CARLA : Simulateur pour la navigation autonome d'un véhicule
Fermé
arestot
Messages postés3Date d'inscriptionlundi 2 décembre 2019StatutMembreDernière intervention28 janvier 2020
-
Modifié le 17 janv. 2020 à 15:56
Chris 94
Messages postés50978Date d'inscriptionmardi 8 janvier 2008StatutModérateurDernière intervention17 février 2023
-
17 janv. 2020 à 16:04
Bonjour,
Je suis sur un projet CARLA, et j'essaie d'executer un scripte sous Python, mais il me retourne une erreur au niveau de la ligne 33 qui dit que le pygame n'est pas installer or que je l'ai bien installer, voici le scripe que j'essaie d'executer :
#!/usr/bin/env python
# Copyright (c) 2018 Intel Labs.
# authors: German Ros (***@***)
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
Example of automatic vehicle control from client side.
"""
from __future__ import print_function
import argparse
import collections
import datetime
import glob
import logging
import math
import os
import random
import re
import sys
import weakref
try:
import pygame
from pygame.locals import KMOD_CTRL
from pygame.locals import K_ESCAPE
from pygame.locals import K_q
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')
try:
import numpy as np
except ImportError:
raise RuntimeError(
'cannot import numpy, make sure numpy package is installed')
# ==============================================================================
# -- find carla module ---------------------------------------------------------
# ==============================================================================
try:
sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
sys.version_info.major,
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
pass
# ==============================================================================
# -- add PythonAPI for release mode --------------------------------------------
# ==============================================================================
try:
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla')
except IndexError:
pass
import carla
from carla import ColorConverter as cc
from agents.navigation.roaming_agent import RoamingAgent
from agents.navigation.basic_agent import BasicAgent
# ==============================================================================
# -- Global functions ----------------------------------------------------------
# ==============================================================================
def find_weather_presets():
rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
def get_actor_display_name(actor, truncate=250):
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
# ==============================================================================
# -- World ---------------------------------------------------------------
# ==============================================================================
class World(object):
def __init__(self, carla_world, hud, actor_filter):
self.world = carla_world
self.map = self.world.get_map()
self.hud = hud
self.player = None
self.collision_sensor = None
self.lane_invasion_sensor = None
self.gnss_sensor = None
self.camera_manager = None
self._weather_presets = find_weather_presets()
self._weather_index = 0
self._actor_filter = actor_filter
self.restart()
self.world.on_tick(hud.on_world_tick)
self.recording_enabled = False
self.recording_start = 0
def restart(self):
# Keep same camera config if the camera manager exists.
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Spawn the player.
if self.player is not None:
spawn_point = self.player.get_transform()
spawn_point.location.z += 2.0
spawn_point.rotation.roll = 0.0
spawn_point.rotation.pitch = 0.0
self.destroy()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
while self.player is None:
spawn_points = self.map.get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# Set up the sensors.
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.camera_manager = CameraManager(self.player, self.hud)
self.camera_manager.transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def next_weather(self, reverse=False):
self._weather_index += -1 if reverse else 1
self._weather_index %= len(self._weather_presets)
preset = self._weather_presets[self._weather_index]
self.hud.notification('Weather: %s' % preset[1])
self.player.get_world().set_weather(preset[0])
def tick(self, clock):
self.hud.tick(self, clock)
def render(self, display):
self.camera_manager.render(display)
self.hud.render(display)
def destroy_sensors(self):
self.camera_manager.sensor.destroy()
self.camera_manager.sensor = None
self.camera_manager.index = None
def destroy(self):
actors = [
self.camera_manager.sensor,
self.collision_sensor.sensor,
self.lane_invasion_sensor.sensor,
self.gnss_sensor.sensor,
self.player]
for actor in actors:
if actor is not None:
actor.destroy()
# ==============================================================================
# -- KeyboardControl -----------------------------------------------------------
# ==============================================================================
class KeyboardControl(object):
def __init__(self, world):
world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
def parse_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
elif event.type == pygame.KEYUP:
if self._is_quit_shortcut(event.key):
return True
@staticmethod
def _is_quit_shortcut(key):
return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
# ==============================================================================
# -- HUD -----------------------------------------------------------------------
# ==============================================================================
class HUD(object):
def __init__(self, width, height):
self.dim = (width, height)
font = pygame.font.Font(pygame.font.get_default_font(), 20)
font_name = 'courier' if os.name == 'nt' else 'mono'
fonts = [x for x in pygame.font.get_fonts() if font_name in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self.server_fps = 0
self.frame = 0
self.simulation_time = 0
self._show_info = True
self._info_text = []
self._server_clock = pygame.time.Clock()
def on_world_tick(self, timestamp):
self._server_clock.tick()
self.server_fps = self._server_clock.get_fps()
self.frame = timestamp.frame
self.simulation_time = timestamp.elapsed_seconds
def tick(self, world, clock):
self._notifications.tick(world, clock)
if not self._show_info:
return
t = world.player.get_transform()
v = world.player.get_velocity()
c = world.player.get_control()
heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
colhist = world.collision_sensor.get_collision_history()
collision = [colhist[x + self.frame - 200] for x in range(0, 200)]
max_col = max(1.0, max(collision))
collision = [x / max_col for x in collision]
vehicles = world.world.get_actors().filter('vehicle.*')
self._info_text = [
'Server: % 16.0f FPS' % self.server_fps,
'Client: % 16.0f FPS' % clock.get_fps(),
'',
'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
'Map: % 20s' % world.map.name,
'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'',
'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x ** 2 + v.y ** 2 + v.z ** 2)),
u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
'Height: % 18.0f m' % t.location.z,
'']
if isinstance(c, carla.VehicleControl):
self._info_text += [
('Throttle:', c.throttle, 0.0, 1.0),
('Steer:', c.steer, -1.0, 1.0),
('Brake:', c.brake, 0.0, 1.0),
('Reverse:', c.reverse),
('Hand brake:', c.hand_brake),
('Manual:', c.manual_gear_shift),
'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
elif isinstance(c, carla.WalkerControl):
self._info_text += [
('Speed:', c.speed, 0.0, 5.556),
('Jump:', c.jump)]
self._info_text += [
'',
'Collision:',
collision,
'',
'Number of vehicles: % 8d' % len(vehicles)]
if len(vehicles) > 1:
self._info_text += ['Nearby vehicles:']
def distance(l): return math.sqrt(
(l.x - t.location.x) ** 2 + (l.y - t.location.y) ** 2 + (l.z - t.location.z) ** 2)
vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
for d, vehicle in sorted(vehicles):
if d > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
self._info_text.append('% 4dm %s' % (d, vehicle_type))
def toggle_info(self):
self._show_info = not self._show_info
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
def error(self, text):
self._notifications.set_text('Error: %s' % text, (255, 0, 0))
def render(self, display):
if self._show_info:
info_surface = pygame.Surface((220, self.dim[1]))
info_surface.set_alpha(100)
display.blit(info_surface, (0, 0))
v_offset = 4
bar_h_offset = 100
bar_width = 106
for item in self._info_text:
if v_offset + 18 > self.dim[1]:
break
if isinstance(item, list):
if len(item) > 1:
points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
pygame.draw.lines(display, (255, 136, 0), False, points, 2)
item = None
v_offset += 18
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, (255, 255, 255))
display.blit(surface, (8, v_offset))
v_offset += 18
self._notifications.render(display)
self.help.render(display)
# ==============================================================================
# -- FadingText ----------------------------------------------------------------
# ==============================================================================
class FadingText(object):
def __init__(self, font, dim, pos):
self.font = font
self.dim = dim
self.pos = pos
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
def set_text(self, text, color=(255, 255, 255), seconds=2.0):
text_texture = self.font.render(text, True, color)
self.surface = pygame.Surface(self.dim)
self.seconds_left = seconds
self.surface.fill((0, 0, 0, 0))
self.surface.blit(text_texture, (10, 11))
def tick(self, _, clock):
delta_seconds = 1e-3 * clock.get_time()
self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
self.surface.set_alpha(500.0 * self.seconds_left)
def render(self, display):
display.blit(self.surface, self.pos)
# ==============================================================================
# -- HelpText ------------------------------------------------------------------
# ==============================================================================
class HelpText(object):
def __init__(self, font, width, height):
lines = __doc__.split('\n')
self.font = font
self.dim = (680, len(lines) * 22 + 12)
self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
self.surface.fill((0, 0, 0, 0))
for n, line in enumerate(lines):
text_texture = self.font.render(line, True, (255, 255, 255))
self.surface.blit(text_texture, (22, n * 22))
self._render = False
self.surface.set_alpha(220)
def toggle(self):
self._render = not self._render
def render(self, display):
if self._render:
display.blit(self.surface, self.pos)
# ==============================================================================
# -- CollisionSensor -----------------------------------------------------------
# ==============================================================================
class CollisionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self.history = []
self._parent = parent_actor
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.collision')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
def get_collision_history(self):
history = collections.defaultdict(int)
for frame, intensity in self.history:
history[frame] += intensity
return history
@staticmethod
def _on_collision(weak_self, event):
self = weak_self()
if not self:
return
actor_type = get_actor_display_name(event.other_actor)
self.hud.notification('Collision with %r' % actor_type)
impulse = event.normal_impulse
intensity = math.sqrt(impulse.x ** 2 + impulse.y ** 2 + impulse.z ** 2)
self.history.append((event.frame, intensity))
if len(self.history) > 4000:
self.history.pop(0)
# ==============================================================================
# -- LaneInvasionSensor --------------------------------------------------------
# ==============================================================================
class LaneInvasionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._parent = parent_actor
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
@staticmethod
def _on_invasion(weak_self, event):
self = weak_self()
if not self:
return
lane_types = set(x.type for x in event.crossed_lane_markings)
text = ['%r' % str(x).split()[-1] for x in lane_types]
self.hud.notification('Crossed line %s' % ' and '.join(text))
# ==============================================================================
# -- GnssSensor --------------------------------------------------------
# ==============================================================================
class GnssSensor(object):
def __init__(self, parent_actor):
self.sensor = None
self._parent = parent_actor
self.lat = 0.0
self.lon = 0.0
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.gnss')
self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)),
attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event))
@staticmethod
def _on_gnss_event(weak_self, event):
self = weak_self()
if not self:
return
self.lat = event.latitude
self.lon = event.longitude
# ==============================================================================
# -- CameraManager -------------------------------------------------------------
# ==============================================================================
class CameraManager(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self.surface = None
self._parent = parent_actor
self.hud = hud
self.recording = False
self._camera_transforms = [
carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
carla.Transform(carla.Location(x=1.6, z=1.7))]
self.transform_index = 1
self.sensors = [
['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'],
['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'],
['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'],
['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'],
['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
'Camera Semantic Segmentation (CityScapes Palette)'],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self.sensors:
bp = bp_library.find(item[0])
if item[0].startswith('sensor.camera'):
bp.set_attribute('image_size_x', str(hud.dim[0]))
bp.set_attribute('image_size_y', str(hud.dim[1]))
elif item[0].startswith('sensor.lidar'):
bp.set_attribute('range', '50')
item.append(bp)
self.index = None
def toggle_camera(self):
self.transform_index = (self.transform_index + 1) % len(self._camera_transforms)
self.sensor.set_transform(self._camera_transforms[self.transform_index])
def set_sensor(self, index, notify=True):
index = index % len(self.sensors)
needs_respawn = True if self.index is None \
else self.sensors[index][0] != self.sensors[self.index][0]
if needs_respawn:
if self.sensor is not None:
self.sensor.destroy()
self.surface = None
self.sensor = self._parent.get_world().spawn_actor(
self.sensors[index][-1],
self._camera_transforms[self.transform_index],
attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid
# circular reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
if notify:
self.hud.notification(self.sensors[index][2])
self.index = index
def next_sensor(self):
self.set_sensor(self.index + 1)
def toggle_recording(self):
self.recording = not self.recording
self.hud.notification('Recording %s' % ('On' if self.recording else 'Off'))
def render(self, display):
if self.surface is not None:
display.blit(self.surface, (0, 0))
@staticmethod
def _parse_image(weak_self, image):
self = weak_self()
if not self:
return
if self.sensors[self.index][0].startswith('sensor.lidar'):
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0] / 3), 3))
lidar_data = np.array(points[:, :2])
lidar_data *= min(self.hud.dim) / 100.0
lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
lidar_data = np.fabs(lidar_data) # pylint: disable=E1111
lidar_data = lidar_data.astype(np.int32)
lidar_data = np.reshape(lidar_data, (-1, 2))
lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3)
lidar_img = np.zeros(lidar_img_size)
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
self.surface = pygame.surfarray.make_surface(lidar_img)
else:
image.convert(self.sensors[self.index][1])
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
if self.recording:
image.save_to_disk('_out/%08d' % image.frame)
# ==============================================================================
# -- game_loop() ---------------------------------------------------------
# ==============================================================================
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode(
(args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
clock = pygame.time.Clock()
while True:
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
# ==============================================================================
# -- main() --------------------------------------------------------------
# ==============================================================================
def main():
argparser = argparse.ArgumentParser(
description='CARLA Manual Control Client')
argparser.add_argument(
'-v', '--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'--res',
metavar='WIDTHxHEIGHT',
default='1280x720',
help='window resolution (default: 1280x720)')
argparser.add_argument(
'--filter',
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
argparser.add_argument("-a", "--agent", type=str,
choices=["Roaming", "Basic"],
help="select which agent to run",
default="Basic")
args = argparser.parse_args()
args.width, args.height = [int(x) for x in args.res.split('x')]
log_level = logging.DEBUG if args.debug else logging.INFO
logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
logging.info('listening to server %s:%s', args.host, args.port)
print(__doc__)
try:
game_loop(args)
except KeyboardInterrupt:
print('\nCancelled by user. Bye!')
if __name__ == '__main__':
main()
Et voila l'erreur qui me retourne :
/home/pretil/PycharmProjects/test/venv/bin/python /home/pretil/PycharmProjects/test/test2
Traceback (most recent call last):
File "/home/pretil/PycharmProjects/test/test2", line 28, in <module>
import pygame
ModuleNotFoundError: No module named 'pygame'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/pretil/PycharmProjects/test/test2", line 33, in <module>
raise RuntimeError('cannot import pygame, make sure pygame package is installed')
RuntimeError: cannot import pygame, make sure pygame package is installed
Process finished with exit code 1
J'espère que j'ai été claire.
Merci d'avance
A voir également:
Import carla modulenotfounderror: no module named 'carla'
arestot
Messages postés3Date d'inscriptionlundi 2 décembre 2019StatutMembreDernière intervention28 janvier 2020 17 janv. 2020 à 16:00
Bonjour,
je n'ai pas bien compris ce vous voulez me dire.
Sinon le code je l'ai copier tel quel est.
Merci
Chris 94
Messages postés50978Date d'inscriptionmardi 8 janvier 2008StatutModérateurDernière intervention17 février 20237 337 17 janv. 2020 à 16:04
A ton avis ? Qu'ai-je bien pu vouloir dire ?
Quand tu as fini de saisir le code, applique-lui la mise en forme ad hoc à l'aide du bouton que j'ai dit, en haut de la fenêtre d'édition... Plus clair ?