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generate_map_waypoints.py
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generate_map_waypoints.py
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import carla
import numpy as np
from agents.navigation.global_route_planner import GlobalRoutePlanner
from opencda.scenario_testing.utils.yaml_utils import load_yaml
# from agents.navigation.global_route_planner_dao import GlobalRoutePlannerDAO
def check_if_within_dist(waypoint, x, y, ncars=4):
for i in range(0,ncars):
dist = np.sqrt((waypoint.transform.location.x - x[i])**2 + (waypoint.transform.location.y - y[i])**2)
if dist <= 0.5:
return i
return 1000
cloud_config = load_yaml("cloud_config.yaml")
CARLA_IP = cloud_config["carla_server_public_ip"]
client = carla.Client(CARLA_IP, 2000)
client.set_timeout(10)
world = client.load_world('Town06')
amap = world.get_map()
sampling_resolution = 2
dao = GlobalRoutePlanner(amap, sampling_resolution)
# grp = GlobalRoutePlanner(dao)
# grp.setup()
spawn_points = world.get_map().get_spawn_points()
#for spawn_point in spawn_points:
#print(spawn_point)
w1 = world.get_map().generate_waypoints(10)
#a = carla.Location(waypoints[219].transform.location)
#b = carla.Location(waypoints[141].transform.location)
#w1 = grp.trace_route(a, b) # there are other funcations can be used to generate a route in GlobalRoutePlanner.
i = 0
final_out = np.empty((0,3))
xsearch = [-39.52, -39.52, -39.52, -39.60]
ysearch = [-22.79, -19.292, -15.79, -12.29]
xdest = [-147.759079, -147.74, -147.73, -147.72]
ydest = [-22.39, -18.89, -15.79, -12.29]
indice_list_init = np.zeros((4,2))
indice_list_dest = np.zeros((4,2))
for w in w1:
print(w)
temp_array = np.array([i,w.transform.location.x,w.transform.location.y])
final_out = np.vstack((final_out,temp_array.ravel()))
mark=str(i)
loc = check_if_within_dist(w, xsearch, ysearch)
loc_dest = check_if_within_dist(w, xdest, ydest)
if loc != 1000:
indice_list_init[loc,:] = np.array([loc,i]).ravel()
xsearch[loc] = -10000
ysearch[loc] = -10000
elif loc_dest != 1000:
indice_list_dest[loc_dest,:] = np.array([loc_dest,i]).ravel()
xdest[loc_dest] = -10000
ydest[loc_dest] = -10000
if i % 10 == 0:
world.debug.draw_string(w.transform.location,mark, draw_shadow=False, color=carla.Color(r=255, g=0, b=0), life_time=120.0, persistent_lines=True)
else:
world.debug.draw_string(w.transform.location, mark, draw_shadow=False,
color = carla.Color(r=0, g=0, b=255), life_time=1000.0,
persistent_lines=True)
i += 1
print(indice_list_dest)
print(indice_list_init)
np.save('Indices_start.npy',indice_list_init)
np.save('Indices_dest.npy', indice_list_dest)
print(final_out.shape)
np.save('waypoints.npy',final_out)