
    bp = blueprint_library.filter("model3")[0]
    print(bp)
    spawn_point = random.choice(world.get_map().get_spawn_points())
    vehicle = world.spawn_actor(bp, spawn_point)
    #vehicle.set_autopilot(True)
    vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=0.0))
    actor_list.append(vehicle)
    cam_bp = blueprint_library.find("sensor.camera.rgb")
    cam_bp.set_attribute("image_size_x", f"{IM_WIDTH}")
    cam_bp.set_attribute("image_size_y", f"{IM_HEIGHT}")
    cam_bp.set_attribute("fov", "110")
    spawn_point = carla.Transform(carla.Location(x=1.5, z=2.4))

    sensor = world.spawn_actor(cam_bp, spawn_point, attach_to=vehicle)
    actor_list.append(sensor)
    sensor.listen(lambda data: process_img(data))

    time.sleep(10)
    while 1:
        spectator = world.get_spectator()
        transform = spectator.get_transform()
        print(transform.location)
        #观察者的角度转移的位移




finally:
    for actor in actor_list:
        actor.destroy()
    print("ALL cleaned up!!!")