CARLA-ddpg环境构建（tensorboard显示）

1.CARLA相机显示

def process_img(image):
    i = np.array(image.raw_data)
    array = np.reshape(i, (image.height, image.width, 4))
    array = array[:, :, :3]
    array = array[:, :, ::-1]
    cv2.imshow("", array )  # show it.
    cv2.waitKey(1)
    return array /255.0  # normalize

2.时间同步模式

打开

        original_settings = world.get_settings()
        settings = world.get_settings()
        settings.synchronous_mode = True # 同步模式
        settings.fixed_delta_seconds = 0.1 # 固定时间步长
        world.apply_settings(settings)

关闭

        settings = world.get_settings()
        settings.synchronous_mode = False
        settings.fixed_delta_seconds = None
        world.apply_settings(settings)

5.step函数
6.reset函数整理中