From ef5739fa17944d197f9548ff7efa9d87be84b33e Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 13:29:56 +0800 Subject: [PATCH 01/32] =?UTF-8?q?=E5=85=B7=E8=BA=AB=E4=BA=BA=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=86=E5=88=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/humanoid_hlaa/README.md.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 src/humanoid_hlaa/README.md.txt diff --git a/src/humanoid_hlaa/README.md.txt b/src/humanoid_hlaa/README.md.txt new file mode 100644 index 0000000000..e69de29bb2 From 49ffa4468031ae0ed0347aae5cbe9989617a940d Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 14:59:04 +0800 Subject: [PATCH 02/32] =?UTF-8?q?=E5=85=B7=E8=BA=AB=E4=BA=BA=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=86=E5=88=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/{humanoid_hlaa => Humanoid_Machine Vision Recognition}/README.md.txt (100%) diff --git a/src/humanoid_hlaa/README.md.txt b/src/Humanoid_Machine Vision Recognition/README.md.txt similarity index 100% rename from src/humanoid_hlaa/README.md.txt rename to src/Humanoid_Machine Vision Recognition/README.md.txt From 9f98a37d03d832e2212e18cc06772ca4683e4c6a Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 17:06:36 +0800 Subject: [PATCH 03/32] =?UTF-8?q?=E5=85=B7=E8=BA=AB=E4=BA=BA=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=86=E5=88=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/{Humanoid_Machine Vision Recognition => Humanoid_Machine_vision_Recognition}/README.md.txt (100%) diff --git a/src/Humanoid_Machine Vision Recognition/README.md.txt b/src/Humanoid_Machine_vision_Recognition/README.md.txt similarity index 100% rename from src/Humanoid_Machine Vision Recognition/README.md.txt rename to src/Humanoid_Machine_vision_Recognition/README.md.txt From e41aeda5633ca9828875065dfffebbc551e0b9ac Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 17:16:51 +0800 Subject: [PATCH 04/32] =?UTF-8?q?=E5=85=B7=E8=BA=AB=E4=BA=BA=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=86=E5=88=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/{humanoid_hlaa => humanoid_machine_vision_recognition}/README.md.txt (100%) diff --git a/src/humanoid_hlaa/README.md.txt b/src/humanoid_machine_vision_recognition/README.md.txt similarity index 100% rename from src/humanoid_hlaa/README.md.txt rename to src/humanoid_machine_vision_recognition/README.md.txt From b30548bc836935aa7293ebc2a49a04fa3969a0fd Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 18:14:34 +0800 Subject: [PATCH 05/32] =?UTF-8?q?=E5=85=B7=E8=BA=AB=E4=BA=BA=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=86=E5=88=AB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Humanoid_Machine_vision_Recognition/README.md | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 src/Humanoid_Machine_vision_Recognition/README.md diff --git a/src/Humanoid_Machine_vision_Recognition/README.md b/src/Humanoid_Machine_vision_Recognition/README.md new file mode 100644 index 0000000000..e69de29bb2 From 26a59994be27996485f7dd4e639edb258e28fd1a Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 18:22:45 +0800 Subject: [PATCH 06/32] README.md.txt --- src/humanoid_machine_vision_recognition/README.md.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 src/humanoid_machine_vision_recognition/README.md.txt diff --git a/src/humanoid_machine_vision_recognition/README.md.txt b/src/humanoid_machine_vision_recognition/README.md.txt deleted file mode 100644 index e69de29bb2..0000000000 From 327d7b050e92fe679b8fe3a97550e0f058db91a5 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 18:59:14 +0800 Subject: [PATCH 07/32] =?UTF-8?q?=E5=A4=84=E7=90=86=20README.md.txt=20?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E5=8F=98=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Humanoid_Machine_vision_Recognition/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Humanoid_Machine_vision_Recognition/README.md b/src/Humanoid_Machine_vision_Recognition/README.md index e69de29bb2..e89b7ad11a 100644 --- a/src/Humanoid_Machine_vision_Recognition/README.md +++ b/src/Humanoid_Machine_vision_Recognition/README.md @@ -0,0 +1 @@ +这是一个具身人视觉识别系统 \ No newline at end of file From 90c0ed5a694832fbad2179af5a06428442abef8a Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sat, 13 Sep 2025 19:24:01 +0800 Subject: [PATCH 08/32] =?UTF-8?q?=E5=A4=84=E7=90=86=20README.md=20?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=92=8CREADME.md.txt=E5=88=A0=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Humanoid_Machine_vision_Recognition/README.md | 1 - src/Humanoid_Machine_vision_Recognition/README.md.txt | 0 2 files changed, 1 deletion(-) delete mode 100644 src/Humanoid_Machine_vision_Recognition/README.md.txt diff --git a/src/Humanoid_Machine_vision_Recognition/README.md b/src/Humanoid_Machine_vision_Recognition/README.md index e89b7ad11a..e69de29bb2 100644 --- a/src/Humanoid_Machine_vision_Recognition/README.md +++ b/src/Humanoid_Machine_vision_Recognition/README.md @@ -1 +0,0 @@ -这是一个具身人视觉识别系统 \ No newline at end of file diff --git a/src/Humanoid_Machine_vision_Recognition/README.md.txt b/src/Humanoid_Machine_vision_Recognition/README.md.txt deleted file mode 100644 index e69de29bb2..0000000000 From 394d49f9559eed7c744ea471b05b1258dd5373ba Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 15 Sep 2025 08:52:59 +0800 Subject: [PATCH 09/32] Update README.md --- src/Humanoid_Machine_vision_Recognition/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Humanoid_Machine_vision_Recognition/README.md b/src/Humanoid_Machine_vision_Recognition/README.md index e69de29bb2..e1af47c7fa 100644 --- a/src/Humanoid_Machine_vision_Recognition/README.md +++ b/src/Humanoid_Machine_vision_Recognition/README.md @@ -0,0 +1 @@ +杩欐槸鍏疯韩浜鸿瑙夎瘑鍒ā鍧 From a4f0e09ac2347995aa98bd509cde48c1ee0f0204 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 22 Sep 2025 10:04:09 +0800 Subject: [PATCH 10/32] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=A0=94=E7=A9=B6?= =?UTF-8?q?=E8=AF=BE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/detection/README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/detection/README.md diff --git a/src/detection/README.md b/src/detection/README.md new file mode 100644 index 0000000000..0d16c3c448 --- /dev/null +++ b/src/detection/README.md @@ -0,0 +1 @@ +2D涓3D妫娴 \ No newline at end of file From d8a4de519c0c0ce0111e8f4db35f67e72a04a768 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 22 Sep 2025 10:23:36 +0800 Subject: [PATCH 11/32] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=A0=94=E7=A9=B6?= =?UTF-8?q?=E8=AF=BE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Humanoid_Machine_vision_Recognition/README.md | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/Humanoid_Machine_vision_Recognition/README.md diff --git a/src/Humanoid_Machine_vision_Recognition/README.md b/src/Humanoid_Machine_vision_Recognition/README.md deleted file mode 100644 index e1af47c7fa..0000000000 --- a/src/Humanoid_Machine_vision_Recognition/README.md +++ /dev/null @@ -1 +0,0 @@ -杩欐槸鍏疯韩浜鸿瑙夎瘑鍒ā鍧 From 7daf1ef2ac04e9c336fcb5281a0d0517b54047bb Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Tue, 18 Nov 2025 08:28:40 +0800 Subject: [PATCH 12/32] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=96=87=E4=BB=B6?= =?UTF-8?q?=E7=9B=AE=E5=BD=95=E4=BB=A5=E5=8F=8A=E5=85=B6=E5=8C=85=E5=90=AB?= =?UTF-8?q?=E7=9A=84README=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/detection/README.md | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/detection/README.md diff --git a/src/detection/README.md b/src/detection/README.md deleted file mode 100644 index 0d16c3c448..0000000000 --- a/src/detection/README.md +++ /dev/null @@ -1 +0,0 @@ -2D涓3D妫娴 \ No newline at end of file From deca5a8916aad67e1b818a796794205319a5fbb8 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Tue, 18 Nov 2025 08:45:12 +0800 Subject: [PATCH 13/32] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E6=96=B0=E7=9A=84?= =?UTF-8?q?=E8=87=AA=E8=BF=B0=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 113 ++++++++++++++++++++++++ 1 file changed, 113 insertions(+) create mode 100644 src/InterconVis_PedSafety_Enh/README.md diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md new file mode 100644 index 0000000000..afbc3105da --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -0,0 +1,113 @@ +# CVIPS: Connected Vision for Increased Pedestrian Safety +Implementation of the CVIPS project. +- [X] Dataset +- [X] CARLA data generation code + + + +## Dataset +The CVIPS dataset is available [here](https://drive.google.com/drive/folders/1gCCrIslzVkupyF0lj_1I9qXTB2_a4tjd?usp=drive_link). + + + + + +## Installation +Please check [installation](https://carla.readthedocs.io/en/0.9.14/build_windows) on how to setup CARLA for windows + + + +## Dataset Generation +Our dataset is generated using the CARLA simulator, providing diverse scenarios for collaborative perception. + +### Running the Data Generation Script + +1. Clone the repository: + ``` + git clone https://github.com/cvips/CVIPS.git + cd CVIPS + ``` + +2. Install the required dependencies: + ``` + pip install -r requirements.txt + ``` + +3. Ensure CARLA is properly installed and running. Start the CARLA server in a separate terminal: + ``` + /path/to/carla/CarlaUE4.exe + ``` + +4. Run the data generation script: + ``` + python cvips_generation.py + ``` + + This script will connect to the CARLA server and generate the dataset based on the specified parameters. + +Note: Make sure to adjust the CARLA server path and any configuration parameters in `cvips_generation.py` as needed for your specific setup. + +### Sample Examples + +Here are some example commands to generate different scenarios: + +1. Four-way intersection in Town10HD with clear weather at noon: + ``` + python cvips_generation.py --town Town10HD --intersection 4way --setup wsee --weather clear --time_of_the_day noon --crowd_level medium --crossing_percentage 0.1 --seed_value 23 --scenario scenario00001 + ``` + +2. Four-way intersection in Town04 with rainy weather at sunset: + ``` + python cvips_generation.py --town Town04 --intersection 4way --setup wwss --weather rainy --time_of_the_day sunset --crowd_level medium --crossing_percentage 0.1 --seed_value 42 --scenario scenario00002 + ``` + +3. Three-way intersection in Town05 with clear weather at night: + ``` + python cvips_generation.py --town Town05 --intersection 3way --setup wwss --weather clear --time_of_the_day night --crowd_level medium --crossing_percentage 0.1 --seed_value 73 --scenario scenario00005 + ``` + +4. Four-way intersection in Town10HD with cloudy weather at noon: + ``` + python cvips_generation.py --town Town10HD --intersection 4way --setup wwws --weather cloudy --time_of_the_day noon --crowd_level medium --crossing_percentage 0.1 --seed_value 101 --scenario scenario00011 + ``` + +These examples demonstrate various combinations of towns, intersection types, weather conditions, times of day, and camera setups. Users can modify these parameters to generate different scenarios as needed. + +### Sample Visualizations + +We provide visualizations to demonstrate different perspectives in our dataset: +(this can be done using [Code/data_viz.py](Code\data_viz.py)) +1. **Infrastructure View** (6 cameras) + Infrastructure View + This visualization shows the scene from fixed infrastructure cameras, providing a comprehensive view of the intersection from multiple angles. + +2. **Vehicle View** (6 cameras) + Vehicle View + This visualization demonstrates the perspective from a moving vehicle, showcasing the view from various angles around the vehicle. + +3. **Collaborative View** (4 cameras) + Collaborative View + This visualization combines views from both vehicles and infrastructure, illustrating the collaborative perception aspect of our dataset. + + +- Multiple camera perspectives (infrastructure, vehicle-mounted, and collaborative) +- Various weather conditions and times of day () +- Diverse traffic scenarios with multiple vehicles and pedestrians setup (controlled by seeds, number of pedestrians, number of vehicles to be spawned) + + + +## For Detection in collaborative setup check the documentation of V2XFormer +First, prepare the dataset with this format [data_preparation](docs/data_preparation.md) . +Then, use [V2XFormer](https://github.com/tianqi-wang1996/DeepAccident) according to the instructions here +1. [Installation](https://github.com/tianqi-wang1996/DeepAccident/blob/main/docs/installation.md) +2. [Training and Evaluation](https://github.com/tianqi-wang1996/DeepAccident/blob/main/docs/getting_started.md) -- adjust the datapaths and number of classes accordingly + +## Acknowledgement +This project is based on the following open-source projects: [BEVerse](https://github.com/zhangyp15/BEVerse), [Fiery](https://github.com/wayveai/fiery), [open-mmlab](https://github.com/open-mmlab), and [DeepAccident](https://arxiv.org/pdf/2304.01168). + +## Citation + + + + +``` From d0405ffa81a15de061a31ba015ae57b658462427 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Tue, 18 Nov 2025 09:11:21 +0800 Subject: [PATCH 14/32] =?UTF-8?q?=E6=89=8B=E5=8A=A8=E5=88=9B=E5=BB=BA?= =?UTF-8?q?=E6=96=87=E4=BB=B6=EF=BC=8C=E5=AE=9E=E7=8E=B0CARLA=E8=BF=9E?= =?UTF-8?q?=E6=8E=A5=E4=B8=8E=E6=95=B0=E6=8D=AE=E7=94=9F=E6=88=90=E7=9A=84?= =?UTF-8?q?=E6=A0=B8=E5=BF=83=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 src/InterconVis_PedSafety_Enh/cvips_generation.py diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py new file mode 100644 index 0000000000..267be481a7 --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -0,0 +1,24 @@ +import carla +import time + +# 杩炴帴CARLA鏈嶅姟锛堥粯璁ょ鍙2000锛 +client = carla.Client('localhost', 2000) +client.set_timeout(10.0) +world = client.get_world() + +# 绀轰緥锛氱敓鎴愯溅杈嗗苟閲囬泦鏁版嵁 +blueprint_library = world.get_blueprint_library() +vehicle_bp = blueprint_library.filter('model3')[0] +spawn_point = world.get_map().get_spawn_points()[0] +vehicle = world.spawn_actor(vehicle_bp, spawn_point) + +try: + # 妯℃嫙鏁版嵁閲囬泦锛堝彲鏍规嵁闇姹傛墿灞曪級 + print("寮濮嬮噰闆嗘暟鎹...") + for _ in range(5): + transform = vehicle.get_transform() + print(f"杞﹁締浣嶇疆: {transform.location}") + time.sleep(1) +finally: + vehicle.destroy() + print("鏁版嵁閲囬泦缁撴潫") \ No newline at end of file From 740fe77c998fa707264ccf338778b90617733fc4 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Tue, 18 Nov 2025 09:25:28 +0800 Subject: [PATCH 15/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=94=B9=E8=BF=9Bcarla?= =?UTF-8?q?=E8=BF=9E=E6=8E=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 43 ++++++++++--------- 1 file changed, 23 insertions(+), 20 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index 267be481a7..fce42067ca 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -1,24 +1,27 @@ import carla +import argparse import time -# 杩炴帴CARLA鏈嶅姟锛堥粯璁ょ鍙2000锛 -client = carla.Client('localhost', 2000) -client.set_timeout(10.0) -world = client.get_world() +# 鍙傛暟瑙ｆ瀽+CARLA杩炴帴+鍦板浘鍔犺浇 +if __name__ == "__main__": + # 1. 瑙ｆ瀽鍛戒护琛屽弬鏁帮紙甯﹁緭鍏ユ牎楠岋級 + parser = argparse.ArgumentParser(description='CVIPS鍦烘櫙鏁版嵁鐢熸垚宸ュ叿') + parser.add_argument('--town', type=str, required=True, choices=['Town04', 'Town10HD', 'Town07'], + help='CARLA鍩庨晣鍦板浘锛堟敮鎸侊細Town04/Town10HD/Town07锛') + parser.add_argument('--intersection', type=str, required=True, choices=['3way', '4way'], + help='璺彛绫诲瀷锛3way=涓夊弶璺彛锛4way=鍥涘矓璺彛锛') + parser.add_argument('--weather', type=str, required=True, choices=['clear', 'rainy', 'cloudy'], + help='澶╂皵鏉′欢锛坈lear=鏅村ぉ锛宺ainy=闆ㄥぉ锛宑loudy=闃村ぉ锛') + parser.add_argument('--time_of_day', type=str, required=True, choices=['noon', 'sunset', 'night'], + help='鏃舵锛坣oon=涓崍锛宻unset=鏃ヨ惤锛宯ight=澶滄櫄锛') + args = parser.parse_args() -# 绀轰緥锛氱敓鎴愯溅杈嗗苟閲囬泦鏁版嵁 -blueprint_library = world.get_blueprint_library() -vehicle_bp = blueprint_library.filter('model3')[0] -spawn_point = world.get_map().get_spawn_points()[0] -vehicle = world.spawn_actor(vehicle_bp, spawn_point) - -try: - # 妯℃嫙鏁版嵁閲囬泦锛堝彲鏍规嵁闇姹傛墿灞曪級 - print("寮濮嬮噰闆嗘暟鎹...") - for _ in range(5): - transform = vehicle.get_transform() - print(f"杞﹁締浣嶇疆: {transform.location}") - time.sleep(1) -finally: - vehicle.destroy() - print("鏁版嵁閲囬泦缁撴潫") \ No newline at end of file + try: + # 2. 杩炴帴CARLA鏈嶅姟鍣紙璁剧疆瓒呮椂閲嶈瘯鏈哄埗锛 + client = carla.Client('localhost', 2000) + client.set_timeout(15.0) + client.load_world(args.town) # 鍔犺浇鎸囧畾鍩庨晣 + world = client.get_world() + print(f"鉁 鎴愬姛杩炴帴CARLA骞跺姞杞藉湴鍥撅細{args.town}") + except Exception as e: + print(f"鉂 杩炴帴澶辫触锛歿str(e)}锛岃妫鏌ARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔") \ No newline at end of file From dc692080fe01be4fc55580ae00bcb9a2bfee935b Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Tue, 18 Nov 2025 17:13:41 +0800 Subject: [PATCH 16/32] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=86=B2=E7=AA=81?= =?UTF-8?q?=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 30 ++----------------- 1 file changed, 2 insertions(+), 28 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index 667c36a007..20f8b1975d 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -1,9 +1,8 @@ import carla -<<<<<<< HEAD import argparse import time -# 鍙傛暟瑙ｆ瀽+CARLA杩炴帴+鍦板浘鍔犺浇 +# 瀹屾暣浠ｇ爜锛氬弬鏁拌В鏋+CARLA杩炴帴+鍦板浘鍔犺浇 if __name__ == "__main__": # 1. 瑙ｆ瀽鍛戒护琛屽弬鏁帮紙甯﹁緭鍏ユ牎楠岋級 parser = argparse.ArgumentParser(description='CVIPS鍦烘櫙鏁版嵁鐢熸垚宸ュ叿') @@ -25,29 +24,4 @@ world = client.get_world() print(f"鉁 鎴愬姛杩炴帴CARLA骞跺姞杞藉湴鍥撅細{args.town}") except Exception as e: - print(f"鉂 杩炴帴澶辫触锛歿str(e)}锛岃妫鏌ARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔") -======= -import time - -# 杩炴帴CARLA鏈嶅姟锛堥粯璁ょ鍙2000锛 -client = carla.Client('localhost', 2000) -client.set_timeout(10.0) -world = client.get_world() - -# 绀轰緥锛氱敓鎴愯溅杈嗗苟閲囬泦鏁版嵁 -blueprint_library = world.get_blueprint_library() -vehicle_bp = blueprint_library.filter('model3')[0] -spawn_point = world.get_map().get_spawn_points()[0] -vehicle = world.spawn_actor(vehicle_bp, spawn_point) - -try: - # 妯℃嫙鏁版嵁閲囬泦锛堝彲鏍规嵁闇姹傛墿灞曪級 - print("寮濮嬮噰闆嗘暟鎹...") - for _ in range(5): - transform = vehicle.get_transform() - print(f"杞﹁締浣嶇疆: {transform.location}") - time.sleep(1) -finally: - vehicle.destroy() - print("鏁版嵁閲囬泦缁撴潫") ->>>>>>> 2aed4c9d022da20198dd176e94c525d3c39b4c39 + print(f"鉂 杩炴帴澶辫触锛歿str(e)}锛岃妫鏌ARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔") \ No newline at end of file From d3b396368371f6cdda6ebfb83c7c90d214c56655 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Thu, 20 Nov 2025 10:36:56 +0800 Subject: [PATCH 17/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=BF=9E=E6=8E=A5?= =?UTF-8?q?=E5=92=8C=E8=B5=84=E6=BA=90=E5=A4=84=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 128 ++++++++++++++++-- 1 file changed, 118 insertions(+), 10 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index 20f8b1975d..223b86f448 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -1,9 +1,12 @@ import carla import argparse import time +import atexit -# 瀹屾暣浠ｇ爜锛氬弬鏁拌В鏋+CARLA杩炴帴+鍦板浘鍔犺浇 -if __name__ == "__main__": +# 鍏ㄥ眬鍙橀噺锛氬瓨鍌ㄧ敓鎴愮殑CARLA Actor锛堣溅杈嗐佷紶鎰熷櫒绛夛級锛岀敤浜庨鍑烘椂娓呯悊 +generated_actors = [] + +def main(): # 1. 瑙ｆ瀽鍛戒护琛屽弬鏁帮紙甯﹁緭鍏ユ牎楠岋級 parser = argparse.ArgumentParser(description='CVIPS鍦烘櫙鏁版嵁鐢熸垚宸ュ叿') parser.add_argument('--town', type=str, required=True, choices=['Town04', 'Town10HD', 'Town07'], @@ -16,12 +19,117 @@ help='鏃舵锛坣oon=涓崍锛宻unset=鏃ヨ惤锛宯ight=澶滄櫄锛') args = parser.parse_args() + # 2. 杩炴帴CARLA鏈嶅姟鍣紙甯﹂噸璇曟満鍒讹級 + client, world = connect_carla_with_retry(args.town) + if not world: + return # 杩炴帴澶辫触鐩存帴閫鍑 + + # 3. 閰嶇疆澶╂皵鍜屾椂娈碉紙璁╁弬鏁板疄闄呯敓鏁堬級 + configure_weather_and_time(world, args.weather, args.time_of_day) + + # 4. 鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堥鐣欐牳蹇冮昏緫锛屽彲鏍规嵁闇姹傛墿灞曪級 + generate_intersection_scene(world, args.intersection) + + # 5. 淇濇寔鍦烘櫙杩愯锛堟寜 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮锛 + print("\n馃殫 鍦烘櫙宸插惎鍔紒鎸 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮...") try: - # 2. 杩炴帴CARLA鏈嶅姟鍣紙璁剧疆瓒呮椂閲嶈瘯鏈哄埗锛 - client = carla.Client('localhost', 2000) - client.set_timeout(15.0) - client.load_world(args.town) # 鍔犺浇鎸囧畾鍩庨晣 - world = client.get_world() - print(f"鉁 鎴愬姛杩炴帴CARLA骞跺姞杞藉湴鍥撅細{args.town}") - except Exception as e: - print(f"鉂 杩炴帴澶辫触锛歿str(e)}锛岃妫鏌ARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔") \ No newline at end of file + while True: + time.sleep(1) + except KeyboardInterrupt: + print("\n馃洃 鏀跺埌閫鍑轰俊鍙凤紝寮濮嬫竻鐞嗚祫婧...") + +# ------------------------------ 杈呭姪鍑芥暟 ------------------------------ +def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): + """甯﹂噸璇曟満鍒剁殑CARLA杩炴帴鍑芥暟""" + client = None + world = None + for retry in range(max_retries): + try: + client = carla.Client('localhost', 2000) + client.set_timeout(15.0) + client.load_world(town_name) # 鍔犺浇鎸囧畾鍦板浘 + world = client.get_world() + print(f"鉁 鎴愬姛杩炴帴CARLA骞跺姞杞藉湴鍥撅細{town_name}") + return client, world + except Exception as e: + error_msg = str(e) + if retry < max_retries - 1: + print(f"鉂 杩炴帴澶辫触锛坽retry+1}/{max_retries}锛夛細{error_msg}") + print(f"鈱 {retry_interval}绉掑悗閲嶈瘯...") + time.sleep(retry_interval) + else: + print(f"鉂 杩炴帴澶辫触锛堝凡杈炬渶澶ч噸璇曟鏁帮級锛歿error_msg}") + print("馃挕 璇锋鏌ワ細1. CARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔 2. 绔彛鏄惁涓2000 3. 鍦板浘鍚嶇О鏄惁姝ｇ‘") + return None, None + +def configure_weather_and_time(world, weather_type, time_of_day): + """閰嶇疆CARLA鐨勫ぉ姘斿拰鏃舵锛堣鍛戒护琛屽弬鏁扮敓鏁堬級""" + # CARLA棰勮澶╂皵鏄犲皠锛堝搴旇嚜瀹氫箟鍙傛暟锛 + base_weather_mapping = { + 'clear': carla.WeatherParameters.ClearNoon, + 'rainy': carla.WeatherParameters.RainyNoon, + 'cloudy': carla.WeatherParameters.CloudyNoon + } + + # 鑾峰彇鍩虹澶╂皵鍙傛暟骞舵牴鎹椂娈佃皟鏁 + weather = base_weather_mapping[weather_type] + if time_of_day == 'sunset': + weather.sun_altitude_angle = -15.0 # 鏃ヨ惤锛氬お闃抽珮搴﹁涓鸿礋锛堝湴骞崇嚎浠ヤ笅锛 + weather.ambient_light = 0.3 # 闄嶄綆鐜鍏夊己搴 + weather.directional_light_intensity = 0.5 # 闄嶄綆鐩村皠鍏夊己搴 + weather.fog_density = 0.1 # 鏃ヨ惤娣诲姞杞诲井闆炬皵 + elif time_of_day == 'night': + weather.sun_altitude_angle = -60.0 # 澶滄櫄锛氬お闃抽珮搴﹁鏋佷綆 + weather.ambient_light = 0.05 # 鏋佷綆鐜鍏 + weather.directional_light_intensity = 0.01 # 鍑犱箮鏃犵洿灏勫厜 + weather.moon_altitude_angle = 45.0 # 鏈堜寒楂樺害瑙 + weather.moon_intensity = 0.8 # 鏈堜寒浜害 + weather.stars_intensity = 0.5 # 鏄熸槦浜害 + # noon锛堜腑鍗堬級锛氫娇鐢ㄩ粯璁ら璁撅紝鏃犻渶棰濆璋冩暣 + + # 搴旂敤澶╂皵璁剧疆 + world.set_weather(weather) + print(f"鉁 宸查厤缃幆澧冿細澶╂皵={weather_type}锛屾椂娈={time_of_day}") + +def generate_intersection_scene(world, intersection_type): + """鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堟牳蹇冮昏緫锛屽彲鎵╁睍锛""" + print(f"馃搶 寮濮嬬敓鎴恵intersection_type}璺彛鍦烘櫙...") + + # ------------------------------ + # 姝ゅ涓洪鐣欓昏緫锛屽彲鏍规嵁闇姹傛墿灞曪細 + # 1. 瀹氫綅鍦板浘涓搴旂被鍨嬬殑璺彛鍧愭爣锛堥渶鎻愬墠璋冪爺鐩爣鍦板浘鐨勮矾鍙ｄ綅缃級 + # 2. 鍦ㄨ矾鍙ｅ懆鍥寸敓鎴愯溅杈嗐佽浜恒佺孩缁跨伅绛堿ctor + # 3. 璁剧疆杞﹁締琛岄┒璺嚎銆佷氦閫氳鍒欑瓑 + # ------------------------------ + example_spawn_point = get_example_spawn_point(world) + if example_spawn_point: + # 绀轰緥锛氱敓鎴1杈嗘祴璇曡溅杈嗭紙娣诲姞鍒板叏灞鍒楄〃锛屾柟渚块鍑烘椂娓呯悊锛 + vehicle_bp = world.get_blueprint_library().find('vehicle.tesla.model3') + vehicle = world.spawn_actor(vehicle_bp, example_spawn_point) + generated_actors.append(vehicle) + print(f"鉁 宸插湪璺彛闄勮繎鐢熸垚娴嬭瘯杞﹁締锛圛D锛歿vehicle.id}锛") + else: + print("鈿狅笍 鏈壘鍒板悎閫傜殑杞﹁締鐢熸垚鐐癸紝璺彛鍦烘櫙鐢熸垚澶辫触") + +def get_example_spawn_point(world): + """鑾峰彇绀轰緥鐢熸垚鐐癸紙鍙牴鎹疄闄呭湴鍥捐矾鍙ｄ綅缃慨鏀癸級""" + spawn_points = world.get_map().get_spawn_points() + # 鍙栧墠10涓敓鎴愮偣涓殑绗3涓綔涓虹ず渚嬶紙鍙牴鎹湴鍥捐矾鍙ｄ綅缃皟鏁寸储寮曪級 + return spawn_points[2] if len(spawn_points) > 2 else None + +def clean_up_actors(): + """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑Actor锛堣溅杈嗐佷紶鎰熷櫒绛夛級""" + if generated_actors: + print(f"馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") + for actor in generated_actors: + if actor.is_alive: + actor.destroy() + print("鉁 璧勬簮娓呯悊瀹屾垚锛") + else: + print("鉁 鏃犻渶瑕佹竻鐞嗙殑浠跨湡瀵硅薄") + +# 娉ㄥ唽閫鍑哄洖璋冿細绋嬪簭缁堟鏃惰嚜鍔ㄦ竻鐞嗚祫婧 +atexit.register(clean_up_actors) + +if __name__ == "__main__": + main() \ No newline at end of file From 672201b4c4c8f13ff82d292b40592e94e7328eb2 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Thu, 20 Nov 2025 11:24:28 +0800 Subject: [PATCH 18/32] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=BB=88=E7=AB=AF?= =?UTF-8?q?=E5=91=BD=E4=BB=A4=E8=AF=B4=E6=98=8E=E5=92=8C=E9=A1=B9=E7=9B=AE?= =?UTF-8?q?=E4=BE=9D=E8=B5=96=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/Terminal_Commands.txt | 11 +++++++++++ src/InterconVis_PedSafety_Enh/requirements.txt | 5 +++++ 2 files changed, 16 insertions(+) create mode 100644 src/InterconVis_PedSafety_Enh/Terminal_Commands.txt create mode 100644 src/InterconVis_PedSafety_Enh/requirements.txt diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt b/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt new file mode 100644 index 0000000000..56726ea4aa --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt @@ -0,0 +1,11 @@ +# 娴嬭瘯1锛氬熀纭鍦烘櫙锛圱own04+4宀旇矾鍙+鏅村ぉ+涓崍锛 +python cvips_generation.py --town Town04 --intersection 4way --weather clear --time_of_day noon + +# 娴嬭瘯2锛氬鏉傚満鏅紙Town10HD+3宀旇矾鍙+闆ㄥぉ+鏃ヨ惤+楂樿浜哄瘑搴︼級 +python cvips_generation.py --town Town10HD --intersection 3way --weather rainy --time_of_day sunset --crowd_level high --crossing_percentage 0.3 + +# 娴嬭瘯3锛氬闂村満鏅紙Town07+4宀旇矾鍙+闃村ぉ+澶滈棿+鑷畾涔夐殢鏈虹瀛愶級 +python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day night --seed_value 123 --scenario scenario00005 + +# 娴嬭瘯4锛氭渶绠鍦烘櫙锛圱own04+3宀旇矾鍙+鏅村ぉ+鏃ヨ惤锛 +python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day sunset \ No newline at end of file diff --git a/src/InterconVis_PedSafety_Enh/requirements.txt b/src/InterconVis_PedSafety_Enh/requirements.txt new file mode 100644 index 0000000000..8651856a79 --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/requirements.txt @@ -0,0 +1,5 @@ +carla==0.9.14 +pygame==2.1.0 +numpy==1.21.5 +Pillow==9.2.0 +icecream==2.1.3 \ No newline at end of file From b2da81079f9ede0a992663252b605d10da54a363 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Thu, 20 Nov 2025 15:05:04 +0800 Subject: [PATCH 19/32] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=8C=87=E4=BB=A4?= =?UTF-8?q?=E6=96=87=E4=BB=B6=E6=A0=BC=E5=BC=8F=EF=BC=8C=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E8=BF=90=E8=A1=8C=E6=96=87=E4=BB=B6(=E4=B9=8B=E5=89=8D?= =?UTF-8?q?=E7=9A=84=E4=BB=A3=E7=A0=81=E4=BF=9D=E5=AD=98=E4=B8=8D=E6=88=90?= =?UTF-8?q?=E5=8A=9F)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Terminal_Commands.md | 16 ++++ .../cvips_generation.py | 75 ++++++++++--------- 2 files changed, 56 insertions(+), 35 deletions(-) create mode 100644 src/InterconVis_PedSafety_Enh/Terminal_Commands.md diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md new file mode 100644 index 0000000000..2e6bc226d4 --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md @@ -0,0 +1,16 @@ +# 娴嬭瘯1锛氬熀纭鍦烘櫙锛圱own04+4宀旇矾鍙+鏅村ぉ+涓崍锛 +```shell +python cvips_generation.py --town Town04 --intersection 4way --weather clear --time_of_day noon +``` +# 娴嬭瘯2锛氬鏉傚満鏅紙Town10HD+3宀旇矾鍙+闆ㄥぉ+鏃ヨ惤+楂樿浜哄瘑搴︼級 +```shell +python cvips_generation.py --town Town10HD --intersection 3way --weather rainy --time_of_day sunset --crowd_level high --crossing_percentage 0.3 +``` +# 娴嬭瘯3锛氬闂村満鏅紙Town07+4宀旇矾鍙+闃村ぉ+澶滈棿+鑷畾涔夐殢鏈虹瀛愶級 +```shell +python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day night --seed_value 123 --scenario scenario00005 +``` +# 娴嬭瘯4锛氭渶绠鍦烘櫙锛圱own04+3宀旇矾鍙+鏅村ぉ+鏃ヨ惤锛 +```shell +python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day sunset +``` \ No newline at end of file diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index 223b86f448..0448f7124d 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -27,7 +27,7 @@ def main(): # 3. 閰嶇疆澶╂皵鍜屾椂娈碉紙璁╁弬鏁板疄闄呯敓鏁堬級 configure_weather_and_time(world, args.weather, args.time_of_day) - # 4. 鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堥鐣欐牳蹇冮昏緫锛屽彲鏍规嵁闇姹傛墿灞曪級 + # 4. 鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堝熀纭閫昏緫锛 generate_intersection_scene(world, args.intersection) # 5. 淇濇寔鍦烘櫙杩愯锛堟寜 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮锛 @@ -63,47 +63,53 @@ def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): return None, None def configure_weather_and_time(world, weather_type, time_of_day): - """閰嶇疆CARLA鐨勫ぉ姘斿拰鏃舵锛堣鍛戒护琛屽弬鏁扮敓鏁堬級""" - # CARLA棰勮澶╂皵鏄犲皠锛堝搴旇嚜瀹氫箟鍙傛暟锛 - base_weather_mapping = { - 'clear': carla.WeatherParameters.ClearNoon, - 'rainy': carla.WeatherParameters.RainyNoon, - 'cloudy': carla.WeatherParameters.CloudyNoon - } - - # 鑾峰彇鍩虹澶╂皵鍙傛暟骞舵牴鎹椂娈佃皟鏁 - weather = base_weather_mapping[weather_type] - if time_of_day == 'sunset': - weather.sun_altitude_angle = -15.0 # 鏃ヨ惤锛氬お闃抽珮搴﹁涓鸿礋锛堝湴骞崇嚎浠ヤ笅锛 - weather.ambient_light = 0.3 # 闄嶄綆鐜鍏夊己搴 - weather.directional_light_intensity = 0.5 # 闄嶄綆鐩村皠鍏夊己搴 - weather.fog_density = 0.1 # 鏃ヨ惤娣诲姞杞诲井闆炬皵 + """閰嶇疆CARLA鐨勫ぉ姘斿拰鏃舵锛堢粏鍖栦笉鍚屽ぉ姘-鏃舵鐨勭幆澧冨弬鏁帮級""" + # 鍒濆鍖栧ぉ姘斿弬鏁 + weather = carla.WeatherParameters() + + # 閰嶇疆澶╂皵绫诲瀷 + if weather_type == 'clear': + weather.cloudiness = 0.0 + weather.precipitation = 0.0 + elif weather_type == 'rainy': + weather.cloudiness = 80.0 + weather.precipitation = 50.0 + weather.precipitation_deposits = 30.0 + weather.wind_intensity = 10.0 # 闆ㄥぉ澧炲姞椋庡姏 + elif weather_type == 'cloudy': + weather.cloudiness = 70.0 + weather.precipitation = 0.0 + weather.fog_density = 0.2 # 闃村ぉ澧炲姞闆炬皵 + + # 閰嶇疆鏃舵锛堥氳繃澶槼楂樺害瑙掋佺幆澧冨厜绛夊弬鏁帮級 + if time_of_day == 'noon': + weather.sun_altitude_angle = 90.0 # 姝ｅ崍澶槼楂樺害瑙 + weather.ambient_light = 1.0 + weather.directional_light_intensity = 2.0 + elif time_of_day == 'sunset': + weather.sun_altitude_angle = -15.0 # 鏃ヨ惤澶槼楂樺害瑙掞紙鍦板钩绾夸互涓嬶級 + weather.ambient_light = 0.3 + weather.directional_light_intensity = 0.5 + weather.fog_density = 0.1 # 鏃ヨ惤闆炬皵 elif time_of_day == 'night': - weather.sun_altitude_angle = -60.0 # 澶滄櫄锛氬お闃抽珮搴﹁鏋佷綆 - weather.ambient_light = 0.05 # 鏋佷綆鐜鍏 - weather.directional_light_intensity = 0.01 # 鍑犱箮鏃犵洿灏勫厜 - weather.moon_altitude_angle = 45.0 # 鏈堜寒楂樺害瑙 - weather.moon_intensity = 0.8 # 鏈堜寒浜害 - weather.stars_intensity = 0.5 # 鏄熸槦浜害 - # noon锛堜腑鍗堬級锛氫娇鐢ㄩ粯璁ら璁撅紝鏃犻渶棰濆璋冩暣 - + weather.sun_altitude_angle = -60.0 # 澶滈棿澶槼楂樺害瑙 + weather.ambient_light = 0.05 + weather.directional_light_intensity = 0.01 + weather.moon_altitude_angle = 45.0 # 鏈堜寒楂樺害瑙 + weather.moon_intensity = 0.8 # 鏈堜寒浜害 + weather.stars_intensity = 0.5 # 鏄熸槦浜害 + # 搴旂敤澶╂皵璁剧疆 world.set_weather(weather) print(f"鉁 宸查厤缃幆澧冿細澶╂皵={weather_type}锛屾椂娈={time_of_day}") def generate_intersection_scene(world, intersection_type): - """鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堟牳蹇冮昏緫锛屽彲鎵╁睍锛""" + """鍩轰簬璺彛绫诲瀷鐢熸垚鍩虹鍦烘櫙锛堝彲鍚庣画鎵╁睍锛""" print(f"馃搶 寮濮嬬敓鎴恵intersection_type}璺彛鍦烘櫙...") - # ------------------------------ - # 姝ゅ涓洪鐣欓昏緫锛屽彲鏍规嵁闇姹傛墿灞曪細 - # 1. 瀹氫綅鍦板浘涓搴旂被鍨嬬殑璺彛鍧愭爣锛堥渶鎻愬墠璋冪爺鐩爣鍦板浘鐨勮矾鍙ｄ綅缃級 - # 2. 鍦ㄨ矾鍙ｅ懆鍥寸敓鎴愯溅杈嗐佽浜恒佺孩缁跨伅绛堿ctor - # 3. 璁剧疆杞﹁締琛岄┒璺嚎銆佷氦閫氳鍒欑瓑 - # ------------------------------ example_spawn_point = get_example_spawn_point(world) if example_spawn_point: - # 绀轰緥锛氱敓鎴1杈嗘祴璇曡溅杈嗭紙娣诲姞鍒板叏灞鍒楄〃锛屾柟渚块鍑烘椂娓呯悊锛 + # 绀轰緥锛氱敓鎴1杈嗘祴璇曡溅杈 vehicle_bp = world.get_blueprint_library().find('vehicle.tesla.model3') vehicle = world.spawn_actor(vehicle_bp, example_spawn_point) generated_actors.append(vehicle) @@ -112,13 +118,12 @@ def generate_intersection_scene(world, intersection_type): print("鈿狅笍 鏈壘鍒板悎閫傜殑杞﹁締鐢熸垚鐐癸紝璺彛鍦烘櫙鐢熸垚澶辫触") def get_example_spawn_point(world): - """鑾峰彇绀轰緥鐢熸垚鐐癸紙鍙牴鎹疄闄呭湴鍥捐矾鍙ｄ綅缃慨鏀癸級""" + """鑾峰彇绀轰緥鐢熸垚鐐""" spawn_points = world.get_map().get_spawn_points() - # 鍙栧墠10涓敓鎴愮偣涓殑绗3涓綔涓虹ず渚嬶紙鍙牴鎹湴鍥捐矾鍙ｄ綅缃皟鏁寸储寮曪級 return spawn_points[2] if len(spawn_points) > 2 else None def clean_up_actors(): - """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑Actor锛堣溅杈嗐佷紶鎰熷櫒绛夛級""" + """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑Actor""" if generated_actors: print(f"馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") for actor in generated_actors: From 2197eeb7c58886301c2c5212e2755f9e01164641 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Thu, 20 Nov 2025 15:25:25 +0800 Subject: [PATCH 20/32] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E6=8C=87=E4=BB=A4?= =?UTF-8?q?=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Terminal_Commands.md | 21 ++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md index 2e6bc226d4..0908add989 100644 --- a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md @@ -1,16 +1,23 @@ -# 娴嬭瘯1锛氬熀纭鍦烘櫙锛圱own04+4宀旇矾鍙+鏅村ぉ+涓崍锛 +# 1. 鍩虹鍦烘櫙锛氬悇鍦板浘+璺彛绫诲瀷楠岃瘉 ```shell python cvips_generation.py --town Town04 --intersection 4way --weather clear --time_of_day noon +python cvips_generation.py --town Town10HD --intersection 3way --weather clear --time_of_day sunset +python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day noon ``` -# 娴嬭瘯2锛氬鏉傚満鏅紙Town10HD+3宀旇矾鍙+闆ㄥぉ+鏃ヨ惤+楂樿浜哄瘑搴︼級 +# 2. 澶╂皵+鏃舵缁勫悎鍦烘櫙锛堣鐩栨墍鏈夌幆澧冪粍鍚堬級 ```shell -python cvips_generation.py --town Town10HD --intersection 3way --weather rainy --time_of_day sunset --crowd_level high --crossing_percentage 0.3 +python cvips_generation.py --town Town04 --intersection 3way --weather rainy --time_of_day night +python cvips_generation.py --town Town10HD --intersection 4way --weather cloudy --time_of_day sunset +python cvips_generation.py --town Town07 --intersection 3way --weather clear --time_of_day night +python cvips_generation.py --town Town04 --intersection 4way --weather rainy --time_of_day noon ``` -# 娴嬭瘯3锛氬闂村満鏅紙Town07+4宀旇矾鍙+闃村ぉ+澶滈棿+鑷畾涔夐殢鏈虹瀛愶級 +# 3. 杈圭晫鍦烘櫙锛堟瀬闄愮幆澧冩祴璇曪級 ```shell -python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day night --seed_value 123 --scenario scenario00005 +python cvips_generation.py --town Town10HD --intersection 4way --weather rainy --time_of_day night +python cvips_generation.py --town Town07 --intersection 3way --weather cloudy --time_of_day night ``` -# 娴嬭瘯4锛氭渶绠鍦烘櫙锛圱own04+3宀旇矾鍙+鏅村ぉ+鏃ヨ惤锛 +# 4. 甯哥敤鍦烘櫙蹇嵎鎸囦护 ```shell -python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day sunset +python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day noon +python cvips_generation.py --town Town10HD --intersection 4way --weather clear --time_of_day sunset ``` \ No newline at end of file From d69375b0bf052f00a07b020ae468151a302b596b Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 24 Nov 2025 10:25:33 +0800 Subject: [PATCH 21/32] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=BD=A6=E8=BE=86?= =?UTF-8?q?=E5=AF=B9=E8=B1=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 158 +++++++++--------- 1 file changed, 83 insertions(+), 75 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index 0448f7124d..df65e44881 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -2,35 +2,45 @@ import argparse import time import atexit +import random -# 鍏ㄥ眬鍙橀噺锛氬瓨鍌ㄧ敓鎴愮殑CARLA Actor锛堣溅杈嗐佷紶鎰熷櫒绛夛級锛岀敤浜庨鍑烘椂娓呯悊 +# 鍏ㄥ眬鍙橀噺 generated_actors = [] +client = None +world = None def main(): - # 1. 瑙ｆ瀽鍛戒护琛屽弬鏁帮紙甯﹁緭鍏ユ牎楠岋級 - parser = argparse.ArgumentParser(description='CVIPS鍦烘櫙鏁版嵁鐢熸垚宸ュ叿') - parser.add_argument('--town', type=str, required=True, choices=['Town04', 'Town10HD', 'Town07'], - help='CARLA鍩庨晣鍦板浘锛堟敮鎸侊細Town04/Town10HD/Town07锛') - parser.add_argument('--intersection', type=str, required=True, choices=['3way', '4way'], - help='璺彛绫诲瀷锛3way=涓夊弶璺彛锛4way=鍥涘矓璺彛锛') - parser.add_argument('--weather', type=str, required=True, choices=['clear', 'rainy', 'cloudy'], - help='澶╂皵鏉′欢锛坈lear=鏅村ぉ锛宺ainy=闆ㄥぉ锛宑loudy=闃村ぉ锛') - parser.add_argument('--time_of_day', type=str, required=True, choices=['noon', 'sunset', 'night'], - help='鏃舵锛坣oon=涓崍锛宻unset=鏃ヨ惤锛宯ight=澶滄櫄锛') + global client, world + + parser = argparse.ArgumentParser(description='CARLA 0.9.14 杞﹁締鐢熸垚宸ュ叿 (鏀寔鐜閰嶇疆)') + parser.add_argument('--town', type=str, required=True, help='鍩庨晣鍦板浘 (渚嬪: Town04)') + parser.add_argument('--num_vehicles', type=int, default=10, help='鐢熸垚杞﹁締鏁伴噺') + parser.add_argument('--seed', type=int, default=None, help='闅忔満绉嶅瓙') + # 鏂板鐜鍙傛暟 + parser.add_argument('--weather', type=str, default='clear', choices=['clear', 'rainy', 'cloudy'], help='澶╂皵绫诲瀷') + parser.add_argument('--time_of_day', type=str, default='noon', choices=['noon', 'sunset', 'night'], help='鏃舵') args = parser.parse_args() - # 2. 杩炴帴CARLA鏈嶅姟鍣紙甯﹂噸璇曟満鍒讹級 + # 璁剧疆闅忔満绉嶅瓙 + if args.seed is not None: + random.seed(args.seed) + print(f"鉁 宸茶缃殢鏈虹瀛: {args.seed}") + + # 杩炴帴 CARLA client, world = connect_carla_with_retry(args.town) if not world: - return # 杩炴帴澶辫触鐩存帴閫鍑 + return - # 3. 閰嶇疆澶╂皵鍜屾椂娈碉紙璁╁弬鏁板疄闄呯敓鏁堬級 + # --- 鏂板浠ｇ爜锛氶厤缃ぉ姘斿拰鏃堕棿 --- + print("\n馃尋锔 姝ｅ湪閰嶇疆鐜...") configure_weather_and_time(world, args.weather, args.time_of_day) - # 4. 鍩轰簬璺彛绫诲瀷鐢熸垚鍦烘櫙锛堝熀纭閫昏緫锛 - generate_intersection_scene(world, args.intersection) + # 鐢熸垚杞﹁締 + print("\n馃搶 寮濮嬬敓鎴愬満鏅...") + generate_vehicles(world, args.num_vehicles) + print("\n鉁 鍦烘櫙鐢熸垚瀹屾瘯锛") - # 5. 淇濇寔鍦烘櫙杩愯锛堟寜 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮锛 + # 淇濇寔杩愯 print("\n馃殫 鍦烘櫙宸插惎鍔紒鎸 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮...") try: while True: @@ -39,101 +49,99 @@ def main(): print("\n馃洃 鏀跺埌閫鍑轰俊鍙凤紝寮濮嬫竻鐞嗚祫婧...") # ------------------------------ 杈呭姪鍑芥暟 ------------------------------ + def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): - """甯﹂噸璇曟満鍒剁殑CARLA杩炴帴鍑芥暟""" - client = None - world = None + """甯﹂噸璇曟満鍒剁殑 CARLA 杩炴帴鍑芥暟""" + global client for retry in range(max_retries): try: client = carla.Client('localhost', 2000) client.set_timeout(15.0) - client.load_world(town_name) # 鍔犺浇鎸囧畾鍦板浘 + client.load_world(town_name) world = client.get_world() - print(f"鉁 鎴愬姛杩炴帴CARLA骞跺姞杞藉湴鍥撅細{town_name}") + print(f"鉁 鎴愬姛杩炴帴 CARLA 骞跺姞杞藉湴鍥撅細{town_name}") return client, world except Exception as e: error_msg = str(e) if retry < max_retries - 1: - print(f"鉂 杩炴帴澶辫触锛坽retry+1}/{max_retries}锛夛細{error_msg}") + print(f"鉂 杩炴帴澶辫触锛坽retry + 1}/{max_retries}锛夛細{error_msg}") print(f"鈱 {retry_interval}绉掑悗閲嶈瘯...") time.sleep(retry_interval) else: print(f"鉂 杩炴帴澶辫触锛堝凡杈炬渶澶ч噸璇曟鏁帮級锛歿error_msg}") - print("馃挕 璇锋鏌ワ細1. CARLA鏈嶅姟鍣ㄦ槸鍚﹀惎鍔 2. 绔彛鏄惁涓2000 3. 鍦板浘鍚嶇О鏄惁姝ｇ‘") + print("馃挕 璇锋鏌ワ細1. CARLA 鏈嶅姟鍣ㄦ槸鍚﹀惎鍔 2. 绔彛鏄惁涓 2000") return None, None +# --- 鏂板鍑芥暟锛氶厤缃ぉ姘斿拰鏃堕棿 --- def configure_weather_and_time(world, weather_type, time_of_day): - """閰嶇疆CARLA鐨勫ぉ姘斿拰鏃舵锛堢粏鍖栦笉鍚屽ぉ姘-鏃舵鐨勭幆澧冨弬鏁帮級""" - # 鍒濆鍖栧ぉ姘斿弬鏁 + """閰嶇疆 CARLA 鐨勫ぉ姘斿拰鏃舵""" weather = carla.WeatherParameters() - # 閰嶇疆澶╂皵绫诲瀷 if weather_type == 'clear': - weather.cloudiness = 0.0 - weather.precipitation = 0.0 + weather.cloudiness = 0; weather.precipitation = 0 elif weather_type == 'rainy': - weather.cloudiness = 80.0 - weather.precipitation = 50.0 - weather.precipitation_deposits = 30.0 - weather.wind_intensity = 10.0 # 闆ㄥぉ澧炲姞椋庡姏 + weather.cloudiness = 80; weather.precipitation = 50; weather.precipitation_deposits = 30; weather.wind_intensity = 10; weather.fog_density = 0.3 elif weather_type == 'cloudy': - weather.cloudiness = 70.0 - weather.precipitation = 0.0 - weather.fog_density = 0.2 # 闃村ぉ澧炲姞闆炬皵 - - # 閰嶇疆鏃舵锛堥氳繃澶槼楂樺害瑙掋佺幆澧冨厜绛夊弬鏁帮級 + weather.cloudiness = 70; weather.precipitation = 0; weather.fog_density = 0.2 + if time_of_day == 'noon': - weather.sun_altitude_angle = 90.0 # 姝ｅ崍澶槼楂樺害瑙 - weather.ambient_light = 1.0 - weather.directional_light_intensity = 2.0 + weather.sun_altitude_angle = 90; weather.ambient_light = 1.0 elif time_of_day == 'sunset': - weather.sun_altitude_angle = -15.0 # 鏃ヨ惤澶槼楂樺害瑙掞紙鍦板钩绾夸互涓嬶級 - weather.ambient_light = 0.3 - weather.directional_light_intensity = 0.5 - weather.fog_density = 0.1 # 鏃ヨ惤闆炬皵 + weather.sun_altitude_angle = -15; weather.ambient_light = 0.3 elif time_of_day == 'night': - weather.sun_altitude_angle = -60.0 # 澶滈棿澶槼楂樺害瑙 - weather.ambient_light = 0.05 - weather.directional_light_intensity = 0.01 - weather.moon_altitude_angle = 45.0 # 鏈堜寒楂樺害瑙 - weather.moon_intensity = 0.8 # 鏈堜寒浜害 - weather.stars_intensity = 0.5 # 鏄熸槦浜害 + weather.sun_altitude_angle = -60; weather.ambient_light = 0.05; weather.moon_altitude_angle = 45; weather.moon_intensity = 0.8 - # 搴旂敤澶╂皵璁剧疆 world.set_weather(weather) print(f"鉁 宸查厤缃幆澧冿細澶╂皵={weather_type}锛屾椂娈={time_of_day}") -def generate_intersection_scene(world, intersection_type): - """鍩轰簬璺彛绫诲瀷鐢熸垚鍩虹鍦烘櫙锛堝彲鍚庣画鎵╁睍锛""" - print(f"馃搶 寮濮嬬敓鎴恵intersection_type}璺彛鍦烘櫙...") - - example_spawn_point = get_example_spawn_point(world) - if example_spawn_point: - # 绀轰緥锛氱敓鎴1杈嗘祴璇曡溅杈 - vehicle_bp = world.get_blueprint_library().find('vehicle.tesla.model3') - vehicle = world.spawn_actor(vehicle_bp, example_spawn_point) - generated_actors.append(vehicle) - print(f"鉁 宸插湪璺彛闄勮繎鐢熸垚娴嬭瘯杞﹁締锛圛D锛歿vehicle.id}锛") - else: - print("鈿狅笍 鏈壘鍒板悎閫傜殑杞﹁締鐢熸垚鐐癸紝璺彛鍦烘櫙鐢熸垚澶辫触") +def generate_vehicles(world, num_vehicles): + """鐢熸垚鎸囧畾鏁伴噺鐨勮溅杈嗗苟寮鍚嚜鍔ㄩ┚椹 (CARLA 0.9.14 鍏煎)""" + if num_vehicles <= 0: + print("鈩癸笍 杞﹁締鏁伴噺涓 0锛屼笉鐢熸垚杞﹁締銆") + return -def get_example_spawn_point(world): - """鑾峰彇绀轰緥鐢熸垚鐐""" spawn_points = world.get_map().get_spawn_points() - return spawn_points[2] if len(spawn_points) > 2 else None + if not spawn_points: + print("鈿狅笍 鏈壘鍒拌溅杈嗙敓鎴愮偣銆") + return + + vehicle_bps = world.get_blueprint_library().filter('vehicle.*') + tm = client.get_trafficmanager(8000) + tm.set_global_distance_to_leading_vehicle(2.5) + + print(f"馃殫 姝ｅ湪鐢熸垚 {num_vehicles} 杈嗚溅杈...") + for i in range(num_vehicles): + spawn_point = random.choice(spawn_points) + vehicle_bp = random.choice(vehicle_bps) + + # 閫氳繃钃濆浘璁剧疆鏈澶ч熷害 (CARLA 0.9.14 鍏煎鏂瑰紡) + try: + max_speed_kmh = random.uniform(25, 35) + vehicle_bp.set_attribute('speed', str(max_speed_kmh / 3.6)) + except Exception: + pass # 蹇界暐涓嶆敮鎸佹灞炴х殑杞﹁締 + + vehicle = world.try_spawn_actor(vehicle_bp, spawn_point) + if vehicle: + generated_actors.append(vehicle) + vehicle.set_autopilot(True, tm.get_port()) + + num_generated = len([a for a in generated_actors if a.type_id.startswith('vehicle')]) + print(f"鉁 鎴愬姛鐢熸垚 {num_generated} 杈嗚溅杈嗐") def clean_up_actors(): - """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑Actor""" + """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑 Actor""" + global client if generated_actors: - print(f"馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") - for actor in generated_actors: - if actor.is_alive: - actor.destroy() + print(f"\n馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") + batch = [carla.command.DestroyActor(x) for x in generated_actors] + if client: + client.apply_batch(batch) + generated_actors.clear() print("鉁 璧勬簮娓呯悊瀹屾垚锛") else: - print("鉁 鏃犻渶瑕佹竻鐞嗙殑浠跨湡瀵硅薄") + print("\n鉁 鏃犻渶瑕佹竻鐞嗙殑浠跨湡瀵硅薄銆") -# 娉ㄥ唽閫鍑哄洖璋冿細绋嬪簭缁堟鏃惰嚜鍔ㄦ竻鐞嗚祫婧 atexit.register(clean_up_actors) if __name__ == "__main__": From ac1fb5837d4ba611c020c150127c532ed36714e6 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 24 Nov 2025 11:38:11 +0800 Subject: [PATCH 22/32] =?UTF-8?q?=E6=9B=B4=E6=96=B0README.md=E5=92=8CComma?= =?UTF-8?q?nds=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 124 +++++++----------- .../Terminal_Commands.md | 31 ++--- 2 files changed, 64 insertions(+), 91 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md index afbc3105da..c4cbc54a47 100644 --- a/src/InterconVis_PedSafety_Enh/README.md +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -1,113 +1,85 @@ -# CVIPS: Connected Vision for Increased Pedestrian Safety -Implementation of the CVIPS project. -- [X] Dataset -- [X] CARLA data generation code +#CVIPS: 闈㈠悜鎻愬崌琛屼汉瀹夊叏鐨勫崗鍚岃瑙 (Connected Vision for Increased Pedestrian Safety) +CVIPS 椤圭洰鐨勫疄鐜般 +- [X] 鏁版嵁闆 +- [X] CARLA 鏁版嵁鐢熸垚浠ｇ爜 -## Dataset -The CVIPS dataset is available [here](https://drive.google.com/drive/folders/1gCCrIslzVkupyF0lj_1I9qXTB2_a4tjd?usp=drive_link). +## 鏁版嵁闆 (Dataset) +CVIPS 鏁版嵁闆嗗彲鍦ㄦ澶勮幏鍙:[here](https://drive.google.com/drive/folders/1gCCrIslzVkupyF0lj_1I9qXTB2_a4tjd?usp=drive_link). -## Installation -Please check [installation](https://carla.readthedocs.io/en/0.9.14/build_windows) on how to setup CARLA for windows +## 瀹夎 (Installation) +璇峰弬鑰 [installation](https://carla.readthedocs.io/en/0.9.14/build_windows) 浜嗚В濡備綍鍦 Windows 涓婅缃 CARLA銆 +## 鏁版嵁闆嗙敓鎴 (Dataset Generation) +鎴戜滑鐨勬暟鎹泦鏄娇鐢 CARLA 妯℃嫙鍣ㄧ敓鎴愮殑锛屼负鍗忓悓鎰熺煡鎻愪緵浜嗗鏍峰寲鐨勫満鏅 +###杩愯鏁版嵁鐢熸垚鑴氭湰 (Running the Data Generation Script) -## Dataset Generation -Our dataset is generated using the CARLA simulator, providing diverse scenarios for collaborative perception. - -### Running the Data Generation Script - -1. Clone the repository: +1. 鍏嬮殕姝や粨搴 ``` git clone https://github.com/cvips/CVIPS.git cd CVIPS ``` -2. Install the required dependencies: +2. 瀹夎鎵闇鐨勪緷璧栧寘: ``` pip install -r requirements.txt ``` -3. Ensure CARLA is properly installed and running. Start the CARLA server in a separate terminal: +3. 纭繚 CARLA 宸叉纭畨瑁呭苟杩愯銆傚湪涓涓崟鐙殑缁堢涓惎鍔 CARLA 鏈嶅姟鍣: ``` /path/to/carla/CarlaUE4.exe ``` -4. Run the data generation script: +4. 杩愯鏁版嵁鐢熸垚鑴氭湰: ``` python cvips_generation.py ``` - This script will connect to the CARLA server and generate the dataset based on the specified parameters. - -Note: Make sure to adjust the CARLA server path and any configuration parameters in `cvips_generation.py` as needed for your specific setup. - + 璇ヨ剼鏈皢杩炴帴鍒 CARLA 鏈嶅姟鍣紝骞舵牴鎹寚瀹氱殑鍙傛暟鐢熸垚鏁版嵁闆嗐 +娉ㄦ剰锛氳鏍规嵁浣犵壒瀹氱殑璁剧疆闇姹傦紝璋冩暣 cvips_generation.py 涓殑 CARLA 鏈嶅姟鍣ㄨ矾寰勪互鍙婁换浣曢厤缃弬鏁般 ### Sample Examples -Here are some example commands to generate different scenarios: - -1. Four-way intersection in Town10HD with clear weather at noon: - ``` - python cvips_generation.py --town Town10HD --intersection 4way --setup wsee --weather clear --time_of_the_day noon --crowd_level medium --crossing_percentage 0.1 --seed_value 23 --scenario scenario00001 - ``` - -2. Four-way intersection in Town04 with rainy weather at sunset: - ``` - python cvips_generation.py --town Town04 --intersection 4way --setup wwss --weather rainy --time_of_the_day sunset --crowd_level medium --crossing_percentage 0.1 --seed_value 42 --scenario scenario00002 - ``` - -3. Three-way intersection in Town05 with clear weather at night: - ``` - python cvips_generation.py --town Town05 --intersection 3way --setup wwss --weather clear --time_of_the_day night --crowd_level medium --crossing_percentage 0.1 --seed_value 73 --scenario scenario00005 - ``` - -4. Four-way intersection in Town10HD with cloudy weather at noon: - ``` - python cvips_generation.py --town Town10HD --intersection 4way --setup wwws --weather cloudy --time_of_the_day noon --crowd_level medium --crossing_percentage 0.1 --seed_value 101 --scenario scenario00011 - ``` - -These examples demonstrate various combinations of towns, intersection types, weather conditions, times of day, and camera setups. Users can modify these parameters to generate different scenarios as needed. - -### Sample Visualizations - -We provide visualizations to demonstrate different perspectives in our dataset: -(this can be done using [Code/data_viz.py](Code\data_viz.py)) -1. **Infrastructure View** (6 cameras) - Infrastructure View - This visualization shows the scene from fixed infrastructure cameras, providing a comprehensive view of the intersection from multiple angles. - -2. **Vehicle View** (6 cameras) - Vehicle View - This visualization demonstrates the perspective from a moving vehicle, showcasing the view from various angles around the vehicle. - -3. **Collaborative View** (4 cameras) - Collaborative View - This visualization combines views from both vehicles and infrastructure, illustrating the collaborative perception aspect of our dataset. - - -- Multiple camera perspectives (infrastructure, vehicle-mounted, and collaborative) -- Various weather conditions and times of day () -- Diverse traffic scenarios with multiple vehicles and pedestrians setup (controlled by seeds, number of pedestrians, number of vehicles to be spawned) - +#绀轰緥鍛戒护 (Sample Examples) +# 1. 榛樿閰嶇疆锛氬湪 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓烘櫞澶╋紝鏃堕棿涓轰腑鍗 +```shell +python generate_vehicles_only.py --town Town04 +``` +# 2. 鑷畾涔夎溅杈嗘暟閲忥細鍦 Town04 鐢熸垚 15 杈嗚溅杈 +```shell +python generate_vehicles_only.py --town Town04 --num_vehicles 15 +``` +# 3. 鑷畾涔夊ぉ姘旓細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓洪洦澶 +```shell +python generate_vehicles_only.py --town Town04 --weather rainy +``` +# 4. 鑷畾涔夋椂闂达細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝鏃堕棿涓哄鏅 +```shell +python generate_vehicles_only.py --town Town04 --time_of_day night +``` +# 5. 瀹屾暣鑷畾涔夛細鍦 Town07 鐢熸垚 20 杈嗚溅杈嗭紝澶╂皵涓哄浜戯紝鏃堕棿涓烘棩钀 +```shell +python generate_vehicles_only.py --town Town07 --num_vehicles 20 --weather cloudy --time_of_day sunset +``` +# 6. 璁剧疆闅忔満绉嶅瓙锛堜繚璇佸満鏅彲澶嶇幇锛夛細鍦 Town10HD 鐢熸垚 12 杈嗚溅杈嗭紝浣跨敤绉嶅瓙 123 +```shell +python generate_vehicles_only.py --town Town10HD --num_vehicles 12 --seed 123 +``` +杩欎簺绀轰緥灞曠ず浜嗗煄闀囥佷氦鍙夎矾鍙ｇ被鍨嬨佸ぉ姘旂姸鍐点佹椂闂存锛岃溅杈嗗拰鎽勫儚澶磋缃殑鍚勭缁勫悎銆傜敤鎴峰彲浠ユ牴鎹渶瑕佷慨鏀硅繖浜涘弬鏁颁互鐢熸垚涓嶅悓鐨勫満鏅 -## For Detection in collaborative setup check the documentation of V2XFormer -First, prepare the dataset with this format [data_preparation](docs/data_preparation.md) . -Then, use [V2XFormer](https://github.com/tianqi-wang1996/DeepAccident) according to the instructions here -1. [Installation](https://github.com/tianqi-wang1996/DeepAccident/blob/main/docs/installation.md) -2. [Training and Evaluation](https://github.com/tianqi-wang1996/DeepAccident/blob/main/docs/getting_started.md) -- adjust the datapaths and number of classes accordingly - -## Acknowledgement -This project is based on the following open-source projects: [BEVerse](https://github.com/zhangyp15/BEVerse), [Fiery](https://github.com/wayveai/fiery), [open-mmlab](https://github.com/open-mmlab), and [DeepAccident](https://arxiv.org/pdf/2304.01168). +### 鏍锋湰鍙鍖 (Sample Visualizations) -## Citation +鎴戜滑鎻愪緵浜嗗彲瑙嗗寲缁撴灉鏉ュ睍绀烘垜浠暟鎹泦涓殑涓嶅悓瑙嗚: +![鍔ㄥ浘鍔犺浇澶辫触](images/2025-11-24102317-ezgif.com-speed.gif "杞﹁締鐜婕旂ず1") +## 鑷磋阿 (Acknowledgement) +鏈」鐩熀浜庝互涓嬪紑婧愰」鐩: BEVerse, Fiery, open-mmlab, 浠ュ強 DeepAccident銆 -``` diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md index 0908add989..58ca64a9ba 100644 --- a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md @@ -1,23 +1,24 @@ -# 1. 鍩虹鍦烘櫙锛氬悇鍦板浘+璺彛绫诲瀷楠岃瘉 +# 1. 榛樿閰嶇疆锛氬湪 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓烘櫞澶╋紝鏃堕棿涓轰腑鍗 ```shell -python cvips_generation.py --town Town04 --intersection 4way --weather clear --time_of_day noon -python cvips_generation.py --town Town10HD --intersection 3way --weather clear --time_of_day sunset -python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day noon +python generate_vehicles_only.py --town Town04 ``` -# 2. 澶╂皵+鏃舵缁勫悎鍦烘櫙锛堣鐩栨墍鏈夌幆澧冪粍鍚堬級 +# 2. 鑷畾涔夎溅杈嗘暟閲忥細鍦 Town04 鐢熸垚 15 杈嗚溅杈 ```shell -python cvips_generation.py --town Town04 --intersection 3way --weather rainy --time_of_day night -python cvips_generation.py --town Town10HD --intersection 4way --weather cloudy --time_of_day sunset -python cvips_generation.py --town Town07 --intersection 3way --weather clear --time_of_day night -python cvips_generation.py --town Town04 --intersection 4way --weather rainy --time_of_day noon +python generate_vehicles_only.py --town Town04 --num_vehicles 15 ``` -# 3. 杈圭晫鍦烘櫙锛堟瀬闄愮幆澧冩祴璇曪級 +# 3. 鑷畾涔夊ぉ姘旓細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓洪洦澶 ```shell -python cvips_generation.py --town Town10HD --intersection 4way --weather rainy --time_of_day night -python cvips_generation.py --town Town07 --intersection 3way --weather cloudy --time_of_day night +python generate_vehicles_only.py --town Town04 --weather rainy ``` -# 4. 甯哥敤鍦烘櫙蹇嵎鎸囦护 +# 4. 鑷畾涔夋椂闂达細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝鏃堕棿涓哄鏅 ```shell -python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day noon -python cvips_generation.py --town Town10HD --intersection 4way --weather clear --time_of_day sunset +python generate_vehicles_only.py --town Town04 --time_of_day night +``` +# 5. 瀹屾暣鑷畾涔夛細鍦 Town07 鐢熸垚 20 杈嗚溅杈嗭紝澶╂皵涓哄浜戯紝鏃堕棿涓烘棩钀 +```shell +python generate_vehicles_only.py --town Town07 --num_vehicles 20 --weather cloudy --time_of_day sunset +``` +# 6. 璁剧疆闅忔満绉嶅瓙锛堜繚璇佸満鏅彲澶嶇幇锛夛細鍦 Town10HD 鐢熸垚 12 杈嗚溅杈嗭紝浣跨敤绉嶅瓙 123 +```shell +python generate_vehicles_only.py --town Town10HD --num_vehicles 12 --seed 123 ``` \ No newline at end of file From 39588aaff8a3c7570cb23d6440f35cac4fc08c5e Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Wed, 26 Nov 2025 10:24:50 +0800 Subject: [PATCH 23/32] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=A1=8C=E4=BA=BA?= =?UTF-8?q?=E5=AF=B9=E8=B1=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 100 +++++++++++++----- 1 file changed, 74 insertions(+), 26 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index df65e44881..fdeb2492b2 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -12,35 +12,31 @@ def main(): global client, world - parser = argparse.ArgumentParser(description='CARLA 0.9.14 杞﹁締鐢熸垚宸ュ叿 (鏀寔鐜閰嶇疆)') - parser.add_argument('--town', type=str, required=True, help='鍩庨晣鍦板浘 (渚嬪: Town04)') - parser.add_argument('--num_vehicles', type=int, default=10, help='鐢熸垚杞﹁締鏁伴噺') + parser = argparse.ArgumentParser(description='CARLA 0.9.14 杞﹁締鍜岃浜虹敓鎴愬伐鍏 (浼樺寲瑙傛祴鐗)') + parser.add_argument('--town', type=str, default='Town01', help='鍩庨晣鍦板浘 (渚嬪: Town01, Town04)') + parser.add_argument('--num_vehicles', type=int, default=20, help='鐢熸垚杞﹁締鏁伴噺') + parser.add_argument('--num_pedestrians', type=int, default=100, help='鐢熸垚琛屼汉鏁伴噺') parser.add_argument('--seed', type=int, default=None, help='闅忔満绉嶅瓙') - # 鏂板鐜鍙傛暟 parser.add_argument('--weather', type=str, default='clear', choices=['clear', 'rainy', 'cloudy'], help='澶╂皵绫诲瀷') parser.add_argument('--time_of_day', type=str, default='noon', choices=['noon', 'sunset', 'night'], help='鏃舵') args = parser.parse_args() - # 璁剧疆闅忔満绉嶅瓙 if args.seed is not None: random.seed(args.seed) print(f"鉁 宸茶缃殢鏈虹瀛: {args.seed}") - # 杩炴帴 CARLA client, world = connect_carla_with_retry(args.town) if not world: return - # --- 鏂板浠ｇ爜锛氶厤缃ぉ姘斿拰鏃堕棿 --- print("\n馃尋锔 姝ｅ湪閰嶇疆鐜...") configure_weather_and_time(world, args.weather, args.time_of_day) - # 鐢熸垚杞﹁締 print("\n馃搶 寮濮嬬敓鎴愬満鏅...") generate_vehicles(world, args.num_vehicles) + generate_pedestrians(world, args.num_pedestrians) print("\n鉁 鍦烘櫙鐢熸垚瀹屾瘯锛") - # 淇濇寔杩愯 print("\n馃殫 鍦烘櫙宸插惎鍔紒鎸 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮...") try: while True: @@ -49,9 +45,7 @@ def main(): print("\n馃洃 鏀跺埌閫鍑轰俊鍙凤紝寮濮嬫竻鐞嗚祫婧...") # ------------------------------ 杈呭姪鍑芥暟 ------------------------------ - def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): - """甯﹂噸璇曟満鍒剁殑 CARLA 杩炴帴鍑芥暟""" global client for retry in range(max_retries): try: @@ -72,11 +66,8 @@ def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): print("馃挕 璇锋鏌ワ細1. CARLA 鏈嶅姟鍣ㄦ槸鍚﹀惎鍔 2. 绔彛鏄惁涓 2000") return None, None -# --- 鏂板鍑芥暟锛氶厤缃ぉ姘斿拰鏃堕棿 --- def configure_weather_and_time(world, weather_type, time_of_day): - """閰嶇疆 CARLA 鐨勫ぉ姘斿拰鏃舵""" weather = carla.WeatherParameters() - if weather_type == 'clear': weather.cloudiness = 0; weather.precipitation = 0 elif weather_type == 'rainy': @@ -95,7 +86,6 @@ def configure_weather_and_time(world, weather_type, time_of_day): print(f"鉁 宸查厤缃幆澧冿細澶╂皵={weather_type}锛屾椂娈={time_of_day}") def generate_vehicles(world, num_vehicles): - """鐢熸垚鎸囧畾鏁伴噺鐨勮溅杈嗗苟寮鍚嚜鍔ㄩ┚椹 (CARLA 0.9.14 鍏煎)""" if num_vehicles <= 0: print("鈩癸笍 杞﹁締鏁伴噺涓 0锛屼笉鐢熸垚杞﹁締銆") return @@ -113,14 +103,11 @@ def generate_vehicles(world, num_vehicles): for i in range(num_vehicles): spawn_point = random.choice(spawn_points) vehicle_bp = random.choice(vehicle_bps) - - # 閫氳繃钃濆浘璁剧疆鏈澶ч熷害 (CARLA 0.9.14 鍏煎鏂瑰紡) try: - max_speed_kmh = random.uniform(25, 35) + max_speed_kmh = random.uniform(20, 30) vehicle_bp.set_attribute('speed', str(max_speed_kmh / 3.6)) except Exception: - pass # 蹇界暐涓嶆敮鎸佹灞炴х殑杞﹁締 - + pass vehicle = world.try_spawn_actor(vehicle_bp, spawn_point) if vehicle: generated_actors.append(vehicle) @@ -129,16 +116,77 @@ def generate_vehicles(world, num_vehicles): num_generated = len([a for a in generated_actors if a.type_id.startswith('vehicle')]) print(f"鉁 鎴愬姛鐢熸垚 {num_generated} 杈嗚溅杈嗐") +def generate_pedestrians(world, num_pedestrians): + """鐢熸垚鎸囧畾鏁伴噺鐨勮浜哄苟璁╀粬浠殢鏈鸿璧 (浼樺寲瑙傛祴鐗)""" + if num_pedestrians <= 0: + print("鈩癸笍 琛屼汉鏁伴噺涓 0锛屼笉鐢熸垚琛屼汉銆") + return + + spawn_points = world.get_map().get_spawn_points() + if not spawn_points: + print("鈿狅笍 鏈壘鍒颁换浣曠敓鎴愮偣锛屾棤娉曠敓鎴愯浜恒") + return + + pedestrian_bps = world.get_blueprint_library().filter('*walker*') + pedestrian_bps = [bp for bp in pedestrian_bps if bp.id.startswith('walker.pedestrian')] + if not pedestrian_bps: + print("鉂 鏈壘鍒拌浜鸿摑鍥撅紒璇锋鏌 CARLA 璧勪骇鏄惁瀹屾暣銆") + return + + controller_bp = world.get_blueprint_library().find('controller.ai.walker') + print(f"馃懁 姝ｅ湪鐢熸垚 {num_pedestrians} 涓浜... (浼樺寲鍒嗘暎搴)") + + success_count = 0 + for i in range(num_pedestrians): + retry_count = 5 + while retry_count > 0: + spawn_point = random.choice(spawn_points) + + # --- 鏍稿績浼樺寲锛氬鍔犻殢鏈哄亸绉伙紝璁╄浜哄垎甯冩洿鍒嗘暎 --- + spawn_point.location.x += random.uniform(-8.0, 8.0) + spawn_point.location.y += random.uniform(-8.0, 8.0) + spawn_point.location.z += 0.5 + + try: + pedestrian_bp = random.choice(pedestrian_bps) + pedestrian = world.spawn_actor(pedestrian_bp, spawn_point) + if pedestrian: + generated_actors.append(pedestrian) + controller = world.spawn_actor(controller_bp, carla.Transform(), pedestrian) + generated_actors.append(controller) + + # --- 琛屼负浼樺寲 --- + controller.start() + controller.go_to_location(world.get_random_location_from_navigation()) + controller.set_max_speed(random.uniform(0.5, 1.5)) # 鏇磋嚜鐒剁殑閫熷害鑼冨洿 + + success_count += 1 + break + except RuntimeError: + retry_count -= 1 + if retry_count == 0: + # 鍑忓皯澶辫触鎻愮ず锛岄伩鍏嶅埛灞 + if i % 20 == 0: + print(f"鈿狅笍 閮ㄥ垎琛屼汉鐢熸垚浣嶇疆琚崰鐢紝宸茶烦杩囥") + + if (i + 1) % 25 == 0: + print(f"馃懁 宸茬敓鎴 {success_count}/{i + 1} 涓浜") + + print(f"鉁 鎴愬姛鐢熸垚 {success_count} 涓浜恒") + def clean_up_actors(): - """閫鍑烘椂娓呯悊鎵鏈夌敓鎴愮殑 Actor""" global client if generated_actors: print(f"\n馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") - batch = [carla.command.DestroyActor(x) for x in generated_actors] - if client: - client.apply_batch(batch) - generated_actors.clear() - print("鉁 璧勬簮娓呯悊瀹屾垚锛") + try: + batch = [carla.command.DestroyActor(x) for x in generated_actors] + if client: + client.apply_batch(batch) + time.sleep(1) + generated_actors.clear() + print("鉁 璧勬簮娓呯悊瀹屾垚锛") + except Exception as e: + print(f"鈿狅笍 娓呯悊璧勬簮鏃跺彂鐢熼敊璇: {e}") else: print("\n鉁 鏃犻渶瑕佹竻鐞嗙殑浠跨湡瀵硅薄銆") From 658433749b94bd6cb963d5fd0a25e39889886d16 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Wed, 26 Nov 2025 12:24:54 +0800 Subject: [PATCH 24/32] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E6=8C=87=E4=BB=A4?= =?UTF-8?q?=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Terminal_Commands.md | 72 +++++++++++++++---- 1 file changed, 60 insertions(+), 12 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md index 58ca64a9ba..548c3bd435 100644 --- a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md @@ -1,24 +1,72 @@ -# 1. 榛樿閰嶇疆锛氬湪 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓烘櫞澶╋紝鏃堕棿涓轰腑鍗 +## 鍛戒护鏍煎紡 ```shell -python generate_vehicles_only.py --town Town04 +python cvips_generation.py --town <鍩庨晣鍚嶇О> [--num_vehicles < 鏁伴噺 >] [--num_pedestrians < 鏁伴噺 >] [--weather < 澶╂皵绫诲瀷 >] [--time_of_day < 鏃舵 >] [--seed < 绉嶅瓙鍊 >] ``` -# 2. 鑷畾涔夎溅杈嗘暟閲忥細鍦 Town04 鐢熸垚 15 杈嗚溅杈 +## 鍙傛暟璇存槑 +--town: (蹇呭～) CARLA 鍩庨晣鍦板浘鍚嶇О (渚嬪: Town01, Town04)--num_vehicles: (鍙) 鐢熸垚杞﹁締鏁伴噺锛岄粯璁ゅ间负 20--num_pedestrians:(鍙) 鐢熸垚琛屼汉鏁伴噺锛岄粯璁ゅ间负 100--weather: (鍙) 澶╂皵绫诲瀷锛屽彲閫夊: clear (鏅村ぉ), rainy (闆ㄥぉ), cloudy (澶氫簯)锛岄粯璁ゅ间负 clear--time_of_day: (鍙) 鏃舵锛屽彲閫夊: noon (涓崍), sunset (鏃ヨ惤), night (澶滄櫄)锛岄粯璁ゅ间负 noon--seed: (鍙) 闅忔満绉嶅瓙锛岀敤浜庡鐜扮浉鍚屽満鏅 +## 涓銆佸熀纭鍦烘櫙鍛戒护 (鏍稿績鍙傛暟瑕嗙洊) +### 1. Town01 + 鏅村ぉ + 涓崍 (榛樿閰嶇疆) ```shell -python generate_vehicles_only.py --town Town04 --num_vehicles 15 +python cvips_generation.py --town Town01 ``` -# 3. 鑷畾涔夊ぉ姘旓細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓洪洦澶 +### 2. Town01 + 闆ㄥぉ + 澶滄櫄 ```shell -python generate_vehicles_only.py --town Town04 --weather rainy +python cvips_generation.py --town Town01 --weather rainy --time_of_day night ``` -# 4. 鑷畾涔夋椂闂达細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝鏃堕棿涓哄鏅 +### 3. Town04 + 澶氫簯 + 鏃ヨ惤 ```shell -python generate_vehicles_only.py --town Town04 --time_of_day night +python cvips_generation.py --town Town04 --weather cloudy --time_of_day sunset ``` -# 5. 瀹屾暣鑷畾涔夛細鍦 Town07 鐢熸垚 20 杈嗚溅杈嗭紝澶╂皵涓哄浜戯紝鏃堕棿涓烘棩钀 +### 4. Town01 + 鏅村ぉ + 澶滄櫄 ```shell -python generate_vehicles_only.py --town Town07 --num_vehicles 20 --weather cloudy --time_of_day sunset +python cvips_generation.py --town Town01 --time_of_day night ``` -# 6. 璁剧疆闅忔満绉嶅瓙锛堜繚璇佸満鏅彲澶嶇幇锛夛細鍦 Town10HD 鐢熸垚 12 杈嗚溅杈嗭紝浣跨敤绉嶅瓙 123 +### 5. Town04 + 闆ㄥぉ + 涓崍 ```shell -python generate_vehicles_only.py --town Town10HD --num_vehicles 12 --seed 123 +python cvips_generation.py --town Town04 --weather rainy +``` +## 浜屻佷笉鍚屽瘑搴﹀満鏅懡浠 +### 6. Town01 + 浣庡瘑搴 (10 杈嗚溅锛50 涓浜) +```shell +python cvips_generation.py --town Town01 --num_vehicles 10 --num_pedestrians 50 +``` +### 7. Town01 + 涓瘑搴 (25 杈嗚溅锛150 涓浜) +```shell +python cvips_generation.py --town Town01 --num_vehicles 25 --num_pedestrians 150 +``` +### 8. Town04 + 楂樺瘑搴 (40 杈嗚溅锛250 涓浜) +```shell +python cvips_generation.py --town Town04 --num_vehicles 40 --num_pedestrians 250 +``` +## 涓夈侀殢鏈虹瀛愪笌鍦烘櫙澶嶇幇鍛戒护 + +### 9. Town01 + 绉嶅瓙 123 (鍙鐜) +```shell +python cvips_generation.py --town Town01 --seed 123 +``` +### 10. Town04 + 绉嶅瓙 456 (鍙鐜) +```shell +python cvips_generation.py --town Town04 --seed 456 +``` +### 11. Town01 + 闆ㄥぉ澶滄櫄 + 绉嶅瓙 789 (鍙鐜) +```shell +python cvips_generation.py --town Town01 --weather rainy --time_of_day night --seed 789 +``` +## 鍥涖佸鍙傛暟缁勫悎鍦烘櫙鍛戒护 +### 12. Town01 + 15 杈嗚溅 + 80 涓浜 + 闆ㄥぉ + 鏃ヨ惤 + 绉嶅瓙 111 +```shell +python cvips_generation.py --town Town01 --num_vehicles 15 --num_pedestrians 80 --weather rainy --time_of_day sunset --seed 111 +``` +### 13. Town04 + 30 杈嗚溅 + 200 涓浜 + 澶氫簯 + 澶滄櫄 + 绉嶅瓙 222 +```shell +python cvips_generation.py --town Town04 --num_vehicles 30 --num_pedestrians 200 --weather cloudy --time_of_day night --seed 222 +``` +## 浜斻佽竟缂樺満鏅懡浠 (鏋侀檺鍙傛暟) +### 14. Town01 + 鏋侀檺楂樺瘑搴 (35 杈嗚溅锛220 涓浜) + 闆ㄥぉ + 澶滄櫄 +```shell +python cvips_generation.py --town Town01 --num_vehicles 35 --num_pedestrians 220 --weather rainy --time_of_day night +``` +### 15. Town04 + 鏋侀檺浣庡瘑搴 (5 杈嗚溅锛20 涓浜) + 鏅村ぉ + 涓崍 +```shell +python cvips_generation.py --town Town04 --num_vehicles 5 --num_pedestrians 20 --weather clear --time_of_day noon ``` \ No newline at end of file From 8bea41242fac87555633ebf247cbaa29d534bc34 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Fri, 28 Nov 2025 17:05:38 +0800 Subject: [PATCH 25/32] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=AF=B4=E6=98=8E?= =?UTF-8?q?=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 120 +++++++++++------------- 1 file changed, 57 insertions(+), 63 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md index c4cbc54a47..5a534a80a2 100644 --- a/src/InterconVis_PedSafety_Enh/README.md +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -1,85 +1,79 @@ -#CVIPS: 闈㈠悜鎻愬崌琛屼汉瀹夊叏鐨勫崗鍚岃瑙 (Connected Vision for Increased Pedestrian Safety) -CVIPS 椤圭洰鐨勫疄鐜般 -- [X] 鏁版嵁闆 -- [X] CARLA 鏁版嵁鐢熸垚浠ｇ爜 - - - -## 鏁版嵁闆 (Dataset) -CVIPS 鏁版嵁闆嗗彲鍦ㄦ澶勮幏鍙:[here](https://drive.google.com/drive/folders/1gCCrIslzVkupyF0lj_1I9qXTB2_a4tjd?usp=drive_link). - - - - - -## 瀹夎 (Installation) -璇峰弬鑰 [installation](https://carla.readthedocs.io/en/0.9.14/build_windows) 浜嗚В濡備綍鍦 Windows 涓婅缃 CARLA銆 - - +# 椤圭洰绠浠 +CVIPS (Connected Vision for Increased Pedestrian Safety) 鏄竴涓嚧鍔涗簬閫氳繃鍗忓悓瑙嗚鎶鏈紙Connected Vision锛夊拰 V2X锛圴ehicle-to-Everything锛夐氫俊鏉ユ彁鍗囧急鍔块亾璺娇鐢ㄨ咃紙VRU锛岀壒鍒槸琛屼汉锛夊畨鍏ㄧ殑鐮旂┒椤圭洰銆 +鍦ㄥ鏉傜殑鍩庡競浜ら氬満鏅腑锛屽崟杞︽櫤鑳藉線寰鍙楀埌瑙嗙嚎閬尅锛圤cclusion锛夈佹劅鐭ヨ寖鍥村彈闄愬拰鎭跺姡澶╂皵鐨勫奖鍝嶃傛湰椤圭洰鍒╃敤 CARLA 浠跨湡鍣 鏋勫缓楂樹繚鐪熺殑娴嬭瘯鐜锛屾棬鍦ㄧ爺绌讹細 +鍗忓悓鎰熺煡 (Collaborative Perception): 铻嶅悎澶氳鐐癸紙杞﹁締銆佽矾渚у崟鍏 RSU锛変俊鎭 +1. 閬尅澶勭悊: 瑙ｅ喅鈥滈鎺㈠ご鈥濈瓑楂樺嵄鍦烘櫙涓嬬殑琛屼汉妫娴嬮棶棰樸 +2. 鍏ㄥぉ鍊欓瞾妫掓: 鍦ㄩ洦澶┿佸闂寸瓑鏋佺鍏夌収鍜屽ぉ姘斾笅鐨勬劅鐭ユц兘銆 +3. 鏈粨搴撳寘鍚 CVIPS 鐨勬牳蹇冧豢鐪熷満鏅敓鎴愬伐鍏枫佹暟鎹泦閲囬泦鑴氭湰浠ュ強鍗忓悓鎰熺煡绠楁硶瀹炵幇銆 +# 瀹夎涓庝緷璧 (Prerequisites & Installation) +# 绯荤粺瑕佹眰 +- Ubuntu 20.04 / Windows 10+ +- NVIDIA GPU (鎺ㄨ崘 8GB+ 鏄惧瓨) +- CARLA Simulator 0.9.14 ## 鏁版嵁闆嗙敓鎴 (Dataset Generation) 鎴戜滑鐨勬暟鎹泦鏄娇鐢 CARLA 妯℃嫙鍣ㄧ敓鎴愮殑锛屼负鍗忓悓鎰熺煡鎻愪緵浜嗗鏍峰寲鐨勫満鏅 -###杩愯鏁版嵁鐢熸垚鑴氭湰 (Running the Data Generation Script) - +### carla妯℃嫙鍣ㄦ瀯寤 +涓嬭浇浠ヤ笅鐗堟湰鐨刢arla棰勭紪璇戝寘锛堝彲鐩存帴杩愯锛屾棤闇浣跨敤Epic Games Launcher锛 +- [carla0.9.14](https://github.com/carla-simulator/carla/releases/tag/0.9.14) +### 杩愯鏁版嵁鐢熸垚鑴氭湰 (Running the Data Generation Script) 1. 鍏嬮殕姝や粨搴 - ``` + ```bash git clone https://github.com/cvips/CVIPS.git cd CVIPS ``` - 2. 瀹夎鎵闇鐨勪緷璧栧寘: - ``` + ```bash pip install -r requirements.txt ``` - 3. 纭繚 CARLA 宸叉纭畨瑁呭苟杩愯銆傚湪涓涓崟鐙殑缁堢涓惎鍔 CARLA 鏈嶅姟鍣: - ``` + ```bash /path/to/carla/CarlaUE4.exe ``` - 4. 杩愯鏁版嵁鐢熸垚鑴氭湰: - ``` + ```bash python cvips_generation.py ``` - - 璇ヨ剼鏈皢杩炴帴鍒 CARLA 鏈嶅姟鍣紝骞舵牴鎹寚瀹氱殑鍙傛暟鐢熸垚鏁版嵁闆嗐 -娉ㄦ剰锛氳鏍规嵁浣犵壒瀹氱殑璁剧疆闇姹傦紝璋冩暣 cvips_generation.py 涓殑 CARLA 鏈嶅姟鍣ㄨ矾寰勪互鍙婁换浣曢厤缃弬鏁般 -### Sample Examples - -#绀轰緥鍛戒护 (Sample Examples) - -# 1. 榛樿閰嶇疆锛氬湪 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓烘櫞澶╋紝鏃堕棿涓轰腑鍗 -```shell -python generate_vehicles_only.py --town Town04 -``` -# 2. 鑷畾涔夎溅杈嗘暟閲忥細鍦 Town04 鐢熸垚 15 杈嗚溅杈 -```shell -python generate_vehicles_only.py --town Town04 --num_vehicles 15 -``` -# 3. 鑷畾涔夊ぉ姘旓細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝澶╂皵涓洪洦澶 -```shell -python generate_vehicles_only.py --town Town04 --weather rainy -``` -# 4. 鑷畾涔夋椂闂达細鍦 Town04 鐢熸垚 10 杈嗚溅杈嗭紝鏃堕棿涓哄鏅 -```shell -python generate_vehicles_only.py --town Town04 --time_of_day night -``` -# 5. 瀹屾暣鑷畾涔夛細鍦 Town07 鐢熸垚 20 杈嗚溅杈嗭紝澶╂皵涓哄浜戯紝鏃堕棿涓烘棩钀 -```shell -python generate_vehicles_only.py --town Town07 --num_vehicles 20 --weather cloudy --time_of_day sunset -``` -# 6. 璁剧疆闅忔満绉嶅瓙锛堜繚璇佸満鏅彲澶嶇幇锛夛細鍦 Town10HD 鐢熸垚 12 杈嗚溅杈嗭紝浣跨敤绉嶅瓙 123 -```shell -python generate_vehicles_only.py --town Town10HD --num_vehicles 12 --seed 123 -``` -杩欎簺绀轰緥灞曠ず浜嗗煄闀囥佷氦鍙夎矾鍙ｇ被鍨嬨佸ぉ姘旂姸鍐点佹椂闂存锛岃溅杈嗗拰鎽勫儚澶磋缃殑鍚勭缁勫悎銆傜敤鎴峰彲浠ユ牴鎹渶瑕佷慨鏀硅繖浜涘弬鏁颁互鐢熸垚涓嶅悓鐨勫満鏅 - +娉細璇ヨ剼鏈皢杩炴帴鍒 CARLA 鏈嶅姟鍣紝骞舵牴鎹寚瀹氱殑鍙傛暟鐢熸垚鏁版嵁闆,闇瑕佸崟鐙垱寤鸿繍琛岃剼鏈 璇锋牴鎹綘鐗瑰畾鐨勮缃渶姹傦紝璋冩暣 cvips_generation.py 涓殑 CARLA 鏈嶅姟鍣ㄨ矾寰勪互鍙婁换浣曢厤缃弬鏁般 +### 閰嶇疆铏氭嫙鐜 +- CARLA 瀵 Python 鐗堟湰锛堟帹鑽 3.7-3.9锛夊拰渚濊禆搴撶増鏈湁涓ユ牸瑕佹眰锛岃櫄鎷熺幆澧冨彲閬垮厤涓庡叾浠栭」鐩殑渚濊禆鍐茬獊 +## 绀轰緥鍙婃牸寮忚鏄 +- 鍛戒护鏍煎紡 + ```shell + python cvips_generation.py --town <鍩庨晣鍚嶇О> [--num_vehicles < 鏁伴噺 >] [--num_pedestrians < 鏁伴噺 >] [--weather < 澶╂皵绫诲瀷 >] [--time_of_day < 鏃舵 >] [--seed < 绉嶅瓙鍊 >] +## 鍙傛暟璇存槑 +--town: (蹇呭～) CARLA 鍩庨晣鍦板浘鍚嶇О (渚嬪: Town01, Town04)--num_vehicles: (鍙) 鐢熸垚杞﹁締鏁伴噺锛岄粯璁ゅ间负 20--num_pedestrians:(鍙) 鐢熸垚琛屼汉鏁伴噺锛岄粯璁ゅ间负 100--weather: (鍙) 澶╂皵绫诲瀷锛屽彲閫夊: clear (鏅村ぉ), rainy (闆ㄥぉ), cloudy (澶氫簯)锛岄粯璁ゅ间负 clear--time_of_day: (鍙) 鏃舵锛屽彲閫夊: noon (涓崍), sunset (鏃ヨ惤), night (澶滄櫄)锛岄粯璁ゅ间负 noon--seed: (鍙) 闅忔満绉嶅瓙锛岀敤浜庡鐜扮浉鍚屽満鏅 +### 涓銆佸熀纭鍦烘櫙鍛戒护 (鏍稿績鍙傛暟瑕嗙洊) +1. Town01 + 鏅村ぉ + 涓崍 (榛樿閰嶇疆) + ```shell + python cvips_generation.py --town Town01 + ``` +2. Town01 + 闆ㄥぉ + 澶滄櫄 + ```shell + python cvips_generation.py --town Town01 --weather rainy --time_of_day night + ``` +### 浜屻佷笉鍚屽瘑搴﹀満鏅懡浠 +1. Town01 + 浣庡瘑搴 (10 杈嗚溅锛50 涓浜) + ```shell + python cvips_generation.py --town Town01 --num_vehicles 10 --num_pedestrians 50 +2. Town01 + 涓瘑搴 (25 杈嗚溅锛150 涓浜) + ```shell + python cvips_generation.py --town Town01 --num_vehicles 25 --num_pedestrians 150 +### 涓夈侀殢鏈虹瀛愪笌鍦烘櫙澶嶇幇鍛戒护 + +1. Town01 + 绉嶅瓙 123 (鍙鐜) + ```shell + python cvips_generation.py --town Town01 --seed 123 +2. Town04 + 绉嶅瓙 456 (鍙鐜) + ```shell + python cvips_generation.py --town Town04 --seed 456 +### 鍥涖佸鍙傛暟缁勫悎鍦烘櫙鍛戒护 +1. Town01 + 15 杈嗚溅 + 80 涓浜 + 闆ㄥぉ + 鏃ヨ惤 + 绉嶅瓙 111 + ```shell + python cvips_generation.py --town Town01 --num_vehicles 15 --num_pedestrians 80 --weather rainy --time_of_day sunset --seed 111 ### 鏍锋湰鍙鍖 (Sample Visualizations) 鎴戜滑鎻愪緵浜嗗彲瑙嗗寲缁撴灉鏉ュ睍绀烘垜浠暟鎹泦涓殑涓嶅悓瑙嗚: -![鍔ㄥ浘鍔犺浇澶辫触](images/2025-11-24102317-ezgif.com-speed.gif "杞﹁締鐜婕旂ず1") - - ## 鑷磋阿 (Acknowledgement) 鏈」鐩熀浜庝互涓嬪紑婧愰」鐩: BEVerse, Fiery, open-mmlab, 浠ュ強 DeepAccident銆 From bffe0e45b0fc4d7af925a9266c4f362b9014ba07 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Fri, 28 Nov 2025 23:50:00 +0800 Subject: [PATCH 26/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=91=BD=E4=BB=A4?= =?UTF-8?q?=E8=AF=B4=E6=98=8E=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/Terminal_Commands.md | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md index 548c3bd435..d71dbeb60a 100644 --- a/src/InterconVis_PedSafety_Enh/Terminal_Commands.md +++ b/src/InterconVis_PedSafety_Enh/Terminal_Commands.md @@ -3,7 +3,14 @@ python cvips_generation.py --town <鍩庨晣鍚嶇О> [--num_vehicles < 鏁伴噺 >] [--num_pedestrians < 鏁伴噺 >] [--weather < 澶╂皵绫诲瀷 >] [--time_of_day < 鏃舵 >] [--seed < 绉嶅瓙鍊 >] ``` ## 鍙傛暟璇存槑 ---town: (蹇呭～) CARLA 鍩庨晣鍦板浘鍚嶇О (渚嬪: Town01, Town04)--num_vehicles: (鍙) 鐢熸垚杞﹁締鏁伴噺锛岄粯璁ゅ间负 20--num_pedestrians:(鍙) 鐢熸垚琛屼汉鏁伴噺锛岄粯璁ゅ间负 100--weather: (鍙) 澶╂皵绫诲瀷锛屽彲閫夊: clear (鏅村ぉ), rainy (闆ㄥぉ), cloudy (澶氫簯)锛岄粯璁ゅ间负 clear--time_of_day: (鍙) 鏃舵锛屽彲閫夊: noon (涓崍), sunset (鏃ヨ惤), night (澶滄櫄)锛岄粯璁ゅ间负 noon--seed: (鍙) 闅忔満绉嶅瓙锛岀敤浜庡鐜扮浉鍚屽満鏅 +|鍙傛暟鍚峾绫诲瀷|榛樿鍊紎鍙夊紎浣滅敤璇存槑| +|:---:|:---:|:---:|:---:|:---:| +|--town|瀛楃涓瞸town01|town01,town04绛墊鎸囧畾瑕佸姞杞界殑CARLA鍦板浘| +|--num_vehicles|鏁存暟|20|>=0|瑕佺敓鎴愮殑鑷姩椹鹃┒杞﹁締鏁伴噺| +|--num_pedestrians|鏁存暟|100|>=0|瑕佺敓鎴愮殑鑷富琛岃蛋鐨勮浜烘暟閲弢 +|--seed|鏁存暟|None|浠绘剰鏁存暟|闅忔満绉嶅瓙锛岃缃悗鍙繚璇佹瘡娆¤繍琛屽畬鍏ㄧ浉鍚岀殑鍦烘櫙锛屼究浜庡鐜般倈 +|--weather|瀛楃涓瞸clear|clear锛宺ainy锛宑loudy|璁剧疆澶╂皵锛宺ainy浼氭湁鏄庢樉鐨勯檷闆ㄥ拰鍦伴潰鍙嶅厜鏁堟灉| +|--time_of_day|瀛楃涓瞸noon|noon锛宻unset锛宯ight|璁剧疆鏃堕棿锛宯ight浼氬垏鎹㈠埌澶滄櫄骞跺紑鍚湀鍏墊 ## 涓銆佸熀纭鍦烘櫙鍛戒护 (鏍稿績鍙傛暟瑕嗙洊) ### 1. Town01 + 鏅村ぉ + 涓崍 (榛樿閰嶇疆) ```shell From c56df2e3f927b85d99608cba5b1f3f21e96afcab Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sun, 30 Nov 2025 15:26:23 +0800 Subject: [PATCH 27/32] =?UTF-8?q?=E5=AE=8C=E5=96=84=E8=AF=B4=E6=98=8E?= =?UTF-8?q?=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 38 +++++++++++++++++++++++-- 1 file changed, 36 insertions(+), 2 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md index 5a534a80a2..885f38496f 100644 --- a/src/InterconVis_PedSafety_Enh/README.md +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -36,12 +36,46 @@ CVIPS (Connected Vision for Increased Pedestrian Safety) 鏄竴涓嚧鍔涗簬閫 娉細璇ヨ剼鏈皢杩炴帴鍒 CARLA 鏈嶅姟鍣紝骞舵牴鎹寚瀹氱殑鍙傛暟鐢熸垚鏁版嵁闆,闇瑕佸崟鐙垱寤鸿繍琛岃剼鏈 璇锋牴鎹綘鐗瑰畾鐨勮缃渶姹傦紝璋冩暣 cvips_generation.py 涓殑 CARLA 鏈嶅姟鍣ㄨ矾寰勪互鍙婁换浣曢厤缃弬鏁般 ### 閰嶇疆铏氭嫙鐜 - CARLA 瀵 Python 鐗堟湰锛堟帹鑽 3.7-3.9锛夊拰渚濊禆搴撶増鏈湁涓ユ牸瑕佹眰锛岃櫄鎷熺幆澧冨彲閬垮厤涓庡叾浠栭」鐩殑渚濊禆鍐茬獊 -## 绀轰緥鍙婃牸寮忚鏄 +### 涓嬭浇Anaconda +- 涓嬭浇 [Anaconda](https://repo.anaconda.com/archive/Anaconda3-2021.05-Windows-x86_64.exe)銆 +- 瀹夎鏃跺嬀閫 鈥淎dd Anaconda to PATH鈥濓紙Windows 闇鎵嬪姩鍕鹃夛紝Linux/Mac 榛樿娣诲姞锛夈 +- 楠岃瘉瀹夎锛氭墦寮缁堢锛岃緭鍏onda --version锛屾樉绀虹増鏈彿鍗虫垚鍔熴 +### 鍒涘缓婵娲昏櫄鎷熺幆澧冿紙浠呴渶鎵ц涓娆★級 +1. 鎵撳紑缁堢锛堟垨 Anaconda Prompt锛夛紝杩愯浠ヤ笅鍛戒护锛 + ```bash + # 鍒涘缓鍚嶄负cvips_env鐨勮櫄鎷熺幆澧冿紙Python3.7閫傞厤CARLA 0.9.14锛 + conda create -n cvips_env python=3.7 + ``` +2. 婵娲昏櫄鎷熺幆澧冿紙姣忔杩愯鑴氭湰鍓嶉兘闇鎵ц锛 + ```bash + conda activate cvips_env # Windows + ``` +### 鍦ㄨ櫄鎷熺幆澧冧腑瀹夎 CARLA 渚濊禆锛堜粎闇鎵ц涓娆★級 +- 婵娲荤幆澧冨悗锛岀洿鎺ュ畨瑁呭尮閰嶇増鏈殑 CARLA Python API锛 + ```bash + pip install carla==0.9.14 + ``` +### 浣跨敤璇存槑 +- 婵娲昏櫄鎷熺幆澧冿紙姣忔杩愯鑴氭湰鍓嶉兘闇鎵ц锛 + ```bash + conda activate cvips_env # Windows + ``` +- 鎵撳紑 CARLA 0.9.14 妯℃嫙鍣紙CarlaUE4.exe/./CarlaUE4.sh锛夈 +- 杩涘叆 cvips 鏂囦欢澶圭洰褰曪紙cd 浣犵殑cvips璺緞锛 +- 杈撳叆鎯宠杩愯鐨勮剼鏈 +## 浣跨敤绀轰緥鍙婃牸寮忚鏄 - 鍛戒护鏍煎紡 ```shell python cvips_generation.py --town <鍩庨晣鍚嶇О> [--num_vehicles < 鏁伴噺 >] [--num_pedestrians < 鏁伴噺 >] [--weather < 澶╂皵绫诲瀷 >] [--time_of_day < 鏃舵 >] [--seed < 绉嶅瓙鍊 >] ## 鍙傛暟璇存槑 ---town: (蹇呭～) CARLA 鍩庨晣鍦板浘鍚嶇О (渚嬪: Town01, Town04)--num_vehicles: (鍙) 鐢熸垚杞﹁締鏁伴噺锛岄粯璁ゅ间负 20--num_pedestrians:(鍙) 鐢熸垚琛屼汉鏁伴噺锛岄粯璁ゅ间负 100--weather: (鍙) 澶╂皵绫诲瀷锛屽彲閫夊: clear (鏅村ぉ), rainy (闆ㄥぉ), cloudy (澶氫簯)锛岄粯璁ゅ间负 clear--time_of_day: (鍙) 鏃舵锛屽彲閫夊: noon (涓崍), sunset (鏃ヨ惤), night (澶滄櫄)锛岄粯璁ゅ间负 noon--seed: (鍙) 闅忔満绉嶅瓙锛岀敤浜庡鐜扮浉鍚屽満鏅 +|鍙傛暟鍚峾绫诲瀷|榛樿鍊紎鍙夊紎浣滅敤璇存槑| +|:---:|:---:|:---:|:---:|:---:| +|--town|瀛楃涓瞸town01|town01,town04绛墊鎸囧畾瑕佸姞杞界殑CARLA鍦板浘| +|--num_vehicles|鏁存暟|20|>=0|瑕佺敓鎴愮殑鑷姩椹鹃┒杞﹁締鏁伴噺| +|--num_pedestrians|鏁存暟|100|>=0|瑕佺敓鎴愮殑鑷富琛岃蛋鐨勮浜烘暟閲弢 +|--seed|鏁存暟|None|浠绘剰鏁存暟|闅忔満绉嶅瓙锛岃缃悗鍙繚璇佹瘡娆¤繍琛屽畬鍏ㄧ浉鍚岀殑鍦烘櫙锛屼究浜庡鐜般倈 +|--weather|瀛楃涓瞸clear|clear锛宺ainy锛宑loudy|璁剧疆澶╂皵锛宺ainy浼氭湁鏄庢樉鐨勯檷闆ㄥ拰鍦伴潰鍙嶅厜鏁堟灉| +|--time_of_day|瀛楃涓瞸noon|noon锛宻unset锛宯ight|璁剧疆鏃堕棿锛宯ight浼氬垏鎹㈠埌澶滄櫄骞跺紑鍚湀鍏墊 ### 涓銆佸熀纭鍦烘櫙鍛戒护 (鏍稿績鍙傛暟瑕嗙洊) 1. Town01 + 鏅村ぉ + 涓崍 (榛樿閰嶇疆) ```shell From dc6f4f7066aaff7ac5b120063a94524cb00718a9 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Sun, 30 Nov 2025 17:16:14 +0800 Subject: [PATCH 28/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=84=9A=E6=9C=AC?= =?UTF-8?q?=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_generation.py | 372 +++++++++--------- 1 file changed, 192 insertions(+), 180 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_generation.py b/src/InterconVis_PedSafety_Enh/cvips_generation.py index fdeb2492b2..3b5084034d 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_generation.py +++ b/src/InterconVis_PedSafety_Enh/cvips_generation.py @@ -1,196 +1,208 @@ import carla import argparse import time -import atexit import random +import logging -# 鍏ㄥ眬鍙橀噺 -generated_actors = [] -client = None -world = None +# 閰嶇疆鏃ュ織 +logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO) def main(): - global client, world - - parser = argparse.ArgumentParser(description='CARLA 0.9.14 杞﹁締鍜岃浜虹敓鎴愬伐鍏 (浼樺寲瑙傛祴鐗)') - parser.add_argument('--town', type=str, default='Town01', help='鍩庨晣鍦板浘 (渚嬪: Town01, Town04)') - parser.add_argument('--num_vehicles', type=int, default=20, help='鐢熸垚杞﹁締鏁伴噺') - parser.add_argument('--num_pedestrians', type=int, default=100, help='鐢熸垚琛屼汉鏁伴噺') - parser.add_argument('--seed', type=int, default=None, help='闅忔満绉嶅瓙') - parser.add_argument('--weather', type=str, default='clear', choices=['clear', 'rainy', 'cloudy'], help='澶╂皵绫诲瀷') - parser.add_argument('--time_of_day', type=str, default='noon', choices=['noon', 'sunset', 'night'], help='鏃舵') - args = parser.parse_args() - - if args.seed is not None: + argparser = argparse.ArgumentParser( + description=__doc__) + argparser.add_argument( + '--town', type=str, default='Town01', help='鍩庨晣鍦板浘') + argparser.add_argument( + '--num_vehicles', default=30, type=int, help='鐢熸垚杞﹁締鏁伴噺') + argparser.add_argument( + '--num_pedestrians', default=50, type=int, help='鐢熸垚琛屼汉鏁伴噺') + argparser.add_argument( + '--seed', default=None, type=int, help='闅忔満绉嶅瓙') + argparser.add_argument( + '--weather', default='clear', choices=['clear', 'rainy', 'cloudy', 'night'], help='澶╂皵棰勮') + args = argparser.parse_args() + + if args.seed: random.seed(args.seed) - print(f"鉁 宸茶缃殢鏈虹瀛: {args.seed}") - client, world = connect_carla_with_retry(args.town) - if not world: - return + client = carla.Client('localhost', 2000) + client.set_timeout(20.0) - print("\n馃尋锔 姝ｅ湪閰嶇疆鐜...") - configure_weather_and_time(world, args.weather, args.time_of_day) + # 鍏ㄥ眬鍒楄〃锛岀敤浜庢竻鐞 + vehicles_list = [] + walkers_list = [] + all_id = [] - print("\n馃搶 寮濮嬬敓鎴愬満鏅...") - generate_vehicles(world, args.num_vehicles) - generate_pedestrians(world, args.num_pedestrians) - print("\n鉁 鍦烘櫙鐢熸垚瀹屾瘯锛") - - print("\n馃殫 鍦烘櫙宸插惎鍔紒鎸 Ctrl+C 閫鍑哄苟娓呯悊璧勬簮...") try: - while True: - time.sleep(1) - except KeyboardInterrupt: - print("\n馃洃 鏀跺埌閫鍑轰俊鍙凤紝寮濮嬫竻鐞嗚祫婧...") - -# ------------------------------ 杈呭姪鍑芥暟 ------------------------------ -def connect_carla_with_retry(town_name, max_retries=3, retry_interval=5): - global client - for retry in range(max_retries): - try: - client = carla.Client('localhost', 2000) - client.set_timeout(15.0) - client.load_world(town_name) - world = client.get_world() - print(f"鉁 鎴愬姛杩炴帴 CARLA 骞跺姞杞藉湴鍥撅細{town_name}") - return client, world - except Exception as e: - error_msg = str(e) - if retry < max_retries - 1: - print(f"鉂 杩炴帴澶辫触锛坽retry + 1}/{max_retries}锛夛細{error_msg}") - print(f"鈱 {retry_interval}绉掑悗閲嶈瘯...") - time.sleep(retry_interval) - else: - print(f"鉂 杩炴帴澶辫触锛堝凡杈炬渶澶ч噸璇曟鏁帮級锛歿error_msg}") - print("馃挕 璇锋鏌ワ細1. CARLA 鏈嶅姟鍣ㄦ槸鍚﹀惎鍔 2. 绔彛鏄惁涓 2000") - return None, None - -def configure_weather_and_time(world, weather_type, time_of_day): - weather = carla.WeatherParameters() - if weather_type == 'clear': - weather.cloudiness = 0; weather.precipitation = 0 - elif weather_type == 'rainy': - weather.cloudiness = 80; weather.precipitation = 50; weather.precipitation_deposits = 30; weather.wind_intensity = 10; weather.fog_density = 0.3 - elif weather_type == 'cloudy': - weather.cloudiness = 70; weather.precipitation = 0; weather.fog_density = 0.2 - - if time_of_day == 'noon': - weather.sun_altitude_angle = 90; weather.ambient_light = 1.0 - elif time_of_day == 'sunset': - weather.sun_altitude_angle = -15; weather.ambient_light = 0.3 - elif time_of_day == 'night': - weather.sun_altitude_angle = -60; weather.ambient_light = 0.05; weather.moon_altitude_angle = 45; weather.moon_intensity = 0.8 - - world.set_weather(weather) - print(f"鉁 宸查厤缃幆澧冿細澶╂皵={weather_type}锛屾椂娈={time_of_day}") - -def generate_vehicles(world, num_vehicles): - if num_vehicles <= 0: - print("鈩癸笍 杞﹁締鏁伴噺涓 0锛屼笉鐢熸垚杞﹁締銆") - return - - spawn_points = world.get_map().get_spawn_points() - if not spawn_points: - print("鈿狅笍 鏈壘鍒拌溅杈嗙敓鎴愮偣銆") - return - - vehicle_bps = world.get_blueprint_library().filter('vehicle.*') - tm = client.get_trafficmanager(8000) - tm.set_global_distance_to_leading_vehicle(2.5) - - print(f"馃殫 姝ｅ湪鐢熸垚 {num_vehicles} 杈嗚溅杈...") - for i in range(num_vehicles): - spawn_point = random.choice(spawn_points) - vehicle_bp = random.choice(vehicle_bps) - try: - max_speed_kmh = random.uniform(20, 30) - vehicle_bp.set_attribute('speed', str(max_speed_kmh / 3.6)) - except Exception: - pass - vehicle = world.try_spawn_actor(vehicle_bp, spawn_point) - if vehicle: - generated_actors.append(vehicle) - vehicle.set_autopilot(True, tm.get_port()) - - num_generated = len([a for a in generated_actors if a.type_id.startswith('vehicle')]) - print(f"鉁 鎴愬姛鐢熸垚 {num_generated} 杈嗚溅杈嗐") - -def generate_pedestrians(world, num_pedestrians): - """鐢熸垚鎸囧畾鏁伴噺鐨勮浜哄苟璁╀粬浠殢鏈鸿璧 (浼樺寲瑙傛祴鐗)""" - if num_pedestrians <= 0: - print("鈩癸笍 琛屼汉鏁伴噺涓 0锛屼笉鐢熸垚琛屼汉銆") - return - - spawn_points = world.get_map().get_spawn_points() - if not spawn_points: - print("鈿狅笍 鏈壘鍒颁换浣曠敓鎴愮偣锛屾棤娉曠敓鎴愯浜恒") - return - - pedestrian_bps = world.get_blueprint_library().filter('*walker*') - pedestrian_bps = [bp for bp in pedestrian_bps if bp.id.startswith('walker.pedestrian')] - if not pedestrian_bps: - print("鉂 鏈壘鍒拌浜鸿摑鍥撅紒璇锋鏌 CARLA 璧勪骇鏄惁瀹屾暣銆") - return - - controller_bp = world.get_blueprint_library().find('controller.ai.walker') - print(f"馃懁 姝ｅ湪鐢熸垚 {num_pedestrians} 涓浜... (浼樺寲鍒嗘暎搴)") - - success_count = 0 - for i in range(num_pedestrians): - retry_count = 5 - while retry_count > 0: - spawn_point = random.choice(spawn_points) + # 1. 鍔犺浇鍦板浘 + print(f"姝ｅ湪鍔犺浇鍦板浘: {args.town}") + client.load_world(args.town) + world = client.get_world() + + # 2. 璁剧疆鍚屾妯″紡 (淇濊瘉鐗╃悊璁＄畻鍑嗙‘锛岄槻姝㈢灛绉) + settings = world.get_settings() + settings.synchronous_mode = True + settings.fixed_delta_seconds = 0.05 # 20 FPS + world.apply_settings(settings) + + # 3. 閰嶇疆浜ら氱鐞嗗櫒 + traffic_manager = client.get_trafficmanager(8000) + traffic_manager.set_synchronous_mode(True) + traffic_manager.set_global_distance_to_leading_vehicle(2.5) + traffic_manager.set_hybrid_physics_mode(True) # 杩滃杞﹁締鍏抽棴鐗╃悊璁＄畻 + traffic_manager.set_respawn_dormant_vehicles(True) + + if args.seed: + traffic_manager.set_random_device_seed(args.seed) + + # 4. 璁剧疆鐜 + configure_weather(world, args.weather) + + # ============================== + # 鐢熸垚杞﹁締 (Vehicles) + # ============================== + blueprint_library = world.get_blueprint_library() + vehicle_bps = blueprint_library.filter('vehicle.*') + vehicle_bps = [x for x in vehicle_bps if int(x.get_attribute('number_of_wheels')) == 4] + vehicle_bps = [x for x in vehicle_bps if not x.id.endswith('microlino')] + + spawn_points = world.get_map().get_spawn_points() + number_of_spawn_points = len(spawn_points) + + if args.num_vehicles < number_of_spawn_points: + random.shuffle(spawn_points) + elif args.num_vehicles > number_of_spawn_points: + logging.warning(f"璇锋眰杞﹁締鏁 {args.num_vehicles} 瓒呰繃鐢熸垚鐐规暟閲 {number_of_spawn_points}") + args.num_vehicles = number_of_spawn_points + + SpawnActor = carla.command.SpawnActor + SetAutopilot = carla.command.SetAutopilot + FutureActor = carla.command.FutureActor + + batch = [] + for n, transform in enumerate(spawn_points): + if n >= args.num_vehicles: + break + bp = random.choice(vehicle_bps) + if bp.has_attribute('color'): + color = random.choice(bp.get_attribute('color').recommended_values) + bp.set_attribute('color', color) + if bp.has_attribute('driver_id'): + bp.set_attribute('driver_id', random.choice(bp.get_attribute('driver_id').recommended_values)) - # --- 鏍稿績浼樺寲锛氬鍔犻殢鏈哄亸绉伙紝璁╄浜哄垎甯冩洿鍒嗘暎 --- - spawn_point.location.x += random.uniform(-8.0, 8.0) - spawn_point.location.y += random.uniform(-8.0, 8.0) - spawn_point.location.z += 0.5 + bp.set_attribute('role_name', 'autopilot') + + batch.append(SpawnActor(bp, transform) + .then(SetAutopilot(FutureActor, True, traffic_manager.get_port()))) + + for response in client.apply_batch_sync(batch, True): + if response.error: + logging.error(response.error) + else: + vehicles_list.append(response.actor_id) + + print(f"鉁 宸茬敓鎴 {len(vehicles_list)} 杈嗚溅") + + for actor in world.get_actors(vehicles_list): + traffic_manager.vehicle_percentage_speed_difference(actor, random.randint(-10, 10)) + traffic_manager.ignore_lights_percentage(actor, 0) + traffic_manager.ignore_signs_percentage(actor, 0) + traffic_manager.auto_lane_change(actor, True) + + # ============================== + # 鐢熸垚琛屼汉 (Pedestrians) + # ============================== + spawn_points = [] + for i in range(args.num_pedestrians): + spawn_point = carla.Transform() + loc = world.get_random_location_from_navigation() + if (loc != None): + spawn_point.location = loc + spawn_points.append(spawn_point) + + walker_bp_list = blueprint_library.filter('walker.pedestrian.*') + walker_controller_bp = blueprint_library.find('controller.ai.walker') + + batch = [] + for spawn_point in spawn_points: + walker_bp = random.choice(walker_bp_list) + if walker_bp.has_attribute('is_invincible'): + walker_bp.set_attribute('is_invincible', 'false') + batch.append(SpawnActor(walker_bp, spawn_point)) + + results = client.apply_batch_sync(batch, True) + for i in range(len(results)): + if results[i].error: + logging.error(results[i].error) + else: + walkers_list.append({"id": results[i].actor_id}) + + batch = [] + walker_controller_list = [] + for i in range(len(walkers_list)): + batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"])) + + results = client.apply_batch_sync(batch, True) + for i in range(len(results)): + if results[i].error: + logging.error(results[i].error) + else: + walkers_list[i]["con"] = results[i].actor_id + walker_controller_list.append(results[i].actor_id) + + all_id = vehicles_list + [x['id'] for x in walkers_list] + [x['con'] for x in walkers_list if 'con' in x] + print(f"鉁 宸茬敓鎴 {len(walkers_list)} 涓浜") + + world.tick() + world.set_pedestrians_cross_factor(0.1) + + for i, controller_id in enumerate(walker_controller_list): + controller = world.get_actor(controller_id) + controller.start() + controller.go_to_location(world.get_random_location_from_navigation()) - try: - pedestrian_bp = random.choice(pedestrian_bps) - pedestrian = world.spawn_actor(pedestrian_bp, spawn_point) - if pedestrian: - generated_actors.append(pedestrian) - controller = world.spawn_actor(controller_bp, carla.Transform(), pedestrian) - generated_actors.append(controller) - - # --- 琛屼负浼樺寲 --- - controller.start() - controller.go_to_location(world.get_random_location_from_navigation()) - controller.set_max_speed(random.uniform(0.5, 1.5)) # 鏇磋嚜鐒剁殑閫熷害鑼冨洿 - - success_count += 1 - break - except RuntimeError: - retry_count -= 1 - if retry_count == 0: - # 鍑忓皯澶辫触鎻愮ず锛岄伩鍏嶅埛灞 - if i % 20 == 0: - print(f"鈿狅笍 閮ㄥ垎琛屼汉鐢熸垚浣嶇疆琚崰鐢紝宸茶烦杩囥") + # ============ 淇敼鐐瑰紑濮 ============ + # 璁剧疆鏇磋嚜鐒剁殑閫熷害: 0.5 ~ 1.3 m/s (绾 1.8 ~ 4.7 km/h) + # 涔嬪墠鐨 1.0~1.8 澶揩浜 + speed = random.uniform(0.5, 1.3) + controller.set_max_speed(speed) + # ============ 淇敼鐐圭粨鏉 ============ + + print("\n馃殌 浠跨湡宸插惎鍔紒鎸 Ctrl+C 鍋滄...") - if (i + 1) % 25 == 0: - print(f"馃懁 宸茬敓鎴 {success_count}/{i + 1} 涓浜") - - print(f"鉁 鎴愬姛鐢熸垚 {success_count} 涓浜恒") - -def clean_up_actors(): - global client - if generated_actors: - print(f"\n馃Ч 姝ｅ湪娓呯悊 {len(generated_actors)} 涓豢鐪熷璞...") - try: - batch = [carla.command.DestroyActor(x) for x in generated_actors] - if client: - client.apply_batch(batch) - time.sleep(1) - generated_actors.clear() - print("鉁 璧勬簮娓呯悊瀹屾垚锛") - except Exception as e: - print(f"鈿狅笍 娓呯悊璧勬簮鏃跺彂鐢熼敊璇: {e}") - else: - print("\n鉁 鏃犻渶瑕佹竻鐞嗙殑浠跨湡瀵硅薄銆") - -atexit.register(clean_up_actors) - -if __name__ == "__main__": + while True: + world.tick() + + except KeyboardInterrupt: + print("\n馃洃 姝ｅ湪鍋滄浠跨湡...") + finally: + print(f"馃Ч 娓呯悊 {len(all_id)} 涓豢鐪熷璞...") + for i, controller_id in enumerate(walker_controller_list): + try: + controller = world.get_actor(controller_id) + controller.stop() + except: + pass + client.apply_batch([carla.command.DestroyActor(x) for x in all_id]) + + if world: + settings = world.get_settings() + settings.synchronous_mode = False + settings.fixed_delta_seconds = None + world.apply_settings(settings) + + print("鉁 娓呯悊瀹屾垚锛岀▼搴忛鍑恒") + +def configure_weather(world, weather_type): + weather_presets = { + 'clear': carla.WeatherParameters.ClearNoon, + 'cloudy': carla.WeatherParameters.CloudyNoon, + 'rainy': carla.WeatherParameters.HardRainNoon, + 'night': carla.WeatherParameters.ClearNight + } + preset = weather_presets.get(weather_type, carla.WeatherParameters.ClearNoon) + world.set_weather(preset) + print(f"馃尋锔 澶╂皵璁剧疆涓: {weather_type}") + +if __name__ == '__main__': main() \ No newline at end of file From 7954d2ad45a636c1619872b7c689785179d20276 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 8 Dec 2025 10:27:58 +0800 Subject: [PATCH 29/32] =?UTF-8?q?=E7=94=9F=E6=88=90=E6=95=B0=E6=8D=AE?= =?UTF-8?q?=E5=92=8C=E8=BD=A6=E8=BE=86=E8=84=9A=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_collector.py | 193 ++++++++++++++++++ 1 file changed, 193 insertions(+) create mode 100644 src/InterconVis_PedSafety_Enh/cvips_collector.py diff --git a/src/InterconVis_PedSafety_Enh/cvips_collector.py b/src/InterconVis_PedSafety_Enh/cvips_collector.py new file mode 100644 index 0000000000..92f5b0f378 --- /dev/null +++ b/src/InterconVis_PedSafety_Enh/cvips_collector.py @@ -0,0 +1,193 @@ +import carla +import random +import queue +import os +import argparse +import time + +# ================= 閰嶇疆鍖哄煙 ================= +OUTPUT_FOLDER = "_out_cvips_data" + +# 銆愰噸瑕併戞敼鎴 True 寮鍚繚瀛樸傚缓璁厛璺戜竴娆 False 纭鐢婚潰姝ｅ父 +ENABLE_SAVING = True + +# 姣忛殧鍑犲抚淇濆瓨涓娆★紵(寤鸿 10-20锛屽お灏忎細鍗★紝澶ぇ閿欒繃缁嗚妭) +SAVE_INTERVAL = 10 +# =========================================== + +def main(): + argparser = argparse.ArgumentParser(description="CVIPS 鏁版嵁閲囬泦鑴氭湰 V4") + argparser.add_argument('--town', default='Town01', help='鍦板浘鍚嶇О') + argparser.add_argument('--num_vehicles', default=20, type=int, help='鑳屾櫙杞﹁締鏁') + argparser.add_argument('--num_walkers', default=30, type=int, help='琛屼汉鏁') + args = argparser.parse_args() + + # 鍒涘缓鐩綍 + if ENABLE_SAVING: + os.makedirs(f"{OUTPUT_FOLDER}/ego_rgb", exist_ok=True) + os.makedirs(f"{OUTPUT_FOLDER}/rsu_rgb", exist_ok=True) + print(f"馃搧 鍥剧墖灏嗕繚瀛樺湪: {os.path.abspath(OUTPUT_FOLDER)}") + + client = carla.Client('localhost', 2000) + client.set_timeout(60.0) + + print(f"姝ｅ湪鍔犺浇鍦板浘 {args.town} (鍙兘闇瑕佸嚑绉)...") + world = client.load_world(args.town) + + # 璁剧疆鍚屾妯″紡 + settings = world.get_settings() + settings.synchronous_mode = True + settings.fixed_delta_seconds = 0.05 + world.apply_settings(settings) + + traffic_manager = client.get_trafficmanager(8000) + traffic_manager.set_synchronous_mode(True) + + # 杩欓噷鐨勯槦鍒楃敤浜庢帴鏀朵紶鎰熷櫒鏁版嵁 + sensor_queue = queue.Queue() + actor_list = [] + + try: + # --- 1. 鐢熸垚鐜 --- + print("姝ｅ湪鏋勫缓鍦烘櫙...") + blueprint_library = world.get_blueprint_library() + spawn_points = world.get_map().get_spawn_points() + + ego_spawn_point = spawn_points[0] + npc_spawn_points = spawn_points[1:] + + # 鐢熸垚鑳屾櫙杞﹁締 + bg_vehicle_bp = blueprint_library.filter('vehicle.*')[0] + for _ in range(args.num_vehicles): + t = random.choice(npc_spawn_points) + actor = world.try_spawn_actor(bg_vehicle_bp, t) + if actor: + actor.set_autopilot(True) + actor_list.append(actor) + + # 鐢熸垚琛屼汉 + walker_bp = blueprint_library.filter('walker.pedestrian.*')[0] + for _ in range(args.num_walkers): + loc = world.get_random_location_from_navigation() + if loc: + w = world.try_spawn_actor(walker_bp, carla.Transform(loc)) + if w: actor_list.append(w) + + # --- 2. 涓昏溅 (Ego) --- + print("鐢熸垚涓昏溅...") + ego_bp = blueprint_library.find('vehicle.tesla.model3') + ego_bp.set_attribute('role_name', 'hero') + ego_vehicle = world.spawn_actor(ego_bp, ego_spawn_point) + ego_vehicle.set_autopilot(True) + actor_list.append(ego_vehicle) + + # --- 3. RSU (璺晶鍗曞厓) --- + rsu_loc = ego_spawn_point.location + rsu_loc.z += 8.0 + rsu_loc.x += 5.0 + # 淇 45 搴 + rsu_transform = carla.Transform(rsu_loc, carla.Rotation(pitch=-45, yaw=ego_spawn_point.rotation.yaw)) + + # --- 4. 浼犳劅鍣ㄨ缃 (鍏抽敭淇敼) --- + camera_bp = blueprint_library.find('sensor.camera.rgb') + camera_bp.set_attribute('image_size_x', '800') + camera_bp.set_attribute('image_size_y', '600') + camera_bp.set_attribute('fov', '90') # 瑙嗛噹骞夸竴鐐 + + # 銆愬叧閿慨鏀癸細寰皟涓昏溅鐩告満浣嶇疆銆 + # 涔嬪墠鐨 x=1.5, z=2.4 鍙兘鍦ㄦ煇浜涜溅鍨嬬殑杞﹂《閲屻 + # 鏀逛负 x=1.0 (闈犲悗涓鐐), z=2.0 (浣庝竴鐐)锛岄氬父鍦ㄦ尅椋庣幓鐠冨唴渚с + cam_transform = carla.Transform(carla.Location(x=1.0, z=2.0)) + ego_cam = world.spawn_actor(camera_bp, cam_transform, attach_to=ego_vehicle) + actor_list.append(ego_cam) + + rsu_cam = world.spawn_actor(camera_bp, rsu_transform) + actor_list.append(rsu_cam) + + # 鐩戝惉鏁版嵁 + ego_cam.listen(lambda image: sensor_queue.put((image.frame, 'ego_rgb', image))) + rsu_cam.listen(lambda image: sensor_queue.put((image.frame, 'rsu_rgb', image))) + + print("\n馃敟 姝ｅ湪棰勭儹浠跨湡 (Warm Up) ... 绛夊緟 50 甯ц鐢婚潰绋冲畾") + # --- 5. 鐑韩闃舵 (涓嶄繚瀛樻暟鎹) --- + for _ in range(50): + world.tick() + # 鎶婁骇鐢熺殑鍨冨溇鏁版嵁浠庨槦鍒楅噷娓呯┖ + try: + for _ in range(2): sensor_queue.get(timeout=1.0) + except: pass + + print("馃殌 浠跨湡姝ｅ紡寮濮嬶紒姝ｅ湪閲囬泦鏁版嵁...") + + # --- 6. 姝ｅ紡寰幆 --- + frame_number = 0 + spectator = world.get_spectator() + + while True: + # 1. 鎺ㄥ姩涓栫晫涓甯 + world.tick() + w_frame = world.get_snapshot().frame + + # 2. 瑙嗚璺熼殢 (淇濇寔 V3 鐨勮窡闅忛昏緫) + ego_tf = ego_vehicle.get_transform() + ego_fv = ego_tf.get_forward_vector() + spectator_loc = ego_tf.location - (ego_fv * 6.0) + carla.Location(z=3.0) + spectator_rot = ego_tf.rotation + spectator_rot.pitch = -15.0 + spectator.set_transform(carla.Transform(spectator_loc, spectator_rot)) + + # 3. 涓ユ牸鐨勬暟鎹幏鍙栭昏緫 + # 鎴戜滑闇瑕佺‘淇濆彇鍑虹殑 2 寮犲浘锛岀‘瀹炲睘浜庡綋鍓嶇殑杩欎竴甯 w_frame + try: + current_frame_data = {} # 鐢ㄥ瓧鍏稿瓨锛歿'ego_rgb': img, 'rsu_rgb': img} + + # 灏濊瘯浠庨槦鍒楀彇鏁版嵁锛岀洿鍒版妸杩欎竴甯х殑涓や釜鐩告満閮藉彇鍒 + # 璁剧疆瓒呮椂闃叉姝诲惊鐜 + timeout_counter = 0 + while len(current_frame_data) < 2 and timeout_counter < 10: + data = sensor_queue.get(timeout=1.0) + frame_id, s_type, img_obj = data + + # 鍙湁褰撴暟鎹抚鍙 == 涓栫晫甯у彿锛屾墠绠楁湁鏁堟暟鎹 + # (鍏佽鏈 1 甯х殑璇樊锛屽洜涓篊ARLA鏈夋椂鍊欎細宸1甯) + if abs(frame_id - w_frame) <= 1: + current_frame_data[s_type] = img_obj + else: + # 涓㈠純鏃ф暟鎹 + pass + timeout_counter += 1 + + # 4. 淇濆瓨鏁版嵁 + if ENABLE_SAVING and (frame_number % SAVE_INTERVAL == 0): + # 纭繚涓や釜鐩告満鐨勬暟鎹兘榻愪簡鎵嶄繚瀛 + if len(current_frame_data) == 2: + print(f"馃捑 淇濆瓨甯 [{w_frame}] | Ego & RSU OK", end='\r') + + # 淇濆瓨 Ego + fname_ego = f"{OUTPUT_FOLDER}/ego_rgb/{w_frame:06d}.png" + current_frame_data['ego_rgb'].save_to_disk(fname_ego) + + # 淇濆瓨 RSU + fname_rsu = f"{OUTPUT_FOLDER}/rsu_rgb/{w_frame:06d}.png" + current_frame_data['rsu_rgb'].save_to_disk(fname_rsu) + else: + print(f"鈿狅笍 涓㈠抚: 鏁版嵁涓嶅畬鏁", end='\r') + + except queue.Empty: + print("鈿狅笍 浼犳劅鍣ㄦ暟鎹秴鏃") + continue + + frame_number += 1 + + except KeyboardInterrupt: + print("\n馃洃 鐢ㄦ埛鍋滄") + finally: + print("\n馃Ч 娓呯悊鐜板満...") + settings.synchronous_mode = False + world.apply_settings(settings) + for actor in actor_list: + if actor.is_alive: actor.destroy() + print("鉁 瀹屾垚銆") + +if __name__ == '__main__': + main() \ No newline at end of file From be38ad9504226c2e018d593fceb2d59efb179b88 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 8 Dec 2025 11:26:56 +0800 Subject: [PATCH 30/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=84=9A=E6=9C=AC?= =?UTF-8?q?=E6=96=87=E4=BB=B6=EF=BC=8C=E5=87=8F=E5=B0=91=E7=94=BB=E9=9D=A2?= =?UTF-8?q?=E5=8D=A1=E9=A1=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cvips_collector.py | 211 +++++++++++------- 1 file changed, 129 insertions(+), 82 deletions(-) diff --git a/src/InterconVis_PedSafety_Enh/cvips_collector.py b/src/InterconVis_PedSafety_Enh/cvips_collector.py index 92f5b0f378..6e3372d150 100644 --- a/src/InterconVis_PedSafety_Enh/cvips_collector.py +++ b/src/InterconVis_PedSafety_Enh/cvips_collector.py @@ -4,55 +4,77 @@ import os import argparse import time +import threading # ================= 閰嶇疆鍖哄煙 ================= -OUTPUT_FOLDER = "_out_cvips_data" +# 杈撳嚭鏂囦欢澶瑰悕绉 +OUTPUT_FOLDER = "_out_cvips_final" -# 銆愰噸瑕併戞敼鎴 True 寮鍚繚瀛樸傚缓璁厛璺戜竴娆 False 纭鐢婚潰姝ｅ父 +# 鏄惁寮鍚繚瀛 (璋冭瘯瑙嗚鏃跺彲璁句负 False) ENABLE_SAVING = True -# 姣忛殧鍑犲抚淇濆瓨涓娆★紵(寤鸿 10-20锛屽お灏忎細鍗★紝澶ぇ閿欒繃缁嗚妭) -SAVE_INTERVAL = 10 +# 閲囬泦闂撮殧锛氭瘡 15 甯т繚瀛樹竴娆 (骞宠　 1080P 鐨勫瓨鍌ㄥ帇鍔) +SAVE_INTERVAL = 15 # =========================================== +# 鍏ㄥ眬鏍囧織浣嶏紝鎺у埗鍚庡彴绾跨▼浣曟椂鍋滄 +writing_thread_running = True + def main(): - argparser = argparse.ArgumentParser(description="CVIPS 鏁版嵁閲囬泦鑴氭湰 V4") + argparser = argparse.ArgumentParser(description="CVIPS 鏈缁堢増鏁版嵁閲囬泦鑴氭湰") argparser.add_argument('--town', default='Town01', help='鍦板浘鍚嶇О') - argparser.add_argument('--num_vehicles', default=20, type=int, help='鑳屾櫙杞﹁締鏁') - argparser.add_argument('--num_walkers', default=30, type=int, help='琛屼汉鏁') + argparser.add_argument('--num_vehicles', default=25, type=int, help='鑳屾櫙杞﹁締鏁') + argparser.add_argument('--num_walkers', default=40, type=int, help='琛屼汉鏁') args = argparser.parse_args() - # 鍒涘缓鐩綍 + # 1. 鍒涘缓淇濆瓨鐩綍 if ENABLE_SAVING: os.makedirs(f"{OUTPUT_FOLDER}/ego_rgb", exist_ok=True) os.makedirs(f"{OUTPUT_FOLDER}/rsu_rgb", exist_ok=True) - print(f"馃搧 鍥剧墖灏嗕繚瀛樺湪: {os.path.abspath(OUTPUT_FOLDER)}") - - client = carla.Client('localhost', 2000) - client.set_timeout(60.0) - - print(f"姝ｅ湪鍔犺浇鍦板浘 {args.town} (鍙兘闇瑕佸嚑绉)...") - world = client.load_world(args.town) - - # 璁剧疆鍚屾妯″紡 + print(f"馃搧 鏁版嵁淇濆瓨璺緞: {os.path.abspath(OUTPUT_FOLDER)}") + + # 2. 杩炴帴 CARLA (浣跨敤 127.0.0.1 閬垮厤 Windows 闃茬伀澧欓棶棰) + try: + client = carla.Client('127.0.0.1', 2000) + client.set_timeout(60.0) + print(f"姝ｅ湪鍔犺浇鍦板浘 {args.town} ...") + world = client.load_world(args.town) + except RuntimeError as e: + print(f"鉂 杩炴帴澶辫触: {e}") + print("璇风‘淇 CARLA 妯℃嫙鍣ㄥ凡鍚姩锛") + return + + # 3. 璁剧疆楂樼敾璐ㄥぉ姘 (姝ｅ崍鏅村ぉ) + world.set_weather(carla.WeatherParameters.ClearNoon) + + # 4. 璁剧疆鍚屾妯″紡 settings = world.get_settings() settings.synchronous_mode = True - settings.fixed_delta_seconds = 0.05 + settings.fixed_delta_seconds = 0.05 # 鍥哄畾 20 FPS world.apply_settings(settings) traffic_manager = client.get_trafficmanager(8000) traffic_manager.set_synchronous_mode(True) - # 杩欓噷鐨勯槦鍒楃敤浜庢帴鏀朵紶鎰熷櫒鏁版嵁 - sensor_queue = queue.Queue() + # 5. 鍒濆鍖栭槦鍒楀拰鍒楄〃 + sensor_queue = queue.Queue() # 鎺ユ敹鍘熷鏁版嵁 + save_queue = queue.Queue() # 鍚庡彴淇濆瓨闃熷垪 actor_list = [] + # 6. 鍚姩鍚庡彴淇濆瓨绾跨▼ + global writing_thread_running + writing_thread_running = True + save_thread = threading.Thread(target=save_worker, args=(save_queue,)) + save_thread.start() + print("鉁 鍚庡彴淇濆瓨鏈嶅姟宸插惎鍔") + try: - # --- 1. 鐢熸垚鐜 --- - print("姝ｅ湪鏋勫缓鍦烘櫙...") + # --- 鐢熸垚鐜 --- + print("姝ｅ湪鏋勫缓浜ら氬満鏅...") blueprint_library = world.get_blueprint_library() spawn_points = world.get_map().get_spawn_points() + # 鍒嗙涓昏溅鐐瑰拰NPC鐐癸紝闃叉纰版挒 ego_spawn_point = spawn_points[0] npc_spawn_points = spawn_points[1:] @@ -73,7 +95,7 @@ def main(): w = world.try_spawn_actor(walker_bp, carla.Transform(loc)) if w: actor_list.append(w) - # --- 2. 涓昏溅 (Ego) --- + # --- 鐢熸垚涓昏溅 (Ego) --- print("鐢熸垚涓昏溅...") ego_bp = blueprint_library.find('vehicle.tesla.model3') ego_bp.set_attribute('role_name', 'hero') @@ -81,23 +103,24 @@ def main(): ego_vehicle.set_autopilot(True) actor_list.append(ego_vehicle) - # --- 3. RSU (璺晶鍗曞厓) --- + # --- 鐢熸垚 RSU (璺晶鍗曞厓) --- rsu_loc = ego_spawn_point.location - rsu_loc.z += 8.0 + rsu_loc.z += 12.0 # 12绫抽珮绌 rsu_loc.x += 5.0 - # 淇 45 搴 - rsu_transform = carla.Transform(rsu_loc, carla.Rotation(pitch=-45, yaw=ego_spawn_point.rotation.yaw)) + rsu_transform = carla.Transform(rsu_loc, carla.Rotation(pitch=-70, yaw=ego_spawn_point.rotation.yaw)) - # --- 4. 浼犳劅鍣ㄨ缃 (鍏抽敭淇敼) --- + # --- 浼犳劅鍣ㄨ缃 (1080P 楂樼敾璐) --- camera_bp = blueprint_library.find('sensor.camera.rgb') - camera_bp.set_attribute('image_size_x', '800') - camera_bp.set_attribute('image_size_y', '600') - camera_bp.set_attribute('fov', '90') # 瑙嗛噹骞夸竴鐐 - - # 銆愬叧閿慨鏀癸細寰皟涓昏溅鐩告満浣嶇疆銆 - # 涔嬪墠鐨 x=1.5, z=2.4 鍙兘鍦ㄦ煇浜涜溅鍨嬬殑杞﹂《閲屻 - # 鏀逛负 x=1.0 (闈犲悗涓鐐), z=2.0 (浣庝竴鐐)锛岄氬父鍦ㄦ尅椋庣幓鐠冨唴渚с - cam_transform = carla.Transform(carla.Location(x=1.0, z=2.0)) + camera_bp.set_attribute('image_size_x', '1920') + camera_bp.set_attribute('image_size_y', '1080') + camera_bp.set_attribute('fov', '90') + # 浼樺寲鐢昏川灞炴 + camera_bp.set_attribute('exposure_mode', 'histogram') + camera_bp.set_attribute('motion_blur_intensity', '0.2') + + # 涓昏溅鐩告満锛氱涓変汉绉 (杞﹀悗6绫筹紝楂3绫)锛岄槻閬尅 + cam_transform = carla.Transform(carla.Location(x=-6.0, z=3.0), carla.Rotation(pitch=-20)) + ego_cam = world.spawn_actor(camera_bp, cam_transform, attach_to=ego_vehicle) actor_list.append(ego_cam) @@ -108,86 +131,110 @@ def main(): ego_cam.listen(lambda image: sensor_queue.put((image.frame, 'ego_rgb', image))) rsu_cam.listen(lambda image: sensor_queue.put((image.frame, 'rsu_rgb', image))) - print("\n馃敟 姝ｅ湪棰勭儹浠跨湡 (Warm Up) ... 绛夊緟 50 甯ц鐢婚潰绋冲畾") - # --- 5. 鐑韩闃舵 (涓嶄繚瀛樻暟鎹) --- + print("\n馃敟 姝ｅ湪棰勭儹 (Warm Up)... 璇蜂繚鎸 CARLA 绐楀彛鍦ㄥ墠鍙帮紒") for _ in range(50): world.tick() - # 鎶婁骇鐢熺殑鍨冨溇鏁版嵁浠庨槦鍒楅噷娓呯┖ try: + # 娓呯┖棰勭儹鏈熺殑鍨冨溇鏁版嵁 for _ in range(2): sensor_queue.get(timeout=1.0) except: pass - print("馃殌 浠跨湡姝ｅ紡寮濮嬶紒姝ｅ湪閲囬泦鏁版嵁...") + print("馃殌 閲囬泦寮濮嬶紒鎸 Ctrl+C 浼橀泤閫鍑...") - # --- 6. 姝ｅ紡寰幆 --- frame_number = 0 spectator = world.get_spectator() while True: - # 1. 鎺ㄥ姩涓栫晫涓甯 + # 1. 鐗╃悊璁＄畻涓甯 world.tick() w_frame = world.get_snapshot().frame - # 2. 瑙嗚璺熼殢 (淇濇寔 V3 鐨勮窡闅忛昏緫) - ego_tf = ego_vehicle.get_transform() - ego_fv = ego_tf.get_forward_vector() - spectator_loc = ego_tf.location - (ego_fv * 6.0) + carla.Location(z=3.0) - spectator_rot = ego_tf.rotation - spectator_rot.pitch = -15.0 - spectator.set_transform(carla.Transform(spectator_loc, spectator_rot)) - - # 3. 涓ユ牸鐨勬暟鎹幏鍙栭昏緫 - # 鎴戜滑闇瑕佺‘淇濆彇鍑虹殑 2 寮犲浘锛岀‘瀹炲睘浜庡綋鍓嶇殑杩欎竴甯 w_frame + # 2. 绉诲姩瑙備紬瑙嗚璺熼殢涓昏溅 (鏂逛究浣犺瀵) + spectator.set_transform(ego_cam.get_transform()) + try: - current_frame_data = {} # 鐢ㄥ瓧鍏稿瓨锛歿'ego_rgb': img, 'rsu_rgb': img} - - # 灏濊瘯浠庨槦鍒楀彇鏁版嵁锛岀洿鍒版妸杩欎竴甯х殑涓や釜鐩告満閮藉彇鍒 - # 璁剧疆瓒呮椂闃叉姝诲惊鐜 + # 3. 鑾峰彇鏁版嵁 + current_frame_data = {} timeout_counter = 0 + # 灏濊瘯鍑戦綈涓や釜鐩告満鐨勬暟鎹 while len(current_frame_data) < 2 and timeout_counter < 10: data = sensor_queue.get(timeout=1.0) frame_id, s_type, img_obj = data - - # 鍙湁褰撴暟鎹抚鍙 == 涓栫晫甯у彿锛屾墠绠楁湁鏁堟暟鎹 - # (鍏佽鏈 1 甯х殑璇樊锛屽洜涓篊ARLA鏈夋椂鍊欎細宸1甯) + # 鍏佽 1 甯х殑璇樊 if abs(frame_id - w_frame) <= 1: current_frame_data[s_type] = img_obj - else: - # 涓㈠純鏃ф暟鎹 - pass timeout_counter += 1 - # 4. 淇濆瓨鏁版嵁 + # 4. 鏀惧叆鍚庡彴闃熷垪 if ENABLE_SAVING and (frame_number % SAVE_INTERVAL == 0): - # 纭繚涓や釜鐩告満鐨勬暟鎹兘榻愪簡鎵嶄繚瀛 if len(current_frame_data) == 2: - print(f"馃捑 淇濆瓨甯 [{w_frame}] | Ego & RSU OK", end='\r') + print(f"Frame: {w_frame} | 寰呭瓨闃熷垪: {save_queue.qsize()}", end='\r') + save_queue.put(current_frame_data) - # 淇濆瓨 Ego - fname_ego = f"{OUTPUT_FOLDER}/ego_rgb/{w_frame:06d}.png" - current_frame_data['ego_rgb'].save_to_disk(fname_ego) - - # 淇濆瓨 RSU - fname_rsu = f"{OUTPUT_FOLDER}/rsu_rgb/{w_frame:06d}.png" - current_frame_data['rsu_rgb'].save_to_disk(fname_rsu) - else: - print(f"鈿狅笍 涓㈠抚: 鏁版嵁涓嶅畬鏁", end='\r') - except queue.Empty: - print("鈿狅笍 浼犳劅鍣ㄦ暟鎹秴鏃") continue frame_number += 1 except KeyboardInterrupt: - print("\n馃洃 鐢ㄦ埛鍋滄") + print("\n馃洃 鐢ㄦ埛璇锋眰鍋滄") + finally: - print("\n馃Ч 娓呯悊鐜板満...") - settings.synchronous_mode = False - world.apply_settings(settings) + print("\n馃Ч 姝ｅ湪鎵ц娓呯悊绋嬪簭...") + + # 1. 鍋滄鍚庡彴绾跨▼ + writing_thread_running = False + + # 2. 绛夊緟鍓╀綑鐓х墖淇濆瓨瀹屾瘯 (瑙ｅ喅鎶ラ敊鐨勫叧閿) + if not save_queue.empty(): + print(f"鈴 姝ｅ湪淇濆瓨鍓╀綑鐨 {save_queue.qsize()} 寮犵収鐗囷紝璇蜂笉瑕佸叧闂獥鍙...", end='', flush=True) + save_thread.join() + print(" 淇濆瓨瀹屾瘯锛") + else: + save_thread.join() + + # 3. 鎭㈠ CARLA 璁剧疆 (闃叉涓嬫鍚姩鍙樺崱) + try: + if world: + settings = world.get_settings() + settings.synchronous_mode = False + settings.fixed_delta_seconds = None + world.apply_settings(settings) + except: + pass + + # 4. 瀹夊叏閿姣佹墍鏈夊璞 + print("馃棏锔 閿姣佽溅杈嗗拰浼犳劅鍣...") for actor in actor_list: - if actor.is_alive: actor.destroy() - print("鉁 瀹屾垚銆") + try: + if actor.is_alive: + actor.destroy() + except: + pass # 蹇界暐閿姣佹椂鐨勯敊璇 + + print("鉁 鍏ㄩ儴瀹屾垚锛岀▼搴忓畨鍏ㄩ鍑恒") + +# --- 鍚庡彴宸ヤ綔绾跨▼ --- +def save_worker(q): + while writing_thread_running or not q.empty(): + try: + data_dict = q.get(timeout=1.0) + ego_img = data_dict['ego_rgb'] + rsu_img = data_dict['rsu_rgb'] + + # 淇濆瓨 Ego + path_ego = f"{OUTPUT_FOLDER}/ego_rgb/{ego_img.frame:06d}.png" + ego_img.save_to_disk(path_ego) + + # 淇濆瓨 RSU + path_rsu = f"{OUTPUT_FOLDER}/rsu_rgb/{rsu_img.frame:06d}.png" + rsu_img.save_to_disk(path_rsu) + + q.task_done() + except queue.Empty: + continue + except Exception as e: + print(f"淇濆瓨閿欒: {e}") if __name__ == '__main__': main() \ No newline at end of file From 50f765e34d9b352b7891d9bb75a9516b83dba774 Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 8 Dec 2025 11:35:12 +0800 Subject: [PATCH 31/32] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=84=9A=E6=9C=AC?= =?UTF-8?q?=E6=96=87=E4=BB=B6=EF=BC=8C=E5=87=8F=E5=B0=91=E7=94=BB=E9=9D=A2?= =?UTF-8?q?=E5=8D=A1=E9=A1=BF=EF=BC=9B=E6=9B=B4=E6=96=B0README.md=EF=BC=9B?= =?UTF-8?q?=E5=88=A0=E9=99=A4Terminal=5FCommands.txt?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 1 + src/InterconVis_PedSafety_Enh/Terminal_Commands.txt | 11 ----------- 2 files changed, 1 insertion(+), 11 deletions(-) delete mode 100644 src/InterconVis_PedSafety_Enh/Terminal_Commands.txt diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md index 885f38496f..d8b2452482 100644 --- a/src/InterconVis_PedSafety_Enh/README.md +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -108,6 +108,7 @@ CVIPS (Connected Vision for Increased Pedestrian Safety) 鏄竴涓嚧鍔涗簬閫 鎴戜滑鎻愪緵浜嗗彲瑙嗗寲缁撴灉鏉ュ睍绀烘垜浠暟鎹泦涓殑涓嶅悓瑙嗚: + ## 鑷磋阿 (Acknowledgement) 鏈」鐩熀浜庝互涓嬪紑婧愰」鐩: BEVerse, Fiery, open-mmlab, 浠ュ強 DeepAccident銆 diff --git a/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt b/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt deleted file mode 100644 index 56726ea4aa..0000000000 --- a/src/InterconVis_PedSafety_Enh/Terminal_Commands.txt +++ /dev/null @@ -1,11 +0,0 @@ -# 娴嬭瘯1锛氬熀纭鍦烘櫙锛圱own04+4宀旇矾鍙+鏅村ぉ+涓崍锛 -python cvips_generation.py --town Town04 --intersection 4way --weather clear --time_of_day noon - -# 娴嬭瘯2锛氬鏉傚満鏅紙Town10HD+3宀旇矾鍙+闆ㄥぉ+鏃ヨ惤+楂樿浜哄瘑搴︼級 -python cvips_generation.py --town Town10HD --intersection 3way --weather rainy --time_of_day sunset --crowd_level high --crossing_percentage 0.3 - -# 娴嬭瘯3锛氬闂村満鏅紙Town07+4宀旇矾鍙+闃村ぉ+澶滈棿+鑷畾涔夐殢鏈虹瀛愶級 -python cvips_generation.py --town Town07 --intersection 4way --weather cloudy --time_of_day night --seed_value 123 --scenario scenario00005 - -# 娴嬭瘯4锛氭渶绠鍦烘櫙锛圱own04+3宀旇矾鍙+鏅村ぉ+鏃ヨ惤锛 -python cvips_generation.py --town Town04 --intersection 3way --weather clear --time_of_day sunset \ No newline at end of file From 3d6ed720b4213d48646fb7af381890022555876b Mon Sep 17 00:00:00 2001 From: haoliuaa <2121765139@qq.com> Date: Mon, 15 Dec 2025 10:33:30 +0800 Subject: [PATCH 32/32] =?UTF-8?q?=E6=9B=B4=E6=96=B0README.md=E6=96=87?= =?UTF-8?q?=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/InterconVis_PedSafety_Enh/README.md | 35 ++++++++++++++++++++++++- 1 file changed, 34 insertions(+), 1 deletion(-) diff --git a/src/InterconVis_PedSafety_Enh/README.md b/src/InterconVis_PedSafety_Enh/README.md index d8b2452482..518d07a8f2 100644 --- a/src/InterconVis_PedSafety_Enh/README.md +++ b/src/InterconVis_PedSafety_Enh/README.md @@ -104,9 +104,42 @@ CVIPS (Connected Vision for Increased Pedestrian Safety) 鏄竴涓嚧鍔涗簬閫 1. Town01 + 15 杈嗚溅 + 80 涓浜 + 闆ㄥぉ + 鏃ヨ惤 + 绉嶅瓙 111 ```shell python cvips_generation.py --town Town01 --num_vehicles 15 --num_pedestrians 80 --weather rainy --time_of_day sunset --seed 111 +## 鏁版嵁闆嗙敓鎴 +鏁版嵁闆嗙敱cvip_collector.py鐢熸垚锛屼繚瀛樺湪out_cvips_v9(涓绘枃浠跺す) +- 馃搨 ego_rgb/ : 瀛樻斁涓昏溅锛圱esla锛夎瑙掔殑鍥剧墖锛堝懡鍚嶆牸寮忎负 甯у彿.png锛夈 +- 馃搨 rsu_rgb/ : 瀛樻斁璺晶鍗曞厓锛圧SU锛屽畨瑁呭湪楂樺锛夎瑙掔殑鍥剧墖銆 +### 杩愯鍛戒护 +### 鍩虹妯″紡 (榛樿鍙傛暟) +- 鍦═own01鍦板浘锛岀敓鎴25杈嗚溅鍜40涓浜猴紝鏅存湕涓崍銆 + ```shell + python cvips_collector.py + ``` +### 鏇存崲鍦板浘 (渚嬪 Town02, Town10HD) +浣跨敤 --town 鍙傛暟銆 +- 鍦 Town02 閲囬泦 + ```shell + python cvips_collector.py --town Town02 + ``` +- 鍦 Town10HD (楂樻竻鍦板浘) 閲囬泦 + ```shell + python cvips_collector.py --town Town10HD + ``` +### 璋冩暣浜ら氬瘑搴 (鎷ュ牭/绌烘椃) +浣跨敤 --num_vehicles 鍜 --num_walkers銆 +- 鎷ュ牭鍦烘櫙 (50杈嗚溅, 80浜): + ```shell + python cvips_collector.py --num_vehicles 50 --num_walkers 80 + ``` +- 绌烘椃鍦烘櫙 (5杈嗚溅, 0浜): + ```shell + python cvips_collector.py --num_vehicles 5 --num_walkers 0 + ``` ### 鏍锋湰鍙鍖 (Sample Visualizations) - 鎴戜滑鎻愪緵浜嗗彲瑙嗗寲缁撴灉鏉ュ睍绀烘垜浠暟鎹泦涓殑涓嶅悓瑙嗚: +- 杞﹁締鑷姩琛岄┒锛堣瑙掍负杞﹀悗锛 +- +- 妯℃嫙鐜 +- ## 鑷磋阿 (Acknowledgement)