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GatherCarlaData.py
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import glob
import os
import sys
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
from CarlaUtils import *
def main(arg):
"""Main function of the script"""
client = carla.Client(arg["host"], arg["port"])
client.set_timeout(5.0)
world = client.get_world()
print("Available worlds:", client.get_available_maps())
if arg["new_world"]:
world = client.load_world(arg["new_world"])
if not os.path.exists(arg["storage_dir"]):
os.makedirs(arg["storage_dir"])
# Record
client.start_recorder(arg["storage_dir"] + "/recording01.log")
try:
original_settings = world.get_settings()
settings = world.get_settings()
traffic_manager = client.get_trafficmanager(8000)
traffic_manager.set_synchronous_mode(True)
# How often to update
delta = 0.1
settings.fixed_delta_seconds = delta
settings.synchronous_mode = True
settings.no_rendering_mode = arg["no_rendering"]
world.apply_settings(settings)
# Create a car
blueprint_library = world.get_blueprint_library()
vehicle_bp = blueprint_library.filter(arg["filter"])[0]
vehicle_transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.spawn_actor(vehicle_bp, vehicle_transform)
vehicle.set_autopilot(True)
spectator = world.get_spectator()
# To ensure synchrony
lidar_queue = Queue()
camera_queue = Queue()
vehicles_list = create_traffic(world, client, arg["num_vehicles"], traffic_manager)
walker_id = create_people(world, client, arg["num_walkers"])
# Create semantic lidar
NUM_SENSORS = arg["num_sensors"]
views = np.arange(NUM_SENSORS)
lidars = []
for i in range(NUM_SENSORS):
if not os.path.exists(arg["storage_dir"] + "/velocities" + str(i)):
os.mkdir(arg["storage_dir"] + "/velocities" + str(i))
if not os.path.exists(arg["storage_dir"] + "/instances" + str(i)):
os.mkdir(arg["storage_dir"] + "/instances" + str(i))
if not os.path.exists(arg["storage_dir"] + "/labels" + str(i)):
os.mkdir(arg["storage_dir"] + "/labels" + str(i))
if not os.path.exists(arg["storage_dir"] + "/velodyne" + str(i)):
os.mkdir(arg["storage_dir"] + "/velodyne" + str(i))
if not os.path.exists(arg["storage_dir"] + "/pose" + str(i)):
os.mkdir(arg["storage_dir"] + "/pose" + str(i))
if i == 0: # Onboard sensor
offsets = [-0.5, 0.0, 1.8]
else:
offsets = np.random.uniform([-20, -20, 1], [20, 20, 5], [3,])
lidar_bp = generate_lidar_bp(arg, world, blueprint_library, delta)
# Location of lidar, fixed to vehicle
lidar_transform = carla.Transform(carla.Location(x=offsets[0], y=offsets[1], z=offsets[2]))
lidar = world.spawn_actor(lidar_bp, lidar_transform, attach_to=vehicle)
lidars.append(lidar)
# Add callback
# FOR LOOP Breaks
lidars[i].listen(lambda data, view=views[i]: lidar_queue.put([data, view]))
# Camera
if not os.path.exists(arg["storage_dir"] + "/bev"):
os.mkdir(arg["storage_dir"] + "/bev")
cameras = []
cam_bp = blueprint_library.find('sensor.camera.rgb')
cam_bp.set_attribute("image_size_x", str(1920))
cam_bp.set_attribute("image_size_y", str(1080))
cam_bp.set_attribute("fov", str(105))
cam_location = carla.Location(0, 0, 50)
cam_rotation = carla.Rotation(270, 0, 0)
cam_transform = carla.Transform(cam_location, cam_rotation)
cam01 = world.spawn_actor(cam_bp, cam_transform, attach_to=vehicle)
cam01.listen(camera_queue.put)
cameras.append(cam01)
frame = 0
while frame < 2000:
world.tick()
spectator.set_transform(cam01.get_transform())
time.sleep(0.005)
# Store Data
try:
for _ in range(len(lidars)):
data, view = lidar_queue.get()
semantic_lidar_callback(data, world, lidars[view].id, vehicle.id, arg["storage_dir"], frame, view=view)
except Empty:
print(" Dropped LIDAR data")
try:
for _ in range(len(cameras)):
image = camera_queue.get()
bev_camera_callback(image, world, arg["storage_dir"], frame)
except Empty:
print(" Dropped Camera data")
frame += 1
finally:
client.stop_recorder()
world.apply_settings(original_settings)
traffic_manager.set_synchronous_mode(False)
for lidar in lidars:
lidar.destroy()
for camera in cameras:
camera.destroy()
vehicle.destroy()
client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
all_actors = world.get_actors(walker_id)
for i in range(0, len(walker_id), 2):
all_actors[i].stop()
client.apply_batch([carla.command.DestroyActor(x) for x in walker_id])
if __name__ == "__main__":
# TODO: you may change these parameters if needed
args = {
"host": "localhost",
"port": 2000,
"no_rendering": False,
"noise": False,
"filter": "model3",
"upper_fov": 2,
"lower_fov": -25,
"channels": 64.0,
"range": 50,
"points_per_second": 1300000,
"show_axis": True,
"storage_dir": "/home/tigeriv/Data/Carla/Data/Scenes/Town07_Light/raw",
"num_vehicles": 25,
"num_walkers": 25,
"new_world": "/Game/Carla/Maps/Town07",
"num_sensors": 20
}
try:
main(args)
except KeyboardInterrupt:
print(' - Exited by user.')