You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
121 lines
3.3 KiB
121 lines
3.3 KiB
import numpy as np
|
|
|
|
from metadrive.component.sensors.rgb_camera import RGBCamera
|
|
from metadrive.component.sensors.base_camera import _cuda_enable
|
|
from metadrive.component.map.pg_map import MapGenerateMethod
|
|
from panda3d.core import Vec3, Texture, GraphicsOutput
|
|
|
|
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
|
from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
|
|
from openpilot.tools.sim.lib.camerad import W, H
|
|
|
|
|
|
C3_POSITION = Vec3(0.0, 1.0, 1.22)
|
|
|
|
|
|
class CopyRamRGBCamera(RGBCamera):
|
|
"""Camera which copies its content into RAM during the render process, for faster image grabbing."""
|
|
def __init__(self, *args, **kwargs):
|
|
super().__init__(*args, **kwargs)
|
|
self.cpu_texture = Texture()
|
|
self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
|
|
|
|
def get_rgb_array_cpu(self):
|
|
origin_img = self.cpu_texture
|
|
img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
|
|
img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
|
|
img = img[:,:,:3] # RGBA to RGB
|
|
# img = np.swapaxes(img, 1, 0)
|
|
img = img[::-1] # Flip on vertical axis
|
|
return img
|
|
|
|
|
|
class RGBCameraWide(CopyRamRGBCamera):
|
|
def __init__(self, *args, **kwargs):
|
|
super(RGBCameraWide, self).__init__(*args, **kwargs)
|
|
cam = self.get_cam()
|
|
cam.setPos(C3_POSITION)
|
|
lens = self.get_lens()
|
|
lens.setFov(120)
|
|
lens.setNear(0.1)
|
|
|
|
class RGBCameraRoad(CopyRamRGBCamera):
|
|
def __init__(self, *args, **kwargs):
|
|
super(RGBCameraRoad, self).__init__(*args, **kwargs)
|
|
cam = self.get_cam()
|
|
cam.setPos(C3_POSITION)
|
|
lens = self.get_lens()
|
|
lens.setFov(40)
|
|
lens.setNear(0.1)
|
|
|
|
|
|
def straight_block(length):
|
|
return {
|
|
"id": "S",
|
|
"pre_block_socket_index": 0,
|
|
"length": length
|
|
}
|
|
|
|
def curve_block(length, angle=45, direction=0):
|
|
return {
|
|
"id": "C",
|
|
"pre_block_socket_index": 0,
|
|
"length": length,
|
|
"radius": length,
|
|
"angle": angle,
|
|
"dir": direction
|
|
}
|
|
|
|
|
|
class MetaDriveBridge(SimulatorBridge):
|
|
TICKS_PER_FRAME = 5
|
|
|
|
def __init__(self, args):
|
|
self.should_render = False
|
|
|
|
super(MetaDriveBridge, self).__init__(args)
|
|
|
|
def spawn_world(self):
|
|
sensors = {
|
|
"rgb_road": (RGBCameraRoad, W, H, )
|
|
}
|
|
|
|
if self.dual_camera:
|
|
sensors["rgb_wide"] = (RGBCameraWide, W, H)
|
|
|
|
config = dict(
|
|
use_render=self.should_render,
|
|
vehicle_config=dict(
|
|
enable_reverse=False,
|
|
image_source="rgb_road",
|
|
spawn_longitude=15
|
|
),
|
|
sensors=sensors,
|
|
image_on_cuda=_cuda_enable,
|
|
image_observation=True,
|
|
interface_panel=[],
|
|
out_of_route_done=False,
|
|
on_continuous_line_done=False,
|
|
crash_vehicle_done=False,
|
|
crash_object_done=False,
|
|
traffic_density=0.0, # traffic is incredibly expensive
|
|
map_config=dict(
|
|
type=MapGenerateMethod.PG_MAP_FILE,
|
|
config=[
|
|
None,
|
|
straight_block(120),
|
|
curve_block(240, 90),
|
|
straight_block(120),
|
|
curve_block(240, 90),
|
|
straight_block(120),
|
|
curve_block(240, 90),
|
|
straight_block(120),
|
|
curve_block(240, 90),
|
|
]
|
|
),
|
|
decision_repeat=1,
|
|
physics_world_step_size=self.TICKS_PER_FRAME/100,
|
|
preload_models=False
|
|
)
|
|
|
|
return MetaDriveWorld(config, self.dual_camera)
|
|
|