Carla中如何调试驾驶员视角效果：前三连屏，后三后视镜

# client_to_show_ego_6_views.py# 2022-11-27# by limanman# 多窗口显示驾驶员视角的demo程序

import carlaimport argparseimport randomimport timeimport numpy as np
try:    import pygame    from pygame.locals import K_ESCAPE    from pygame.locals import K_qexcept ImportError:    raise RuntimeError('cannot import pygame, make sure pygame package is installed')

class CustomTimer:    def __init__(self):        try:            self.timer = time.perf_counter        except AttributeError:            self.timer = time.time
    def time(self):        return self.timer()

class DisplayManager:    def __init__(self, grid_size, window_size):        pygame.init()        pygame.font.init()        self.display = pygame.display.set_mode(window_size, pygame.HWSURFACE | pygame.DOUBLEBUF)        self.grid_size = grid_size        self.window_size = window_size        self.sensor_list = []
    def get_window_size(self):        return [int(self.window_size[0]), int(self.window_size[1])]
    def get_display_size(self):        return [int(self.window_size[0] / self.grid_size[1]), int(self.window_size[1] / self.grid_size[0])]
    def get_display_offset(self, gridPos):        dis_size = self.get_display_size()        return [int(gridPos[1] * dis_size[0]), int(gridPos[0] * dis_size[1])]
    def add_sensor(self, sensor):        self.sensor_list.append(sensor)
    def get_sensor_list(self):        return self.sensor_list
    def render(self):        if not self.render_enabled():            return
        for s in self.sensor_list:            s.render()
        pygame.display.flip()
    def destroy(self):        for s in self.sensor_list:            s.destroy()
    def render_enabled(self):        return self.display != None

class SensorManager:    def __init__(self, world, display_man, sensor_type, transform, attached, sensor_options, display_pos, reverse):        self.surface = None        self.world = world        self.display_man = display_man        self.display_pos = display_pos        self.sensor = self.init_sensor(sensor_type, transform, attached, sensor_options)        self.sensor_options = sensor_options        self.timer = CustomTimer()        self.time_processing = 0.0        self.tics_processing = 0        self.display_man.add_sensor(self)        self.reverse = reverse
    def init_sensor(self, sensor_type, transform, attached, sensor_options):        if sensor_type == 'RGBCamera':            camera_bp = self.world.get_blueprint_library().find('sensor.camera.rgb')            disp_size = self.display_man.get_display_size()            print("===size:", str(disp_size[0]), str(disp_size[1]))            camera_bp.set_attribute('image_size_x', str(disp_size[0]))            camera_bp.set_attribute('image_size_y', str(disp_size[1]))            camera_bp.set_attribute('fov', str(40))            #            for key in sensor_options:                camera_bp.set_attribute(key, sensor_options[key])            camera = self.world.spawn_actor(camera_bp, transform, attach_to=attached)            print("camera_attributes:", camera.attributes)            for i in camera.attributes:                print("camera_attributes:", i, camera.attributes[i])            camera.listen(self.save_rgb_image)            return camera        else:            return None
    def get_sensor(self):        return self.sensor
    def save_rgb_image(self, image):        t_start = self.timer.time()
        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]        if self.reverse == True:            array = np.flip(array, axis=1)  # 将画面左右翻转        if self.display_man.render_enabled():            self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
        t_end = self.timer.time()        self.time_processing += (t_end - t_start)        self.tics_processing += 1
    def render(self):        if self.surface is not None:            offset = self.display_man.get_display_offset(self.display_pos)            self.display_man.display.blit(self.surface, offset)
    def destroy(self):        self.sensor.destroy()

class WindowCameraRear(object):    def __init__(self):        # === 1, 创建pygame窗口 ===        pygame.init()  # 内部各功能模块进行初始化创建及变量设置，默认调用        self.size = width, height = 1024, 600  # 设置游戏窗口大小，分别是宽度和高度        self.screen = pygame.display.set_mode(self.size)  # 初始化显示窗口        pygame.display.set_caption("我的小游戏程序")  # 设置显示窗口的标题内容        self.my_display = pygame.display.set_mode(self.size, pygame.HWSURFACE | pygame.DOUBLEBUF)        # pygame_clock = pygame.time.Clock()
    def sensor_image(self, image):        print("self:", self)        print("image:", 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]        array = np.flip(array, axis=1)  # 将画面左右翻转        self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))        self.my_display.blit(self.surface, (0, 0))

def run_simulation(args, client):    """This function performed one test run using the args parameters    and connecting to the carla client passed.    """
    display_manager = None    vehicle = None    vehicle_list = []    timer = CustomTimer()
    try:        # Getting the world and        world = client.get_world()        original_settings = world.get_settings()
        if args.sync:            traffic_manager = client.get_trafficmanager(8000)            settings = world.get_settings()            traffic_manager.set_synchronous_mode(True)            settings.synchronous_mode = True            settings.fixed_delta_seconds = 0.05            world.apply_settings(settings)
        # Instanciating the vehicle to which we attached the sensors        bp = world.get_blueprint_library().filter('charger_2020')[0]        vehicle = world.spawn_actor(bp, random.choice(world.get_map().get_spawn_points()))        vehicle_list.append(vehicle)        vehicle.set_autopilot(True)
        # Display Manager organize all the sensors an its display in a window        # If can easily configure the grid and the total window size        display_manager = DisplayManager(grid_size=[2, 3], window_size=[args.width, args.height])        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=3.5, y=0, z=1.5), carla.Rotation(yaw=-40)),                      vehicle, {}, display_pos=[0, 0], reverse=False)        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=3.5, y=0, z=1.5), carla.Rotation(yaw=+00)),                      vehicle, {}, display_pos=[0, 1], reverse=False)        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=3.5, y=0, z=1.5), carla.Rotation(yaw=+40)),                      vehicle, {}, display_pos=[0, 2], reverse=False)        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=0.7, y=-1.0, z=1.1), carla.Rotation(yaw=-170)),                      vehicle, {}, display_pos=[1, 0], reverse=True)        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=0.7, y=0, z=1.3), carla.Rotation(yaw=-180)),                      vehicle, {}, display_pos=[1, 1], reverse=True)        SensorManager(world, display_manager, 'RGBCamera',                      carla.Transform(carla.Location(x=0.7, y=+1.0, z=1.1), carla.Rotation(yaw=+170)),                      vehicle, {}, display_pos=[1, 2], reverse=True)        # #######################################################        # Simulation loop        call_exit = False        time_init_sim = timer.time()        while True:            # Carla Tick            if args.sync:                world.tick()            else:                world.wait_for_tick()
            # Render received data            display_manager.render()
            for event in pygame.event.get():                if event.type == pygame.QUIT:                    call_exit = True                elif event.type == pygame.KEYDOWN:                    if event.key == K_ESCAPE or event.key == K_q:                        call_exit = True                        break
            if call_exit:                break
    finally:        if display_manager:            display_manager.destroy()
        client.apply_batch([carla.command.DestroyActor(x) for x in vehicle_list])
        world.apply_settings(original_settings)

def main():    argparser = argparse.ArgumentParser(        description='CARLA Sensor tutorial')    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(        '--sync',        action='store_true',        help='Synchronous mode execution')    argparser.add_argument(        '--async',        dest='sync',        action='store_false',        help='Asynchronous mode execution')    argparser.set_defaults(sync=True)    argparser.add_argument(        '--res',        metavar='WIDTHxHEIGHT',        default='1280x720',        help='window resolution (default: 1280x720)')
    args = argparser.parse_args()    args.width, args.height = [int(x) for x in args.res.split('x')]
    try:        client = carla.Client(args.host, args.port)        client.set_timeout(5.0)        run_simulation(args, client)
    except KeyboardInterrupt:        print('\nCancelled by user. Bye!')

if __name__ == '__main__':    main()