carla实例1

#carla的基本概念：world/blueprint/spawn_point/actor

client = carla.Client('localhost', 2000)

#获取所有的地图

maps = client.get_available_maps()

for map in maps:

    print(map)

的#获取虚拟世界

world = client.get_world()

map = world.get_map()

#blueprint

blueprint_library = map.get_blueprint_library()

#获取各种bp

model3_bp = blueprint_library.filter('model3')[0]

bwm_bp = random.choice(blueprint_library.filter('bwm*'))

camera_rgb_bp = blueprint_library.find('sensor.camera.rgb')

camera_depth_bp = blueprint_library.find('sensor.camera.depth')

camera_semantic_segmentation_bp = blueprint_library.find('sensor.camera.semantic_segmentation')

lidar_ray_cast_bp = blueprint_library.find('sensor.lidar.ray_cast')

collision_bp = blueprint_library.find('sensor.other.collision')

lane_invasion_bp = blueprint_library.find('sensor.other.lane_invasion')

obstacle_bp = blueprint_library.find('sensor.other.obstacle')

#生成点

spawn_point = random.choice(map.get_spawn_points())

transform = carla.Transform()

#生成演员

model3 = world.spawn_actor(model3_bp, spawn_point)

camera_rgb = world.spawn_actor(camera_rgb_bp, transform, attach_to = model3)

camera_depth = world.spawn_actor(camera_depth_bp, transform, attach_to = model3)

camera_semantic_segmentation = world.spawn_actor(camera_semantic_segmentation_bp, transform, attach_to = model3)

lidar_ray_cast = world.spawn_actor(lidar_ray_cast_bp, transform, attach_to = model3)