A1-Koohi-403723151

a1_sensors.ipynb

@@ -0,0 +1,173 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import carla\n",
+    "import time\n",
+    "import os"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "client = carla.Client(\"localhost\", 2000)\n",
+    "client.set_timeout(10.0)\n",
+    "world = client.get_world()\n",
+    "blueprint_library = world.get_blueprint_library()\n",
+    "\n",
+    "vehicle_bp = blueprint_library.filter(\"vehicle.tesla.model3\")[0]\n",
+    "spawn_point = world.get_map().get_spawn_points()[0]\n",
+    "vehicle = world.spawn_actor(vehicle_bp, spawn_point)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# LiDAR sensor\n",
+    "lidar_bp = blueprint_library.find('sensor.lidar.ray_cast')\n",
+    "lidar_bp.set_attribute('range', '50')\n",
+    "lidar_location = carla.Location(0, 0, 2)\n",
+    "lidar_rotation = carla.Rotation(0, 0, 0)\n",
+    "lidar_transform = carla.Transform(lidar_location, lidar_rotation)\n",
+    "lidar = world.spawn_actor(lidar_bp, lidar_transform, attach_to=vehicle)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# RADAR sensor\n",
+    "radar_bp = blueprint_library.find('sensor.other.radar')\n",
+    "radar_location = carla.Location(0.2, 0, 1)\n",
+    "radar_rotation = carla.Rotation(0, 0, 0)\n",
+    "radar_transform = carla.Transform(radar_location, radar_rotation)\n",
+    "radar = world.spawn_actor(radar_bp, radar_transform, attach_to=vehicle)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Collision sensor\n",
+    "collision_bp = blueprint_library.find('sensor.other.collision')\n",
+    "collision_sensor = world.spawn_actor(collision_bp, carla.Transform(), attach_to=vehicle)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Saving data\n",
+    "def save_lidar_data(data):\n",
+    "    filename = f\"output/lidar/{data.frame}.ply\"\n",
+    "    data.save_to_disk(filename)\n",
+    "\n",
+    "def save_radar_data(data):\n",
+    "    filename = f\"output/radar/{data.frame}.radar\"\n",
+    "    with open(filename, 'wb') as f:\n",
+    "        f.write(data.raw_data)\n",
+    "\n",
+    "def save_collision_data(event):\n",
+    "    filename = f\"output/collision/{event.frame}.txt\"\n",
+    "    with open(filename, 'w') as f:\n",
+    "        f.write(str(event))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Create Folders\n",
+    "os.makedirs('output/lidar', exist_ok=True)\n",
+    "os.makedirs('output/radar', exist_ok=True)\n",
+    "os.makedirs('output/collision', exist_ok=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "lidar.listen(lambda data: save_lidar_data(data))\n",
+    "radar.listen(lambda data: save_radar_data(data))\n",
+    "collision_sensor.listen(lambda event: save_collision_data(event))\n",
+    "\n",
+    "time.sleep(30)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 9,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# Cleaning\n",
+    "lidar.stop()\n",
+    "radar.stop()\n",
+    "collision_sensor.stop()\n",
+    "vehicle.destroy()\n",
+    "lidar.destroy()\n",
+    "radar.destroy()\n",
+    "collision_sensor.destroy()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "CARLA",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.8.20"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}