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14 changes: 13 additions & 1 deletion src/__main__.py
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Original file line number Diff line number Diff line change
@@ -1,9 +1,12 @@
import time

import sys
import carla

from src.simulator_handler import SimulatorHandler
from utils.vehicle_command import VehicleCommand
import warnings

warnings.filterwarnings('ignore')

if __name__ == "__main__":
simulator_handler = SimulatorHandler(town_name="Town04")
Expand All @@ -18,13 +21,22 @@
rgb_cam = simulator_handler.rgb_cam()
gnss_sensor = simulator_handler.gnss()
imu_sensor = simulator_handler.imu()
lidar_sensor = simulator_handler.lidar()
radar_sensor = simulator_handler.radar()
colision_sensor = simulator_handler.colision()

# listen to sensor data
rgb_cam.listen(lambda image: simulator_handler.rgb_cam_callback(image))
imu_sensor.listen(lambda imu: simulator_handler.imu_callback(imu))
gnss_sensor.listen(lambda gnss: simulator_handler.gnss_callback(gnss))
lidar_sensor.listen(lambda lidar_sensor: simulator_handler.lidar_callback(lidar_sensor))
radar_sensor.listen(lambda radar_sensor: simulator_handler.radar_callback(radar_sensor))
colision_sensor.listen(lambda colision_sensor: simulator_handler.colision_callback(colision_sensor))

VehicleCommand(throttle=1.0).send_control(simulator_handler.vehicle)
time.sleep(20.0)





100 changes: 89 additions & 11 deletions src/simulator_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import cv2
import numpy as np
import pandas as pd
import math
from matplotlib import pyplot as plt


Expand All @@ -27,19 +28,22 @@ def __init__(self, town_name):
client.set_timeout(8.0)
self.world = client.get_world()
if os.path.basename(self.world.get_map().name) != town_name:
self.world: carla.World = client.load_world(town_name)
self.world: carla.World = client.load_world(town_name, reset_settings=True)

self.blueprint_library = self.world.get_blueprint_library()
self.actor_list = []
self.vehicle_list = []
self.IM_WIDTH = 800 # Ideally a config file should be defined for such parameters
self.IM_HEIGHT = 600
self.IM_WIDTH = 1280 # Ideally a config file should be defined for such parameters
self.IM_HEIGHT = 720
print("Successfully connected to CARLA client")
except Exception as error:
raise Exception(f"Error while initializing the simulator: {error}")

self.imu_dataframe = pd.DataFrame({})
self.gnss_dataframe = pd.DataFrame({})
self.lidar_dataframe = pd.DataFrame({})
self.radar_dataframe = pd.DataFrame({})
self.collision_dataframe = pd.DataFrame({})

def spawn_vehicle(self, spawn_index: int = 90):
self.vehicle_blueprint = self.blueprint_library.filter("model3")[0] # choosing the car
Expand Down Expand Up @@ -84,17 +88,59 @@ def imu(self):
self.actor_list.append(ego_imu)
return ego_imu

def lidar(self):

lidar = self.blueprint_library.find('sensor.lidar.ray_cast')
lidar.set_attribute('range', '100.0')
lidar.set_attribute('noise_stddev', '0.1')
lidar.set_attribute('upper_fov', '15.0')
lidar.set_attribute('lower_fov', '-25.0')
lidar.set_attribute('channels', '64.0')
lidar.set_attribute('rotation_frequency', '20.0')
lidar.set_attribute('points_per_second', '5000')

lidar_init_trans = carla.Transform(carla.Location(z=1.2))
ego_lidar = self.world.spawn_actor(lidar, lidar_init_trans, attach_to=self.vehicle,
attachment_type=carla.AttachmentType.Rigid)
# lidar = world.spawn_actor(lidar_bp, lidar_init_trans, attach_to=vehicle)
self.actor_list.append(ego_lidar)
return ego_lidar

def radar(self):

radar = self.blueprint_library.find('sensor.other.radar')
radar.set_attribute('horizontal_fov', '30.0')
radar.set_attribute('vertical_fov', '30.0')
radar.set_attribute('points_per_second', '1000')
radar_init_trans = carla.Transform(carla.Location(z=1.2))
# radar = selfworld.spawn_actor(radar_bp, radar_init_trans, attach_to=vehicle)

ego_radar = self.world.spawn_actor(radar, radar_init_trans, attach_to=self.vehicle,
attachment_type=carla.AttachmentType.Rigid)
self.actor_list.append(ego_radar)
return ego_radar

def collision(self):

collision = self.blueprint_library.find('sensor.other.collision')
# collision_sensor = self.world.spawn_actor(collision_bp, carla.Transform(), attach_to=self.vehicle)
ego_collision = self.world.spawn_actor(collision, carla.Transform(), attach_to=self.vehicle)
self.actor_list.append(ego_collision)
return ego_collision

def rgb_cam_callback(self, image):
image.save_to_disk("data/rgb_cam/%06d.jpg" % image.frame)
raw_image = np.array(image.raw_data)
cv2.namedWindow('RGB Camera', cv2.WINDOW_AUTOSIZE)

rgba_image = raw_image.reshape((self.IM_HEIGHT, self.IM_WIDTH, 4)) # because carla rgb cam is rgba
rgb_image = rgba_image[:, :, :3]
rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB)
plt.imshow(rgb_image)
plt.show()
# cv2.imshow("rgb camera", rgb_image) # FixMe: Replace with pygame visualization
# cv2.waitKey(1)
# plt.imshow(rgb_image)
# plt.show(1)
cv2.imshow("rgb camera", rgb_image) # FixMe: Replace with pygame visualization
cv2.waitKey(1)
# cv2.destroyAllWindows()

def imu_callback(self, imu): # accelerometer is m/s^2 and gyroscope data is rad/sec
imu_dict = {}
Expand All @@ -112,9 +158,41 @@ def imu_callback(self, imu): # accelerometer is m/s^2 and gyroscope data is rad

def gnss_callback(self, gnss):
gnss_dict = {}
gnss_dict["timestamp"] = gnss.timestamp
gnss_dict["latitude"] = gnss.latitude
gnss_dict["longitude"] = gnss.longitude
gnss_dict["altitude"] = gnss.altitude
gnss_dict["time"] = gnss.timestamp
gnss_dict["lat"] = gnss.latitude
gnss_dict["long"] = gnss.longitude
gnss_dict["alt"] = gnss.altitude
self.gnss_dataframe = self.gnss_dataframe.append(gnss_dict, ignore_index=True)
self.gnss_dataframe.to_csv(os.path.join(self.save_dir, "gnss.csv"), index=False)

def lidar_callback(self, lidar):
lidar_dict = {}
data = np.copy(np.frombuffer(lidar.raw_data, dtype=np.dtype('f4')))
data = np.reshape(data, (int(data.shape[0] / 4), 4))

pd.DataFrame(data, columns=['X', 'Y', 'Z', 'I']).to_csv(os.path.join(self.save_dir, "lidar.csv"), mode='a',
header=False, index=False)

def radar_callback(self, radar):
radar_dict = {}

radar_data = np.zeros((len(radar), 4))

for i, detection in enumerate(radar):
x = detection.depth * math.cos(detection.altitude) * math.cos(detection.azimuth)
y = detection.depth * math.cos(detection.altitude) * math.sin(detection.azimuth)
z = detection.depth * math.sin(detection.altitude)
radar_data[i, :] = [x, y, z, detection.velocity]

pd.DataFrame(radar_data, columns=['X', 'Y', 'Z', 'Detection Vel']).to_csv(
os.path.join(self.save_dir, "radar.csv"), mode='a', header=False, index=False)

def collision_callback(self, colision):
collision_dict = {}
collision_dict["timestamp"] = colision.timestamp
collision_dict['collision'] = True

self.collision_dataframe = self.colision_dataframe.append(collision_dict, ignore_index=True)
self.collision_dataframe.to_csv(os.path.join(self.save_dir, "colision.csv"), index=False)