主要是学习自带的example中的spawn_npc.py的源码.
发现前一天学的很多代码都可以在这里找到原型,觉得还是要先把example代码学习完,在读一下doc才能更深入的了解carla.
#!/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>.
"""Spawn NPCs into the simulation"""
import glob
"""
glob()函数是python的glob模块中的方法,是种文件通配符,glob()函数可以查找符合自己要求的文件，
glob模块中的函数,有三个:glob.glob(pathname,*,recursive=False)
"""
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
"""
os.name该变量返回当前操作系统的类型,当前只注册了3个值：分别是posix , nt , java， 对应linux/windows/java虚拟机
"""
import carla
from carla import VehicleLightState as vls
import argparse
# argparse 是一种类似于python字典的数据结构
# 我们可以用args.参数名来获取参数
import logging
from numpy import random
def main():
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--host',
# 主机127.0.0.1
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
# 端口2000
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-n', '--number-of-vehicles',
# 默认车辆个数
metavar='N',
default=10,
type=int,
help='number of vehicles (default: 10)')
argparser.add_argument(
'-w', '--number-of-walkers',
# 默认行人数
metavar='W',
default=50,
type=int,
help='number of walkers (default: 50)')
argparser.add_argument(
'--safe',
# 大概是安全系数?
action='store_true',
help='avoid spawning vehicles prone to accidents')
argparser.add_argument(
'--filterv',
# 选择车辆的某种参数
metavar='PATTERN',
default='vehicle.*',
help='vehicles filter (default: "vehicle.*")')
argparser.add_argument(
'--filterw',
# 选择行人的某种参数
metavar='PATTERN',
default='walker.pedestrian.*',
help='pedestrians filter (default: "walker.pedestrian.*")')
argparser.add_argument(
'--tm-port',
# traffic_manager的参数
metavar='P',
default=8000,
type=int,
help='port to communicate with TM (default: 8000)')
argparser.add_argument(
'--sync',
# 同步模式
action='store_true',
help='Synchronous mode execution')
argparser.add_argument(
'--hybrid',
# 异步模式
action='store_true',
help='Enanble')
argparser.add_argument(
'-s', '--seed',
# 生成设备的种子??
metavar='S',
type=int,
help='Random device seed')
argparser.add_argument(
'--car-lights-on',
# 车灯开启
action='store_true',
default=False,
help='Enanble car lights')
# 封装到了args里面
args = argparser.parse_args()
# 日志,先可以不用过多了解
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
# 生成的车辆list
vehicles_list = []
# 生成的行人的list
walkers_list = []
# 所有的ID
all_id = []
# 获取客户端
client = carla.Client(args.host, args.port)
# 设定时序?
client.set_timeout(10.0)
# 现将同步模式关闭
synchronous_master = False
# 随机数种子,返回时间戳?
random.seed(args.seed if args.seed is not None else int(time.time()))
try:
# 获取仿真世界
world = client.get_world()
# 设置tm相关的参数,要管理大量的车辆必须使用tm
# 先设置tm的端口
traffic_manager = client.get_trafficmanager(args.tm_port)
# 设置tm的安全距离为1米
traffic_manager.set_global_distance_to_leading_vehicle(1.0)
# 将物理引擎打开
if args.hybrid:
traffic_manager.set_hybrid_physics_mode(True)
# 生成随机数相关?
if args.seed is not None:
traffic_manager.set_random_device_seed(args.seed)
# 把同步模式打开
if args.sync:
settings = world.get_settings()
traffic_manager.set_synchronous_mode(True)
if not settings.synchronous_mode:
synchronous_master = True
settings.synchronous_mode = True
# 设置0.05秒一帧?
settings.fixed_delta_seconds = 0.05
# 将相关的设置应用到仿真世界中去
world.apply_settings(settings)
else:
synchronous_master = False
# 获取仿真世界里面的蓝图,主要用filter获取所有的车辆
blueprints = world.get_blueprint_library().filter(args.filterv)
# 获取仿真世界里面的蓝图,主要用filter获取所有的行人模型
blueprintsWalkers = world.get_blueprint_library().filter(args.filterw)
# 保证安全,避免产生的车辆容易发生故障?
if args.safe:
blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
blueprints = [x for x in blueprints if not x.id.endswith('carlacola')]
blueprints = [x for x in blueprints if not x.id.endswith('cybertruck')]
blueprints = [x for x in blueprints if not x.id.endswith('t2')]
# 将车辆以id来排序
blueprints = sorted(blueprints, key=lambda bp: bp.id)
# 获取world中可以生成车辆的点
spawn_points = world.get_map().get_spawn_points()
# 生成点的个数
number_of_spawn_points = len(spawn_points)
# 如果车辆的个数少于点的个数,那么打乱点的顺序,否则就会报错,先忽略报错
if args.number_of_vehicles < number_of_spawn_points:
random.shuffle(spawn_points)
elif args.number_of_vehicles > number_of_spawn_points:
msg = 'requested %d vehicles, but could only find %d spawn points'
logging.warning(msg, args.number_of_vehicles, number_of_spawn_points)
args.number_of_vehicles = number_of_spawn_points
# 这部分主要是carla中的命令,可能是为了方便?
# @todo cannot import these directly.
# 控制所有生成actor
SpawnActor = carla.command.SpawnActor
# 控制车辆的自动驾驶开关
SetAutopilot = carla.command.SetAutopilot
# 控制车的灯
SetVehicleLightState = carla.command.SetVehicleLightState
# 控制某种属性,默认值是0
FutureActor = carla.command.FutureActor
# --------------
# Spawn vehicles
# --------------
batch = []
# 给spawn_points加上序号0,1,2,3...
for n, transform in enumerate(spawn_points):
# 若n大于要求的数量就报错
if n >= args.number_of_vehicles:
break
# 随机选择一辆车的蓝图,下面全是随机选择并设置车的相关属性
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
# 设置车灯的一些属性
# prepare the light state of the cars to spawn
light_state = vls.NONE
if args.car_lights_on:
light_state = vls.Position | vls.LowBeam | vls.LowBeam
# 将随机好的车辆生成并设置驾驶模式和车灯开启相关
# spawn the cars and set their autopilot and light state all together
batch.append(SpawnActor(blueprint, transform)
.then(SetAutopilot(FutureActor, True, traffic_manager.get_port()))
.then(SetVehicleLightState(FutureActor, light_state)))
# 生成同步模式相关
for response in client.apply_batch_sync(batch, synchronous_master):
if response.error:
logging.error(response.error)
else:
vehicles_list.append(response.actor_id)
# -------------
# Spawn Walkers
# -------------
# some settings
percentagePedestriansRunning = 0.0 # how many pedestrians will run
percentagePedestriansCrossing = 0.0 # how many pedestrians will walk through the road
# 1. take all the random locations to spawn
# 主要是将carla的transform的数据格式放入spawn_point中
spawn_points = []
for i in range(args.number_of_walkers):
spawn_point = carla.Transform()
# 只能针对walks使用,在sidewalk上使用
loc = world.get_random_location_from_navigation()
if (loc != None):
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. we spawn the walker object
# 设置行人的速度
batch = []
walker_speed = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprintsWalkers)
# set as not invincible
# 设置无敌?
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
# set the max speed
if walker_bp.has_attribute('speed'):
if (random.random() > percentagePedestriansRunning):
# walking
walker_speed.append(walker_bp.get_attribute('speed').recommended_values[1])
else:
# running
walker_speed.append(walker_bp.get_attribute('speed').recommended_values[2])
else:
print("Walker has no speed")
walker_speed.append(0.0)
batch.append(SpawnActor(walker_bp, spawn_point))
results = client.apply_batch_sync(batch, True)
walker_speed2 = []
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list.append({"id": results[i].actor_id})
walker_speed2.append(walker_speed[i])
walker_speed = walker_speed2
# 3. we spawn the walker controller
# 设置一个行人的控制器
batch = []
# 在蓝图库中找到行人ai控制器
walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
for i in range(len(walkers_list)):
batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
results = client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list[i]["con"] = results[i].actor_id
# 4. we put altogether the walkers and controllers id to get the objects from their id
for i in range(len(walkers_list)):
all_id.append(walkers_list[i]["con"])
all_id.append(walkers_list[i]["id"])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
if not args.sync or not synchronous_master:
world.wait_for_tick()
else:
world.tick()
# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
# set how many pedestrians can cross the road
# 设置行人的控制相关
world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
# set walk to random point
all_actors[i].go_to_location(world.get_random_location_from_navigation())
# max speed
all_actors[i].set_max_speed(float(walker_speed[int(i/2)]))
print('spawned %d vehicles and %d walkers, press Ctrl+C to exit.' % (len(vehicles_list), len(walkers_list)))
# example of how to use parameters
traffic_manager.global_percentage_speed_difference(30.0)
while True:
if args.sync and synchronous_master:
world.tick()
else:
world.wait_for_tick()
finally:
# 主要是恢复初始化
if args.sync and synchronous_master:
settings = world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
world.apply_settings(settings)
print('\ndestroying %d vehicles' % len(vehicles_list))
client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
# stop walker controllers (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
all_actors[i].stop()
print('\ndestroying %d walkers' % len(walkers_list))
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
time.sleep(0.5)
if __name__ == '__main__':
try:
main()
except KeyboardInterrupt:
pass
finally:
print('\ndone.')
在学习的过程中,想到了昨天调用cv2的包,突发奇想,想把spectator的视角用imshow独立的窗口展示出来,但自己上手后没有成功,可能是imshow的格式属性不对,也可能是别的问题.需要在后续的学习中可以实现.
3204
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
