仿真测试入门参考(20):CARLA的传感器

import pygame
# pygame初始化pygame.init()screen = pygame.display.set_mode((1280, 720))
running = Truewhile running:    # 处理事件    for event in pygame.event.get():        if event.type == pygame.QUIT:        running = False
    ## 更新待显示对象    # 采用紫色填充屏幕    screen.fill("purple")
    ## 完成待显示对象更新    # 将当前对象显示到屏幕上    pygame.display.flip()pygame.quit()

import carlaimport numpy as npimport pygameimport randomimport time
def rgb_camera_callback(image, pygame_display):    '''RGB camera的监听方法    '''    # print(f"-- rgb camera callback time = {time.time()}")    #在pygame窗口显示    image.convert(carla.ColorConverter.Raw)    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]    surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))    pygame_display.blit(surface, (0, 0))    #保存至文件    # image.save_to_disk(f"image/{image.frame}_{image.timestamp}.png")
def obstacle_detector_callback(obs):    '''obstacle detector的监听方法    '''    # print(f"-- obstacle detector callback time = {time.time()}")    ego_tf = obs.actor.get_transform()    other_actor_id = obs.other_actor.id    other_actor_tf = obs.other_actor.get_transform()    print(f"ego transform = {ego_tf}")    print(f"other actor id = {other_actor_id}, transform = {other_actor_tf}")    print(f"distance = {obs.distance}")  def main():    #创建client，并获取world    client = carla.Client("localhost", 2000)    world = client.get_world()    original_settings = world.get_settings()    vehicles = []    sensors = []    try:        #初始化pygame        pygame.init()        pygame.font.init()        pygame_display = pygame.display.set_mode([800, 600], pygame.HWSURFACE | pygame.DOUBLEBUF)                #设置模式为：同步定步长，且步长为0.05s        time_step = 0.05        settings = world.get_settings()        settings.synchronous_mode = True        settings.fixed_delta_seconds = time_step        world.apply_settings(settings)                #设置traffic manager为同步模式        traffic_manager = client.get_trafficmanager()        traffic_manager.set_synchronous_mode(True)                #选择一些障碍车的车型        models = ['dodge', 'audi', 'model3', 'mini', 'mustang', 'lincoln', 'prius', 'nissan', 'crown', 'impala']        blueprints = []        for vehicle in world.get_blueprint_library().filter('*vehicle*'):            if any(model in vehicle.id for model in models):            blueprints.append(vehicle)                #设置生成障碍车的数量        spawn_points = world.get_map().get_spawn_points()        max_vehicles = 50        max_vehicles = min([max_vehicles, len(spawn_points)])                #生成障碍车并设置自动驾驶        for i, spawn_point in enumerate(random.sample(spawn_points, max_vehicles)):            vehicle = world.try_spawn_actor(random.choice(blueprints), spawn_point)            if vehicle is not None:                vehicles.append(vehicle)                vehicle.set_autopilot(True)                #生成ego车        ego_bp = world.get_blueprint_library().find('vehicle.tesla.model3')        ego_bp.set_attribute('role_name','ego')        ego_spawn_point = random.choice(spawn_points)        ego_vehicle = world.try_spawn_actor(ego_bp, ego_spawn_point)        if ego_vehicle is not None:            vehicles.append(ego_vehicle)            ego_vehicle.set_autopilot(True)                sensors = []        #为ego车配置RGB camera        #1.获取blueprint        rgb_camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')        #2.配置参数        rgb_camera_bp.set_attribute('image_size_x', '800')        rgb_camera_bp.set_attribute('image_size_y', '600')        rgb_camera_bp.set_attribute('fov', '110')        rgb_camera_bp.set_attribute('sensor_tick', '0.1')        #3.绑定至车辆        rgb_camera_tf = carla.Transform(carla.Location(x=1.0, z=2.0), carla.Rotation(yaw=0.0))        rgb_camera = world.try_spawn_actor(rgb_camera_bp, rgb_camera_tf, attach_to=ego_vehicle)        if rgb_camera is not None:            sensors.append(rgb_camera)        #4.配置监听方法        rgb_camera.listen(lambda image: rgb_camera_callback(image, pygame_display))                #为ego车配置Obstacle detector        #1.获取blueprint        obstacle_detector_bp = world.get_blueprint_library().find('sensor.other.obstacle')        #2.配置参数        obstacle_detector_bp.set_attribute('distance', '100')        obstacle_detector_bp.set_attribute('hit_radius', '0.5')        obstacle_detector_bp.set_attribute('only_dynamics', 'True')        obstacle_detector_bp.set_attribute('sensor_tick', '0.0')        #3.绑定至车辆        obstacle_detector_tf = carla.Transform(carla.Location(x=1.0, z=2.0), carla.Rotation(yaw=0.0))        obstacle_detector = world.try_spawn_actor(obstacle_detector_bp, obstacle_detector_tf, attach_to=ego_vehicle)        if obstacle_detector is not None:            sensors.append(obstacle_detector)        #4.配置监听方法        obstacle_detector.listen(lambda obs: obstacle_detector_callback(obs))                #运行        running = True        while running:            start_time = time.time()            ##start of own scripts            ret = world.tick()            snap = world.get_snapshot()            frame = snap.timestamp.frame            print(f"---------- frame = {frame} ----------")                        #设置spectator跟随ego车            spectator = world.get_spectator()            ego_tf = ego_vehicle.get_transform()            spectator_tf = carla.Transform(ego_tf.location, ego_tf.rotation)            spectator_tf.location += ego_tf.get_forward_vector() * (-10)            spectator_tf.location += ego_tf.get_up_vector() * 3            spectator.set_transform(spectator_tf)                        #pygame            for event in pygame.event.get():                if event.type == pygame.QUIT:                running = False            pygame.display.flip()            ##end of own scripts                        end_time = time.time()            sleep_time = time_step - (end_time -  start_time)            if sleep_time > 0:                time.sleep(sleep_time)    finally:        pygame.quit()        world.apply_settings(original_settings)        for actor in vehicles + sensors:            actor.destroy()if __name__ == "__main__":    main()