本文详细介绍了在Ubuntu18.04上配置CARLA模拟器，使用RGB相机进行环视系统的步骤，包括相机参数设置、视角转换、车辆安装位置调整以及数据保存。通过实例代码展示了如何实现多个摄像头的同步采集，形成环视图像，并提供了数据存储的方法。
系列文章目录
CARLA pygame window界面大小调节两种方法-Ubuntu18.04
如何在carla中加入车辆群[基于traffic manager]
CARLA--车辆添加segmentation语义相机[超详细]--[入门-2]
前言
博客上一些常见的RGB相机demo在ubuntu18.4上运行时往往会出现摄像头画面只有一帧的情况，而在windows上似乎是可以正常运行的，对于这些代码，我没能找出问题的具体原因，只是怀疑是由于是系统差异造成的，知道成因和解决方法的朋友欢迎在评论区留言讨论。
下面展示一个能在ubuntu18.4上跑通的rgb环视demo,具体可以实现的效果有：
1.实时连续显示RGB图像画面
2.可搭载在车上指定位置
3.视角可随意在三轴坐标系转换，实现水平/鸟瞰等任意视角的显示
4.定义对应的场视角，组合多个模块的摄像头，可达到环视效果
5.存储采集的单独的数据画面
一、demo模块说明
1.定义对应的场视角，组合多个模块的摄像头，达到环视效果需要“360/场视角”个摄像头，这里展示三个摄像头的效果
#-------------------------- 添加rgb相机--------------------------#
sensor_queue = Queue()
cam_bp = blueprint_library.find('sensor.camera.rgb')
# 可以设置一些参数 set the attribute of camera
cam_bp.set_attribute("image_size_x", "{}".format(IM_WIDTH))
cam_bp.set_attribute("image_size_y", "{}".format(IM_HEIGHT))
cam_bp.set_attribute("fov", "60")
#场视角，需要组成环视需要“360/场视角”个摄像头
# cam_bp.set_attribute('sensor_tick', '0.1')f"{IM_HEIGHT}")
2.视角可随意在三轴坐标系转换，实现水平/鸟瞰等任意视角的显示：
cam01 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=-1.3,z=args.sensor_h),carla.Rotation(yaw=180 )), attach_to=ego_vehicle)
def get_image(data):
data.save_to_disk('/home/lyr/CARLA/CAM_BACK/%06d.jpg' % data.frame)
sensor_callback(data, sensor_queue, "rgb_behind")
cam01.listen(get_image)
sensor_list.append(1)
carla.Transform(carla.Location(0,0,1.8),carla.Rotation(yaw=60 ))
location是相对车辆底盘中心的平移位置，调整可实现车上任意位置摄像头的安装
Rotation是相对车辆底盘中心的旋转位置
Yaw（偏航）：欧拉角向量的y轴
Pitch（俯仰）：欧拉角向量的x轴
Roll（翻滚）： 欧拉角向量的z轴
这里默认Pitch=0 Roll=0,对其进行调整就可以实现任意视角的显示
关于Yaw-Pitch-Roll的说明可以看这篇博客：python旋转矩阵与欧拉角互转
3.继续添加相机模块
cam02 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=120 )), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_right_behind")
data.save_to_disk('/home/lyr/CARLA/CAM_BACK_RIGHT/%06d.jpg' % data.frame)
cam02.listen(get_image)
sensor_list.append(2)
cam03 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=60 )), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_right_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT_RIGHT/%06d.jpg' % data.frame)
cam03.listen(get_image)
sensor_list.append(3)
cam04 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=0)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT/%06d.jpg' % data.frame)
cam04.listen(get_image)
sensor_list.append(4)
cam05 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=300)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_left_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT_LEFT/%06d.jpg' % data.frame)
cam05.listen(get_image)
sensor_list.append(5)
cam06 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=240)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_left_behind")
data.save_to_disk('/home/lyr/CARLA/CAM_BACK_LEFT/%06d.jpg' % data.frame)
cam06.listen(get_image)
sensor_list.append(6)
#-------------------------- 相机设置完毕 --------------------------#
4.相机画面组合及可视化展示
w_frame = world.get_snapshot().frame
print("\nWorld's frame: %d" % w_frame)
try:
rgbs = []
for i in range (0, len(sensor_list)):
s_frame, s_name, s_data = sensor_queue.get(True, 1.0)
print(" Frame: %d Sensor: %s" % (s_frame, s_name))
sensor_type = s_name.split('_')[0]
if sensor_type == 'rgb':
rgbs.append(_parse_image_cb(s_data))
# 仅用来可视化 可注释
rgb=np.concatenate(rgbs, axis=1)[...,:3] # 合并图像
cv2.imshow('vizs', visualize_data(rgb))
cv2.waitKey(100)
if rgb is None or args.save_path is not None:
# 检查是否有各自传感器的文件夹
mkdir_folder(args.save_path)
filename = args.save_path +'rgb/'+str(w_frame)+'.png'
cv2.imwrite(filename, np.array(rgb[...,::-1]))
except Empty:
print(" Some of the sensor information is missed")
5.存储数据
if rgb is None or args.save_path is not None:
# 检查是否有各自传感器的文件夹
mkdir_folder(args.save_path)
filename = args.save_path +'rgb/'+str(w_frame)+'.png'
cv2.imwrite(filename, np.array(rgb[...,::-1]))二、整体代码
import glob
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
import carla
import random
import numpy as np
import cv2
from queue import Queue, Empty
import random
random.seed(10)#决定车辆生成新位置
# args
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--host', metavar='H', default='127.0.0.1', help='IP of the host server (default: 127.0.0.1)')
parser.add_argument('--port', '-p', default=2000, type=int, help='TCP port to listen to (default: 2000)')
parser.add_argument('--tm_port', default=8000, type=int, help='Traffic Manager Port (default: 8000)')
parser.add_argument('--ego-spawn', type=list, default=None, help='[x,y] in world coordinate')
parser.add_argument('--top-view', default=True, help='Setting spectator to top view on ego car')
parser.add_argument('--map', default='Town04', help='Town Map')
parser.add_argument('--sync', default=True, help='Synchronous mode execution')
parser.add_argument('--sensor-h', default=2.4, help='Sensor Height')
parser.add_argument('--save-path', default='存储路径', help='Synchronous mode execution')
args = parser.parse_args()
# 图片大小可自行修改
IM_WIDTH = 400
IM_HEIGHT= 800
actor_list, sensor_list = [], []
sensor_type = ['rgb']
def main(args):
# We start creating the client
client = carla.Client(args.host, args.port)
client.set_timeout(5.0)
world = client.get_world()
# world = client.load_world('Town04_Opt')
# world.unload_map_layer(carla.MapLayer.Buildings)
# world.unload_map_layer(carla.MapLayer.Foliage )
# world.unload_map_layer(carla.MapLayer.Ground )
# world.unload_map_layer(carla.MapLayer.Walls )
blueprint_library = world.get_blueprint_library()
try:
original_settings = world.get_settings()
settings = world.get_settings()
# We set CARLA syncronous mode
settings.fixed_delta_seconds = 0.05
settings.synchronous_mode = True
world.apply_settings(settings)
spectator = world.get_spectator()
# 手动规定
# transform_vehicle = carla.Transform(carla.Location(0, 10, 0), carla.Rotation(0, 0, 0))
# 自动选择
transform_vehicle = random.choice(world.get_map().get_spawn_points())
ego_vehicle = world.spawn_actor(random.choice(blueprint_library.filter("model3")), transform_vehicle)
actor_list.append(ego_vehicle)
# 设置traffic manager
tm = client.get_trafficmanager(args.tm_port)
tm.set_synchronous_mode(True)
# 是否忽略红绿灯
# tm.ignore_lights_percentage(ego_vehicle, 100)
# 如果限速30km/h -> 30*(1-10%)=27km/h
tm.global_percentage_speed_difference(10.0)
ego_vehicle.set_autopilot(True, tm.get_port())
#-------------------------- 添加rgb相机--------------------------#
sensor_queue = Queue()
cam_bp = blueprint_library.find('sensor.camera.rgb')
# 可以设置一些参数 set the attribute of camera
cam_bp.set_attribute("image_size_x", "{}".format(IM_WIDTH))
cam_bp.set_attribute("image_size_y", "{}".format(IM_HEIGHT))
cam_bp.set_attribute("fov", "60")
# cam_bp.set_attribute('sensor_tick', '0.1')
cam01 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=-1.3,z=args.sensor_h),carla.Rotation(yaw=180 )), attach_to=ego_vehicle)
def get_image(data):
data.save_to_disk('/home/lyr/CARLA/CAM_BACK/%06d.jpg' % data.frame)
sensor_callback(data, sensor_queue, "rgb_behind")
cam01.listen(get_image)
sensor_list.append(1)
cam02 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=120 )), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_right_behind")
data.save_to_disk('/home/lyr/CARLA/CAM_BACK_RIGHT/%06d.jpg' % data.frame)
cam02.listen(get_image)
sensor_list.append(2)
cam03 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=60 )), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_right_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT_RIGHT/%06d.jpg' % data.frame)
cam03.listen(get_image)
sensor_list.append(3)
cam04 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=0)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT/%06d.jpg' % data.frame)
cam04.listen(get_image)
sensor_list.append(4)
cam05 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=300)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_left_front")
data.save_to_disk('/home/lyr/CARLA/CAM_FRONT_LEFT/%06d.jpg' % data.frame)
cam05.listen(get_image)
sensor_list.append(5)
cam06 = world.spawn_actor(cam_bp, carla.Transform(carla.Location(x=1,z=args.sensor_h),carla.Rotation(yaw=240)), attach_to=ego_vehicle)
def get_image(data):
sensor_callback(data, sensor_queue, "rgb_left_behind")
data.save_to_disk('/home/lyr/CARLA/CAM_BACK_LEFT/%06d.jpg' % data.frame)
cam06.listen(get_image)
sensor_list.append(6)
#-------------------------- 设置完毕 --------------------------#
while True:
# Tick the server
world.tick()
# 将CARLA界面摄像头跟随车动
loc = ego_vehicle.get_transform().location
spectator.set_transform(carla.Transform(carla.Location(x=loc.x,y=loc.y,z=35),carla.Rotation(yaw=0,pitch=-90,roll=0)))
w_frame = world.get_snapshot().frame
print("\nWorld's frame: %d" % w_frame)
try:
rgbs = []
for i in range (0, len(sensor_list)):
s_frame, s_name, s_data = sensor_queue.get(True, 1.0)
print(" Frame: %d Sensor: %s" % (s_frame, s_name))
sensor_type = s_name.split('_')[0]
if sensor_type == 'rgb':
rgbs.append(_parse_image_cb(s_data))
# 仅用来可视化 可注释
rgb=np.concatenate(rgbs, axis=1)[...,:3] # 合并图像
cv2.imshow('vizs', visualize_data(rgb))
cv2.waitKey(100)
if rgb is None or args.save_path is not None:
# 检查是否有各自传感器的文件夹
mkdir_folder(args.save_path)
filename = args.save_path +'rgb/'+str(w_frame)+'.png'
cv2.imwrite(filename, np.array(rgb[...,::-1]))
except Empty:
print(" Some of the sensor information is missed")
finally:
world.apply_settings(original_settings)
tm.set_synchronous_mode(False)
for sensor in sensor_list:
sensor.destroy()
for actor in actor_list:
actor.destroy()
print("All cleaned up!")
def mkdir_folder(path):
for s_type in sensor_type:
if not os.path.isdir(os.path.join(path, s_type)):
os.makedirs(os.path.join(path, s_type))
return True
def sensor_callback(sensor_data, sensor_queue, sensor_name):
# Do stuff with the sensor_data data like save it to disk
# Then you just need to add to the queue
sensor_queue.put((sensor_data.frame, sensor_name, sensor_data))
# modify from world on rail code
def visualize_data(rgb, text_args=(cv2.FONT_HERSHEY_SIMPLEX, 0.3, (255,255,255), 1)):
canvas = np.array(rgb[...,::-1])
return canvas
# modify from manual control
def _parse_image_cb(image):
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
return array
if __name__ == "__main__":
try:
main(args)
except KeyboardInterrupt:
print(' - Exited by user.')三、效果展示
carla 环视rgb摄像头数据采集
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