Spaces:
Running on Zero
Running on Zero
| """Background traffic and the scene description saved for the coarse proxy.""" | |
| from __future__ import annotations | |
| import math | |
| from dataclasses import dataclass, field | |
| import carla | |
| # level bounding boxes exported for the coarse proxy: CARLA label -> CWM class | |
| STATIC_LABELS = {"Buildings": 0, "Walls": 0, "Fences": 0, "Poles": 0, "TrafficLight": 0, "TrafficSigns": 0, | |
| "Static": 0, "Dynamic": 0, "Bridge": 0, "GuardRail": 0, "Vegetation": 5, "Water": 2} | |
| SCENE_RADIUS_M = 300.0 | |
| class Traffic: | |
| actors: list = field(default_factory=list) | |
| controllers: list = field(default_factory=list) | |
| vehicles: list = field(default_factory=list) | |
| walkers: list = field(default_factory=list) | |
| def spawn_traffic(world, bp, rng, n_vehicles: int, n_walkers: int) -> Traffic: | |
| """Parked vehicles (physics off: no traffic manager, it segfaults libcarla on some nodes, and a | |
| static street is what a revisit dataset wants) and AI-driven background pedestrians.""" | |
| t = Traffic() | |
| spawns = world.get_map().get_spawn_points() | |
| rng.shuffle(spawns) | |
| vbps = [b for b in bp.filter("vehicle.*") if int(b.get_attribute("number_of_wheels")) == 4] | |
| for sp in spawns[:n_vehicles]: | |
| v = world.try_spawn_actor(rng.choice(vbps), sp) | |
| if v: | |
| v.set_simulate_physics(False) | |
| t.actors.append(v) | |
| t.vehicles.append(v) | |
| wbps = bp.filter("walker.pedestrian.*") | |
| ctrl_bp = bp.find("controller.ai.walker") | |
| for _ in range(n_walkers): | |
| loc = world.get_random_location_from_navigation() | |
| if loc is None: | |
| continue | |
| w = world.try_spawn_actor(rng.choice(wbps), carla.Transform(loc + carla.Location(z=1.0))) | |
| if w: | |
| t.actors.append(w) | |
| t.walkers.append(w) | |
| t.controllers.append(world.spawn_actor(ctrl_bp, carla.Transform(), w)) | |
| world.tick() | |
| for c in t.controllers: | |
| c.start() | |
| c.go_to_location(world.get_random_location_from_navigation()) | |
| c.set_max_speed(1.0 + rng.random() * 0.6) | |
| return t | |
| def adult_walkers(bp): | |
| return [b for b in bp.filter("walker.pedestrian.*") | |
| if not (b.has_attribute("age") and b.get_attribute("age").as_str() == "child")] | |
| def frame_record(hero, walkers) -> dict: | |
| """Per-frame scene state for the coarse proxy: protagonist bones, background walker poses.""" | |
| bones = {bt.name: [round(bt.world.location.x, 3), round(bt.world.location.y, 3), round(bt.world.location.z, 3)] | |
| for bt in hero.get_bones().bone_transforms} | |
| others = [] | |
| for w in walkers: | |
| wt = w.get_transform() | |
| others.append([round(wt.location.x, 2), round(wt.location.y, 2), round(wt.location.z, 2), round(wt.rotation.yaw, 1)]) | |
| return dict(bones=bones, walkers=others) | |
| def scene_static(world, centre, hidden, vehicles) -> dict: | |
| """Level boxes, driving-lane waypoints and parked vehicles within SCENE_RADIUS_M of `centre`. | |
| Objects switched off for the walk (`hidden`: their box centres) are left out.""" | |
| L = carla.CityObjectLabel | |
| cx, cy = centre | |
| boxes = [] | |
| for name, cls in STATIC_LABELS.items(): | |
| if not hasattr(L, name): | |
| continue | |
| for bb in world.get_level_bbs(getattr(L, name)): | |
| if math.hypot(bb.location.x - cx, bb.location.y - cy) > SCENE_RADIUS_M: | |
| continue | |
| if any(abs(bb.location.x - h[0]) < 0.05 and abs(bb.location.y - h[1]) < 0.05 | |
| and abs(bb.location.z - h[2]) < 0.05 for h in hidden): | |
| continue | |
| boxes.append(dict(cls=cls, label=name, c=[bb.location.x, bb.location.y, bb.location.z], | |
| e=[bb.extent.x, bb.extent.y, bb.extent.z], | |
| r=[bb.rotation.pitch, bb.rotation.yaw, bb.rotation.roll])) | |
| lanes = [] | |
| for w in world.get_map().generate_waypoints(2.0): | |
| p = w.transform.location | |
| if math.hypot(p.x - cx, p.y - cy) <= SCENE_RADIUS_M: | |
| lanes.append([p.x, p.y, p.z, w.transform.rotation.yaw, w.lane_width]) | |
| vboxes = [] | |
| for v in vehicles: | |
| bb, vt = v.bounding_box, v.get_transform() | |
| c = vt.transform(bb.location) | |
| vboxes.append(dict(c=[c.x, c.y, c.z], e=[bb.extent.x, bb.extent.y, bb.extent.z], | |
| r=[vt.rotation.pitch, vt.rotation.yaw, vt.rotation.roll])) | |
| return dict(boxes=boxes, lanes=lanes, vehicles=vboxes) | |