记录Carla使用过程中的几个常见代码案例

# -*- coding:utf-8 -*-#import carlaimport randomimport time##try:    print("================ Starting ================")# 创建一个客户端    client = carla.Client('localhost',2000)    client.set_timeout(5)# 连接到仿真世界    world = client.get_world()    print("world:", world)    blueprint_library = world.get_blueprint_library()    print("length of blueprint_library:", len(blueprint_library))#for bp in blueprint_library:#   print("bp:", bp)# 在仿真世界中创建车辆    v_bp = blueprint_library.filter("model3")[0]    print("v_bp:",v_bp)    spawn_points = world.get_map().get_spawn_points()#print("spawn_points:",spawn_points)#spawn_point = random.choice(spawn_points)    spawn_point = spawn_points[0]    my_car = world.spawn_actor(v_bp, spawn_point)    print("my_car:", my_car)    # 控制当前车辆的驾驶行为：加速直行    # my_car.apply_control(carla.VehicleControl(throttle=1.0, steer=0))# 控制当前车辆的驾驶行为：自动驾驶    my_car.set_autopilot(True)    time.sleep(10)except Exception as e:    print("Exception detected:", e)finally:    my_car.destroy()    print("================ ending ================")

# -*- coding:utf-8 -*-#import carlaimport randomimport time##try:    print("================ Starting ================")# 创建一个客户端    client = carla.Client('localhost',2000)    client.set_timeout(5)# 连接到仿真世界    world = client.get_world()    print("world:", world)    blueprint_library = world.get_blueprint_library()    print("length of blueprint_library:",len(blueprint_library))for bp in blueprint_library:       print("bp:", bp)# 在仿真世界中创建车辆    v_bp = blueprint_library.filter("model3")[0]    print("v_bp:",v_bp)    spawn_points = world.get_map().get_spawn_points()#print("spawn_points:",spawn_points)#spawn_point = random.choice(spawn_points)    spawn_point = spawn_points[0]    my_car = world.spawn_actor(v_bp, spawn_point)    print("my_car:", my_car)# 控制当前车辆的驾驶行为：加速直行# my_car.apply_control(carla.VehicleControl(throttle=1.0, steer=0))# 控制当前车辆的驾驶行为：自动驾驶    my_car.set_autopilot(True)
# 设置观察者视角# 获取世界的观察者对象，即spectator对象    spectator = world.get_spectator()# 获取spectator的坐标# transform = spectator.get_transform()# location = transform.location  # 定位# rotation = transform.rotation  # 角度
# Set the spectator with an empty transform# spectator.set_transform(carla.Transform())
#    simTime = 0while simTime <= 2000:        print("simTime:", simTime)# spectator = world.get_spectator()        transform = my_car.get_transform()        print("location:", transform.location)# 上帝视角        my_transform = carla.Transform((transform.location + carla.Location(z=50)), carla.Rotation(pitch=-90))# 车后视角# my_transform = carla.Transform((transform.location + carla.Location(x=-6, y=0, z=3)), carla.Rotation(pitch=-10))# 驾驶员视角# my_transform = carla.Transform((transform.location + carla.Location(x=2, y=0, z=1.5)), carla.Rotation(pitch=-10))        spectator.set_transform(my_transform)# 以旁观者视角跟随观察车辆的运行        simTime += 1#time.sleep(100)except Exception as e:    print("Exception detected:", e)finally:    my_car.destroy()    print("================ ending ================")

# -*- coding:utf-8 -*-#import carlaimport randomimport time##try:    print("================ Starting ================")# 创建一个客户端    client = carla.Client('localhost', 2000)    client.set_timeout(5)# 客户端连接到仿真世界    world = client.get_world()    print("the current world is:", world)# 获得所有内部地图列表    map_list = client.get_available_maps()for map_index in map_list:        print("map available:", map_index)# 设置世界的地图(从上述列表中选择)    client.load_world('Town11_Opt')except Exception as e:    print("Exception detected:", e)finally:    print("================ ending ================")

# -*- coding:utf-8 -*-#import carlaimport randomimport time##try:    print("================ Starting ================")# 创建一个客户端    client = carla.Client('localhost', 2000)    client.set_timeout(5)# 加载OpenDrive地图    xodr_path = str("F:/truevision/xodr/crossing8_carla.xodr")# xodr_path = str("F:/truevision/xodr/straight_road_2lanes_200m.xodr")# xodr_path = str("F:/truevision/xodr/sample_database.xodr")with open(xodr_path, encoding='utf-8') as od_file:            data = od_file.read()            vertex_distance = 1.0  # in meters            max_road_length = 500.0  # in meters            wall_height = 0.5      # in meters            extra_width = 1.0      # in meters            world = client.generate_opendrive_world(                data, carla.OpendriveGenerationParameters(                    vertex_distance=vertex_distance,                    max_road_length=max_road_length,                    wall_height=wall_height,                    additional_width=extra_width,                    smooth_junctions=True,                    enable_mesh_visibility=True))    print("the current world is:", world)#except Exception as e:    print("Exception detected:", e)finally:pass    print("================ ending ================")