projects/Project-219.py at main · SOMEdudeWHOcodes/projects · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
import glob
import os
import sys
import time
import random
import math

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

actor_list = []


def generate_lidar_blueprint(blueprint_library):
    lidar_blueprint = blueprint_library.find('sensor.lidar.ray_cast_semantic')
    lidar_blueprint.set_attribute('channels', str(64))
    lidar_blueprint.set_attribute('points_per_second', str(56000))#write the code for set points_per_second
    lidar_blueprint.set_attribute('rotation_frequency', str(80))#write the code for set rotation frequency
    lidar_blueprint.set_attribute('range', str(100))#write the code for set range
    return lidar_blueprint


object_id = {"None": 0,
             "Buildings": 1,
             "Fences": 2,
             "Other": 3,
             "Pedestrians": 4,
             "Poles": 5,
             "RoadLines": 6,
             "Roads": 7,
             "Sidewalks": 8,
             "Vegetation": 9,
             "Vehicles": 10,
             "Wall": 11,
             "TrafficsSigns": 12,
             "Sky": 13,
             "Ground": 14,
             "Bridge": 15,
             "RailTrack": 16,
             "GuardRail": 17,
             "TrafficLight": 18,
             "Static": 19,
             "Dynamic": 20,
             "Water": 21,
             "Terrain": 22
             }

key_list = list(object_id.keys())
value_list = list(object_id.values())


def semantic_lidar_data(point_cloud_data):
    distance_name_data = {}
    for detection in point_cloud_data:
        position = value_list.index(detection.object_tag)
        distance = math.sqrt((detection.point.x ** 2) + (detection.point.y ** 2) + (detection.point.z ** 2))
        distance_name_data["distance"] = distance
        distance_name_data["name"] = key_list[position]
        print("Name of all objects nearby car distance_name_data",distance_name_data['name'])#write code here to display only name of object


def car_control():
    dropped_vehicle.apply_control(carla.VehicleControl(throttle=0.51))
    time.sleep(20)


try:
    client = carla.Client('127.0.0.1', 2000)
    client.set_timeout(10.0)
    world = client.get_world()
    map = world.get_map()
    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter('model3')[0]
    spawn_point = (world.get_map().get_spawn_points()[20])
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)

    walkers_blueprint = random.choice(get_blueprint_of_world.filter('walker'))
    walkers_spawn_point = world.get_map().get_spawn_points()[15]
    dropped_walker = world.spawn_actor(walkers_blueprint, walkers_spawn_point)

    control_walker = carla.WalkerControl()
    control_walker.speed = 0.9
    control_walker.direction.y = 0
    control_walker.direction.x = 1
    control_walker.direction.z = 0
    dropped_walker.apply_control(control_walker)

    simulator_camera_location_rotation = carla.Transform(walkers_spawn_point.location, walkers_spawn_point.rotation)
    simulator_camera_location_rotation.location += spawn_point.get_forward_vector() * 30
    simulator_camera_location_rotation.rotation.yaw += 180
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)

    lidar_sensor = generate_lidar_blueprint(get_blueprint_of_world)
    sensor_lidar_spawn_point = carla.Transform(carla.Location(x=0, y=0, z=2.0),
                                               carla.Rotation(pitch=0.000000, yaw=90.0, roll=0.000000))
    sensor = world.spawn_actor(lidar_sensor, sensor_lidar_spawn_point, attach_to=dropped_vehicle)

    sensor.listen(lambda point_cloud_data: semantic_lidar_data(point_cloud_data))
    car_control()

    time.sleep(1000)
finally:
    print('destroying actors')
    for actor in actor_list:
        actor.destroy()
    print('done.')