添加初步可以生成摄像头的文件

src/enhance_pedestrian_safety/cvips_data/success_20251215_092719/config.txt

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+Éú³Éʱ¼ä: 2025-12-15 09:27:19.432740
+µØͼ: Carla/Maps/Town10HD_Opt

src/enhance_pedestrian_safety/cvips_generation_v1_basic.py

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+# cvips_smart_final.py
+"""
+CVIPS 智能版本 - 不再关闭运行的CARLA，并修复所有问题
+"""
+
+import sys
+import os
+import time
+import random  # 添加这行
+import traceback
+from datetime import datetime
+
+print("=" * 70)
+print("CVIPS 数据生成器 - 智能版本")
+print("=" * 70)
+
+# ============================================================
+# 1. 设置CARLA路径
+# ============================================================
+print("\n[1/5] 设置CARLA路径...")
+CARLA_EGG = r"D:\carla\carla0914\CARLA_0.9.14\WindowsNoEditor\PythonAPI\carla\dist\carla-0.9.14-py3.7-win-amd64.egg"
+
+if os.path.exists(CARLA_EGG):
+    sys.path.append(CARLA_EGG)
+    print(f"✓ CARLA路径: {os.path.basename(CARLA_EGG)}")
+else:
+    print(f"✗ 找不到egg文件: {CARLA_EGG}")
+    sys.exit(1)
+
+# ============================================================
+# 2. 导入CARLA
+# ============================================================
+print("\n[2/5] 导入CARLA模块...")
+try:
+    import carla
+
+    print("✓ CARLA模块导入成功")
+except ImportError as e:
+    print(f"✗ 导入失败: {e}")
+    sys.exit(1)
+
+
+# ============================================================
+# 3. 智能连接CARLA服务器
+# ============================================================
+def smart_connect_to_carla(max_retries=10, retry_delay=3):
+    """智能连接CARLA服务器，不关闭已有服务器"""
+    print(f"\n[3/5] 连接到CARLA服务器 (最多尝试{max_retries}次)...")
+
+    for attempt in range(1, max_retries + 1):
+        try:
+            print(f"  尝试 {attempt}/{max_retries}...")
+
+            # 创建客户端
+            client = carla.Client('localhost', 2000)
+            client.set_timeout(15.0)
+
+            # 获取服务器版本
+            server_version = client.get_server_version()
+            print(f"  ✓ 连接成功! 服务器版本: {server_version}")
+
+            # 获取世界
+            world = client.get_world()
+            print(f"  ✓ 地图: {world.get_map().name}")
+
+            return client, world
+
+        except Exception as e:
+            error_msg = str(e)
+            print(f"  尝试 {attempt} 失败: {error_msg[:80]}...")
+
+            # 给出具体建议
+            if "time-out" in error_msg:
+                if attempt == 1:
+                    print(f"  ℹ 请确保CARLA服务器正在运行")
+                    print(f"  ℹ 如果CARLA正在启动中，请等待几秒钟")
+                elif attempt == 3:
+                    print(f"  ℹ 如果CARLA窗口无响应，请尝试在窗口中点击一下")
+
+            if attempt < max_retries:
+                print(f"  等待 {retry_delay} 秒后重试...")
+                time.sleep(retry_delay)
+            else:
+                print(f"\n✗ 所有连接尝试失败")
+                print(f"\n请检查:")
+                print(f"1. CARLA服务器是否正在运行 (应该能看到3D窗口)")
+                print(f"2. CARLA窗口是否在前台 (尝试点击一下CARLA窗口)")
+                print(f"3. 如果CARLA刚启动，可能需要更多时间加载")
+                return None, None
+
+    return None, None
+
+
+# 智能连接
+client, world = smart_connect_to_carla()
+
+if not client or not world:
+    print("\n" + "=" * 70)
+    print("连接失败！")
+    print("=" * 70)
+    sys.exit(1)
+
+# ============================================================
+# 4. 创建简单场景
+# ============================================================
+print("\n[4/5] 创建数据收集场景...")
+
+try:
+    # 创建输出目录
+    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    output_dir = f"cvips_data/success_{timestamp}"
+    os.makedirs(output_dir, exist_ok=True)
+
+    print(f"输出目录: {output_dir}")
+
+    # 保存配置
+    with open(f"{output_dir}/config.txt", "w") as f:
+        f.write(f"生成时间: {datetime.now()}\n")
+        f.write(f"地图: {world.get_map().name}\n")
+
+    # 设置异步模式（更稳定）
+    settings = world.get_settings()
+    settings.synchronous_mode = False
+    world.apply_settings(settings)
+
+    # 设置简单天气
+    weather = carla.WeatherParameters(
+        sun_altitude_angle=90,
+        cloudiness=0,
+        precipitation=0,
+        fog_density=0
+    )
+    world.set_weather(weather)
+    print("✓ 天气设置完成")
+
+    # 生成车辆
+    blueprint_lib = world.get_blueprint_library()
+
+    # 选择简单车辆
+    vehicle_bp = None
+    vehicle_types = [
+        'vehicle.tesla.model3',
+        'vehicle.audi.tt',
+        'vehicle.nissan.micra',
+        'vehicle.mini.cooperst'
+    ]
+
+    for vtype in vehicle_types:
+        if blueprint_lib.filter(vtype):
+            vehicle_bp = random.choice(blueprint_lib.filter(vtype))
+            break
+
+    if not vehicle_bp:
+        vehicle_bp = random.choice(blueprint_lib.filter('vehicle.*'))
+
+    # 获取生成点
+    spawn_points = world.get_map().get_spawn_points()
+    if spawn_points:
+        spawn_point = random.choice(spawn_points)
+        print(f"使用生成点: ({spawn_point.location.x:.1f}, {spawn_point.location.y:.1f})")
+
+        # 生成车辆
+        vehicle = world.spawn_actor(vehicle_bp, spawn_point)
+        print(f"✓ 生成车辆: {vehicle.type_id}")
+
+        # 设置自动驾驶
+        vehicle.set_autopilot(True)
+
+        # 添加简单摄像头
+        camera_bp = blueprint_lib.find('sensor.camera.rgb')
+        camera_bp.set_attribute('image_size_x', '640')
+        camera_bp.set_attribute('image_size_y', '480')
+        camera_bp.set_attribute('fov', '90')
+
+        # 前摄像头
+        camera_transform = carla.Transform(
+            carla.Location(x=1.5, z=1.4),
+            carla.Rotation(pitch=0, yaw=0, roll=0)
+        )
+        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
+
+        # 图像保存回调
+        frame_count = [0]
+
+
+        def save_image(image):
+            frame_count[0] += 1
+            if frame_count[0] <= 30:  # 只保存30张
+                image.save_to_disk(f"{output_dir}/frame_{frame_count[0]:03d}.png")
+                if frame_count[0] % 10 == 0:
+                    print(f"    已保存 {frame_count[0]}/30 帧")
+
+
+        camera.listen(save_image)
+        print("✓ 摄像头已安装")
+
+        # 收集数据
+        print("\n[5/5] 收集数据 (15秒)...")
+        print("按 Ctrl+C 可提前结束")
+
+        start_time = time.time()
+        try:
+            for i in range(15):
+                print(f"  进度: {i + 1}/15 秒")
+                time.sleep(1.0)
+
+            print(f"\n✓ 数据收集完成!")
+            print(f"  总帧数: {frame_count[0]}")
+            print(f"  数据保存到: {output_dir}")
+
+        except KeyboardInterrupt:
+            print(f"\n数据收集中断，已保存 {frame_count[0]} 帧")
+
+        # 清理
+        print("\n清理场景...")
+        camera.stop()
+        camera.destroy()
+        vehicle.destroy()
+        print("✓ 场景已清理")
+
+    else:
+        print("⚠ 没有找到生成点，跳过车辆生成")
+
+except Exception as e:
+    print(f"✗ 创建场景时出错: {e}")
+    traceback.print_exc()
+
+# ============================================================
+# 完成
+# ============================================================
+print("\n" + "=" * 70)
+print("🎉 CVIPS 数据生成完成！")
+print("=" * 70)
+print(f"CARLA服务器仍在运行，可以继续使用")
+print("=" * 70)
+
+input("\n按Enter键退出...")