https://github.com/carla-simulator/carla
Tip revision: 2a7a42b94668d60b653fa4e0befa46ff4ff8048b authored by bernatx on 14 September 2022, 09:15:31 UTC
Try to stabilize a bit
Try to stabilize a bit
Tip revision: 2a7a42b
environment.py
#!/usr/bin/env python
"""
Script to control weather parameters in simulations
"""
import glob
import os
import sys
import argparse
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
SUN_PRESETS = {
'day': (45.0, 0.0),
'night': (-90.0, 0.0),
'sunset': (0.5, 0.0)}
WEATHER_PRESETS = {
'clear': [10.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0331, 0.0],
'overcast': [80.0, 0.0, 0.0, 50.0, 2.0, 0.75, 0.1, 10.0, 0.0, 0.03, 0.0331, 0.0],
'rain': [100.0, 80.0, 90.0, 100.0, 7.0, 0.75, 0.1, 100.0, 0.0, 0.03, 0.0331, 0.0]}
CAR_LIGHTS = {
'None' : [carla.VehicleLightState.NONE],
'Position' : [carla.VehicleLightState.Position],
'LowBeam' : [carla.VehicleLightState.LowBeam],
'HighBeam' : [carla.VehicleLightState.HighBeam],
'Brake' : [carla.VehicleLightState.Brake],
'RightBlinker' : [carla.VehicleLightState.RightBlinker],
'LeftBlinker' : [carla.VehicleLightState.LeftBlinker],
'Reverse' : [carla.VehicleLightState.Reverse],
'Fog' : [carla.VehicleLightState.Fog],
'Interior' : [carla.VehicleLightState.Interior],
'Special1' : [carla.VehicleLightState.Special1],
'Special2' : [carla.VehicleLightState.Special2],
'All' : [carla.VehicleLightState.All]}
LIGHT_GROUP = {
'None' : [carla.LightGroup.NONE],
# 'Vehicle' : [carla.LightGroup.Vehicle],
'Street' : [carla.LightGroup.Street],
'Building' : [carla.LightGroup.Building],
'Other' : [carla.LightGroup.Other]}
def apply_sun_presets(args, weather):
"""Uses sun presets to set the sun position"""
if args.sun is not None:
if args.sun in SUN_PRESETS:
weather.sun_altitude_angle = SUN_PRESETS[args.sun][0]
weather.sun_azimuth_angle = SUN_PRESETS[args.sun][1]
else:
print("[ERROR]: Command [--sun | -s] '" + args.sun + "' not known")
sys.exit(1)
def apply_weather_presets(args, weather):
"""Uses weather presets to set the weather parameters"""
if args.weather is not None:
if args.weather in WEATHER_PRESETS:
weather.cloudiness = WEATHER_PRESETS[args.weather][0]
weather.precipitation = WEATHER_PRESETS[args.weather][1]
weather.precipitation_deposits = WEATHER_PRESETS[args.weather][2]
weather.wind_intensity = WEATHER_PRESETS[args.weather][3]
weather.fog_density = WEATHER_PRESETS[args.weather][4]
weather.fog_distance = WEATHER_PRESETS[args.weather][5]
weather.fog_falloff = WEATHER_PRESETS[args.weather][6]
weather.wetness = WEATHER_PRESETS[args.weather][7]
weather.scattering_intensity = WEATHER_PRESETS[args.weather][8]
weather.mie_scattering_scale = WEATHER_PRESETS[args.weather][9]
weather.rayleigh_scattering_scale = WEATHER_PRESETS[args.weather][10]
weather.dust_storm = WEATHER_PRESETS[args.weather][11]
else:
print("[ERROR]: Command [--weather | -w] '" + args.weather + "' not known")
sys.exit(1)
def apply_weather_values(args, weather):
"""Set weather values individually"""
if args.azimuth is not None:
weather.sun_azimuth_angle = args.azimuth
if args.altitude is not None:
weather.sun_altitude_angle = args.altitude
if args.clouds is not None:
weather.cloudiness = args.clouds
if args.rain is not None:
weather.precipitation = args.rain
if args.puddles is not None:
weather.precipitation_deposits = args.puddles
if args.wind is not None:
weather.wind_intensity = args.wind
if args.fog is not None:
weather.fog_density = args.fog
if args.fogdist is not None:
weather.fog_distance = args.fogdist
if args.fogfalloff is not None:
weather.fog_falloff = args.fogfalloff
if args.wetness is not None:
weather.wetness = args.wetness
if args.scatteringintensity is not None:
weather.scattering_intensity = args.scatteringintensity
if args.miescatteringscale is not None:
weather.mie_scattering_scale = args.miescatteringscale
if args.rayleighscatteringscale is not None:
weather.rayleigh_scattering_scale = args.rayleighscatteringscale
if args.dust_storm is not None:
weather.dust_storm = args.dust_storm
def apply_lights_to_cars(args, world):
if args.cars is None:
return
light_mask = carla.VehicleLightState.NONE
for option in args.cars:
light_mask |= CAR_LIGHTS[option][0]
# Get all cars in level
all_vehicles = world.get_actors()
for ve in all_vehicles:
if "vehicle." in ve.type_id:
ve.set_light_state(carla.VehicleLightState(light_mask))
def apply_lights_manager(args, light_manager):
if args.lights is None:
return
light_group = 'None'
if args.lightgroup is not None:
light_group = args.lightgroup
# filter by group
lights = light_manager.get_all_lights(LIGHT_GROUP[light_group][0]) # light_group
i = 0
while (i < len(args.lights)):
option = args.lights[i]
if option == "on":
light_manager.turn_on(lights)
elif option == "off":
light_manager.turn_off(lights)
elif option == "intensity":
light_manager.set_intensity(lights, int(args.lights[i + 1]))
i += 1
elif option == "color":
r = int(args.lights[i + 1])
g = int(args.lights[i + 2])
b = int(args.lights[i + 3])
light_manager.set_color(lights, carla.Color(r, g, b))
i += 3
i += 1
def main():
"""Start function"""
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'--sun',
default=None,
type=str,
help='Sun position presets [' + ' | '.join([i for i in SUN_PRESETS]) + ']')
argparser.add_argument(
'--weather',
default=None,
type=str,
help='Weather condition presets [' + ' | '.join([i for i in WEATHER_PRESETS]) + ']')
argparser.add_argument(
'--altitude', '-alt',
metavar='A',
default=None,
type=float,
help='Sun altitude [-90.0, 90.0]')
argparser.add_argument(
'--azimuth', '-azm',
metavar='A',
default=None,
type=float,
help='Sun azimuth [0.0, 360.0]')
argparser.add_argument(
'--clouds', '-c',
metavar='C',
default=None,
type=float,
help='Clouds amount [0.0, 100.0]')
argparser.add_argument(
'--rain', '-r',
metavar='R',
default=None,
type=float,
help='Rain amount [0.0, 100.0]')
argparser.add_argument(
'--puddles', '-pd',
metavar='Pd',
default=None,
type=float,
help='Puddles amount [0.0, 100.0]')
argparser.add_argument(
'--wind', '-w',
metavar='W',
default=None,
type=float,
help='Wind intensity [0.0, 100.0]')
argparser.add_argument(
'--fog', '-f',
metavar='F',
default=None,
type=float,
help='Fog intensity [0.0, 100.0]')
argparser.add_argument(
'--fogdist', '-fd',
metavar='Fd',
default=None,
type=float,
help='Fog Distance [0.0, 100.0)')
argparser.add_argument(
'--fogfalloff', '-fo',
metavar='Fo',
default=None,
type=float,
help='Fog Falloff [0.0, inf)')
argparser.add_argument(
'--wetness', '-wet',
metavar='Wet',
default=None,
type=float,
help='Wetness intensity [0.0, 100.0]')
argparser.add_argument(
'--scatteringintensity', '-si',
metavar='si',
default=None,
type=float,
help='Scattering intensity [0.0, inf]')
argparser.add_argument(
'--rayleighscatteringscale', '-rss',
metavar='rss',
default=None,
type=float,
help='Rayleigh scattering scale [0.0, 2.0]')
argparser.add_argument(
'--miescatteringscale', '-mss',
metavar='mss',
default=None,
type=float,
help='Mie scattering scale [0.0, 5.0]')
argparser.add_argument(
'--dust_storm', '-ds',
metavar='ds',
default=None,
type=float,
help='Dust storm strength [0.0, 100.0]')
argparser.add_argument(
'--cars',
metavar='Cars',
default=None,
type=str,
nargs='+',
help='Light Cars [' + ' | '.join([i for i in CAR_LIGHTS]) + ']')
argparser.add_argument(
'--lights', '-l',
metavar='Lights',
default=None,
type=str,
nargs='+',
help='Street Lights []')
argparser.add_argument(
'--lightgroup', '-lg',
metavar='LightGroup',
default=None,
type=str,
help='Light Group [' + ' | '.join([i for i in LIGHT_GROUP]) + ']')
args = argparser.parse_args()
# since all the arguments are None by default
# (except for the first 2, host and port)
# we can check if all the arguments have been provided
arg_values = [v for _, v in args.__dict__.items()][2:]
if all(i is (None and False) for i in arg_values):
argparser.error('No arguments provided.')
client = carla.Client(args.host, args.port)
client.set_timeout(2.0)
world = client.get_world()
weather = world.get_weather()
# apply presets
apply_sun_presets(args, weather)
apply_weather_presets(args, weather)
# apply weather values individually
apply_weather_values(args, weather)
world.set_weather(weather)
# apply car light changes
apply_lights_to_cars(args, world)
apply_lights_manager(args, world.get_lightmanager())
world.wait_for_tick()
if __name__ == '__main__':
main()