├── .gitignore
├── LICENSE
├── README.md
├── cars.xml
├── tutorial-2.py
├── tutorial-3.py
└── tutorial-4.py


/.gitignore:
--------------------------------------------------------------------------------
  1 | # Byte-compiled / optimized / DLL files
  2 | __pycache__/
  3 | *.py[cod]
  4 | *$py.class
  5 | 
  6 | # C extensions
  7 | *.so
  8 | 
  9 | # Distribution / packaging
 10 | .Python
 11 | build/
 12 | develop-eggs/
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 14 | downloads/
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 18 | lib64/
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 22 | wheels/
 23 | pip-wheel-metadata/
 24 | share/python-wheels/
 25 | *.egg-info/
 26 | .installed.cfg
 27 | *.egg
 28 | MANIFEST
 29 | 
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 32 | #  before PyInstaller builds the exe, so as to inject date/other infos into it.
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 36 | # Installer logs
 37 | pip-log.txt
 38 | pip-delete-this-directory.txt
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 45 | .coverage.*
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 48 | coverage.xml
 49 | *.cover
 50 | *.py,cover
 51 | .hypothesis/
 52 | .pytest_cache/
 53 | 
 54 | # Translations
 55 | *.mo
 56 | *.pot
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 59 | *.log
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 73 | 
 74 | # PyBuilder
 75 | target/
 76 | 
 77 | # Jupyter Notebook
 78 | .ipynb_checkpoints
 79 | 
 80 | # IPython
 81 | profile_default/
 82 | ipython_config.py
 83 | 
 84 | # pyenv
 85 | .python-version
 86 | 
 87 | # pipenv
 88 | #   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
 89 | #   However, in case of collaboration, if having platform-specific dependencies or dependencies
 90 | #   having no cross-platform support, pipenv may install dependencies that don't work, or not
 91 | #   install all needed dependencies.
 92 | #Pipfile.lock
 93 | 
 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow
 95 | __pypackages__/
 96 | 
 97 | # Celery stuff
 98 | celerybeat-schedule
 99 | celerybeat.pid
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125 | .dmypy.json
126 | dmypy.json
127 | 
128 | # Pyre type checker
129 | .pyre/
130 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2020 pythonlibrary
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # carla-tutorials
2 | This repository contains the source code for blog posts
3 | 
4 | [Carla自动驾驶仿真环境](https://pythonlibrary.net/series/carla%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83/)
5 | 


--------------------------------------------------------------------------------
/cars.xml:
--------------------------------------------------------------------------------
   1 | <?xml version="1.0"?>
   2 | <!-- Add more negative to training. -->
   3 | <opencv_storage>
   4 | <cars3 type_id="opencv-haar-classifier">
   5 |   <size>
   6 |     20 20</size>
   7 |   <stages>
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  12 |           <!-- tree 0 -->
  13 |           <_>
  14 |             <!-- root node -->
  15 |             <feature>
  16 |               <rects>
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  18 |                   6 12 8 8 -1.</_>
  19 |                 <_>
  20 |                   6 16 8 4 2.</_></rects>
  21 |               <tilted>0</tilted></feature>
  22 |             <threshold>0.0452074706554413</threshold>
  23 |             <left_val>-0.7191650867462158</left_val>
  24 |             <right_val>0.7359663248062134</right_val></_></_>
  25 |         <_>
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  27 |           <_>
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  51 |             <left_val>-0.3645753860473633</left_val>
  52 |             <right_val>0.8175076246261597</right_val></_></_>
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  65 |             <left_val>-0.5766019225120544</left_val>
  66 |             <right_val>0.8059020042419434</right_val></_></_></trees>
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1128 |             <right_val>-1.</right_val></_></_>
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1141 |             <left_val>1.</left_val>
1142 |             <right_val>-1.</right_val></_></_>
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1145 |           <_>
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1156 |             <right_val>0.5377150774002075</right_val></_></_>
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1170 |             <right_val>0.7377948760986328</right_val></_></_>
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1173 |           <_>
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1183 |             <left_val>0.4390138089656830</left_val>
1184 |             <right_val>-0.9956768155097961</right_val></_></_>
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1187 |           <_>
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1197 |             <left_val>0.8890876173973083</left_val>
1198 |             <right_val>-0.9900755286216736</right_val></_></_>
1199 |         <_>
1200 |           <!-- tree 59 -->
1201 |           <_>
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1210 |             <threshold>-2.8665470381383784e-05</threshold>
1211 |             <left_val>0.4759410917758942</left_val>
1212 |             <right_val>-0.9352231025695801</right_val></_></_>
1213 |         <_>
1214 |           <!-- tree 60 -->
1215 |           <_>
1216 |             <!-- root node -->
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1221 |                 <_>
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1226 |             <threshold>4.4182338751852512e-04</threshold>
1227 |             <left_val>-0.7511792182922363</left_val>
1228 |             <right_val>0.8805574178695679</right_val></_></_></trees>
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1231 |       <next>-1</next></_>
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1233 |       <!-- stage 4 -->
1234 |       <trees>
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1240 |               <rects>
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1249 |             <left_val>0.4832380115985870</left_val>
1250 |             <right_val>-0.7198603749275208</right_val></_></_>
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1255 |             <feature>
1256 |               <rects>
1257 |                 <_>
1258 |                   0 2 20 8 -1.</_>
1259 |                 <_>
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1262 |             <threshold>0.0589522011578083</threshold>
1263 |             <left_val>-0.4658026993274689</left_val>
1264 |             <right_val>0.4875808060169220</right_val></_></_>
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1266 |           <!-- tree 2 -->
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1276 |             <threshold>7.8740529716014862e-04</threshold>
1277 |             <left_val>-0.7789018750190735</left_val>
1278 |             <right_val>0.2557401061058044</right_val></_></_>
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1280 |           <!-- tree 3 -->
1281 |           <_>
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1290 |             <threshold>0.0105524603277445</threshold>
1291 |             <left_val>-0.6375812888145447</left_val>
1292 |             <right_val>0.3461680114269257</right_val></_></_>
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1301 |                 <_>
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1305 |               <tilted>0</tilted></feature>
1306 |             <threshold>8.0834580585360527e-03</threshold>
1307 |             <left_val>-0.6557192206382751</left_val>
1308 |             <right_val>0.6636518239974976</right_val></_></_>
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1310 |           <!-- tree 5 -->
1311 |           <_>
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1313 |             <feature>
1314 |               <rects>
1315 |                 <_>
1316 |                   8 10 4 8 -1.</_>
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1320 |             <threshold>0.0235214307904243</threshold>
1321 |             <left_val>-0.9006652832031250</left_val>
1322 |             <right_val>0.4957715868949890</right_val></_></_>
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1324 |           <!-- tree 6 -->
1325 |           <_>
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1328 |               <rects>
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1334 |             <threshold>2.1901269792579114e-04</threshold>
1335 |             <left_val>-0.9414082765579224</left_val>
1336 |             <right_val>0.4645870029926300</right_val></_></_>
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1338 |           <!-- tree 7 -->
1339 |           <_>
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1342 |               <rects>
1343 |                 <_>
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1349 |             <left_val>0.1733245998620987</left_val>
1350 |             <right_val>-0.9518421888351440</right_val></_></_>
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1352 |           <!-- tree 8 -->
1353 |           <_>
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1355 |             <feature>
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1357 |                 <_>
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1362 |             <threshold>-4.9944370985031128e-03</threshold>
1363 |             <left_val>0.2332555055618286</left_val>
1364 |             <right_val>-0.9303036928176880</right_val></_></_>
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1366 |           <!-- tree 9 -->
1367 |           <_>
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1378 |             <threshold>-2.8488549869507551e-03</threshold>
1379 |             <left_val>0.5224574208259583</left_val>
1380 |             <right_val>-0.6394140124320984</right_val></_></_>
1381 |         <_>
1382 |           <!-- tree 10 -->
1383 |           <_>
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1386 |               <rects>
1387 |                 <_>
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1391 |               <tilted>0</tilted></feature>
1392 |             <threshold>8.3920639008283615e-03</threshold>
1393 |             <left_val>-0.6068183183670044</left_val>
1394 |             <right_val>0.4723689854145050</right_val></_></_>
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1396 |           <!-- tree 11 -->
1397 |           <_>
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1400 |               <rects>
1401 |                 <_>
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1405 |               <tilted>0</tilted></feature>
1406 |             <threshold>-3.5511489841155708e-05</threshold>
1407 |             <left_val>0.2968985140323639</left_val>
1408 |             <right_val>-0.6452224850654602</right_val></_></_>
1409 |         <_>
1410 |           <!-- tree 12 -->
1411 |           <_>
1412 |             <!-- root node -->
1413 |             <feature>
1414 |               <rects>
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1419 |               <tilted>0</tilted></feature>
1420 |             <threshold>2.1621841005980968e-03</threshold>
1421 |             <left_val>-0.4258666932582855</left_val>
1422 |             <right_val>0.5548338890075684</right_val></_></_>
1423 |         <_>
1424 |           <!-- tree 13 -->
1425 |           <_>
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1434 |             <threshold>-5.1551498472690582e-03</threshold>
1435 |             <left_val>0.3051683902740479</left_val>
1436 |             <right_val>-0.8206862807273865</right_val></_></_>
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1438 |           <!-- tree 14 -->
1439 |           <_>
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1450 |             <threshold>1.7603079322725534e-04</threshold>
1451 |             <left_val>-0.4252283871173859</left_val>
1452 |             <right_val>0.4734784960746765</right_val></_></_>
1453 |         <_>
1454 |           <!-- tree 15 -->
1455 |           <_>
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1458 |               <rects>
1459 |                 <_>
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1463 |               <tilted>0</tilted></feature>
1464 |             <threshold>-5.6310528889298439e-03</threshold>
1465 |             <left_val>0.4430184960365295</left_val>
1466 |             <right_val>-0.5268139839172363</right_val></_></_>
1467 |         <_>
1468 |           <!-- tree 16 -->
1469 |           <_>
1470 |             <!-- root node -->
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1472 |               <rects>
1473 |                 <_>
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1477 |               <tilted>0</tilted></feature>
1478 |             <threshold>1.0609399760141969e-04</threshold>
1479 |             <left_val>-0.4128456115722656</left_val>
1480 |             <right_val>0.4862971007823944</right_val></_></_>
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1482 |           <!-- tree 17 -->
1483 |           <_>
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1492 |             <threshold>-0.0146872196346521</threshold>
1493 |             <left_val>0.3483710885047913</left_val>
1494 |             <right_val>-0.6565722227096558</right_val></_></_>
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1496 |           <!-- tree 18 -->
1497 |           <_>
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1500 |               <rects>
1501 |                 <_>
1502 |                   1 12 15 6 -1.</_>
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1505 |               <tilted>0</tilted></feature>
1506 |             <threshold>0.0810066536068916</threshold>
1507 |             <left_val>-0.3347136080265045</left_val>
1508 |             <right_val>0.6498758792877197</right_val></_></_>
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1510 |           <!-- tree 19 -->
1511 |           <_>
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1514 |               <rects>
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1519 |               <tilted>0</tilted></feature>
1520 |             <threshold>7.1147878770716488e-05</threshold>
1521 |             <left_val>-0.5422406792640686</left_val>
1522 |             <right_val>0.2807042896747589</right_val></_></_>
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1524 |           <!-- tree 20 -->
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1533 |               <tilted>0</tilted></feature>
1534 |             <threshold>2.6208710551145487e-05</threshold>
1535 |             <left_val>-0.7503160834312439</left_val>
1536 |             <right_val>0.4175724089145660</right_val></_></_>
1537 |         <_>
1538 |           <!-- tree 21 -->
1539 |           <_>
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1543 |                 <_>
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1547 |               <tilted>0</tilted></feature>
1548 |             <threshold>-2.2025800717528909e-05</threshold>
1549 |             <left_val>0.3986887931823730</left_val>
1550 |             <right_val>-0.8484249711036682</right_val></_></_>
1551 |         <_>
1552 |           <!-- tree 22 -->
1553 |           <_>
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1556 |               <rects>
1557 |                 <_>
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1561 |               <tilted>0</tilted></feature>
1562 |             <threshold>-2.7908370611839928e-05</threshold>
1563 |             <left_val>0.4262354969978333</left_val>
1564 |             <right_val>-0.6090481281280518</right_val></_></_>
1565 |         <_>
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1575 |               <tilted>0</tilted></feature>
1576 |             <threshold>-3.7988298572599888e-04</threshold>
1577 |             <left_val>0.2306731045246124</left_val>
1578 |             <right_val>-0.3030667901039124</right_val></_></_>
1579 |         <_>
1580 |           <!-- tree 24 -->
1581 |           <_>
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1585 |                 <_>
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1589 |               <tilted>0</tilted></feature>
1590 |             <threshold>-2.8329479391686618e-05</threshold>
1591 |             <left_val>0.4294688999652863</left_val>
1592 |             <right_val>-0.6150280237197876</right_val></_></_></trees>
1593 |       <stage_threshold>-2.0059499740600586</stage_threshold>
1594 |       <parent>3</parent>
1595 |       <next>-1</next></_>
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1600 |           <!-- tree 0 -->
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1602 |             <!-- root node -->
1603 |             <feature>
1604 |               <rects>
1605 |                 <_>
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1609 |               <tilted>0</tilted></feature>
1610 |             <threshold>-8.7926961714401841e-04</threshold>
1611 |             <left_val>-0.8508998155593872</left_val>
1612 |             <right_val>0.2012203931808472</right_val></_></_>
1613 |         <_>
1614 |           <!-- tree 1 -->
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1618 |               <rects>
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1623 |               <tilted>0</tilted></feature>
1624 |             <threshold>-1.0719529818743467e-03</threshold>
1625 |             <left_val>-0.8750498294830322</left_val>
1626 |             <right_val>0.1188623011112213</right_val></_></_>
1627 |         <_>
1628 |           <!-- tree 2 -->
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1637 |               <tilted>0</tilted></feature>
1638 |             <threshold>1.1958930408582091e-03</threshold>
1639 |             <left_val>0.1821606010198593</left_val>
1640 |             <right_val>-0.8673701882362366</right_val></_></_>
1641 |         <_>
1642 |           <!-- tree 3 -->
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1651 |               <tilted>0</tilted></feature>
1652 |             <threshold>-0.0367217697203159</threshold>
1653 |             <left_val>0.3615708947181702</left_val>
1654 |             <right_val>-0.3918508887290955</right_val></_></_>
1655 |         <_>
1656 |           <!-- tree 4 -->
1657 |           <_>
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1660 |               <rects>
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1665 |               <tilted>0</tilted></feature>
1666 |             <threshold>2.8816348640248179e-04</threshold>
1667 |             <left_val>0.1872649937868118</left_val>
1668 |             <right_val>-0.7076212763786316</right_val></_></_>
1669 |         <_>
1670 |           <!-- tree 5 -->
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1679 |               <tilted>0</tilted></feature>
1680 |             <threshold>6.8340590223670006e-04</threshold>
1681 |             <left_val>0.1269242018461227</left_val>
1682 |             <right_val>-0.7228708863258362</right_val></_></_>
1683 |         <_>
1684 |           <!-- tree 6 -->
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1693 |               <tilted>0</tilted></feature>
1694 |             <threshold>-0.0425732918083668</threshold>
1695 |             <left_val>0.5858349800109863</left_val>
1696 |             <right_val>-0.2147608995437622</right_val></_></_></trees>
1697 |       <stage_threshold>-0.9255558848381042</stage_threshold>
1698 |       <parent>4</parent>
1699 |       <next>-1</next></_>
1700 |     <_>
1701 |       <!-- stage 6 -->
1702 |       <trees>
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1706 |             <!-- root node -->
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1714 |             <threshold>0.0233492702245712</threshold>
1715 |             <left_val>-0.2366411983966827</left_val>
1716 |             <right_val>0.5849282145500183</right_val></_></_>
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1719 |           <_>
1720 |             <!-- root node -->
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1728 |             <threshold>4.9444608157500625e-04</threshold>
1729 |             <left_val>0.1428918987512589</left_val>
1730 |             <right_val>-0.6820772290229797</right_val></_></_>
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1733 |           <_>
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1736 |               <rects>
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1739 |                 <_>
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1745 |             <left_val>0.5955523848533630</left_val>
1746 |             <right_val>-0.2330096960067749</right_val></_></_>
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1752 |               <rects>
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1757 |               <tilted>0</tilted></feature>
1758 |             <threshold>0.0353034809231758</threshold>
1759 |             <left_val>-0.3556973040103912</left_val>
1760 |             <right_val>0.3598164916038513</right_val></_></_>
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1763 |           <_>
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1766 |               <rects>
1767 |                 <_>
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1772 |             <threshold>7.1409897645935416e-04</threshold>
1773 |             <left_val>0.1659422963857651</left_val>
1774 |             <right_val>-0.7856965065002441</right_val></_></_>
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1780 |               <rects>
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1788 |             <right_val>0.1491793990135193</right_val></_></_>
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1791 |           <_>
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1801 |             <left_val>-0.7239602804183960</left_val>
1802 |             <right_val>0.1283237040042877</right_val></_></_>
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1815 |             <left_val>0.2699365019798279</left_val>
1816 |             <right_val>-0.3814569115638733</right_val></_></_>
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1818 |           <!-- tree 8 -->
1819 |           <_>
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1828 |             <threshold>-0.2315281033515930</threshold>
1829 |             <left_val>0.5102406740188599</left_val>
1830 |             <right_val>-0.2150623947381973</right_val></_></_>
1831 |         <_>
1832 |           <!-- tree 9 -->
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1843 |             <left_val>-0.3187570869922638</left_val>
1844 |             <right_val>0.3741405010223389</right_val></_></_>
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1846 |           <!-- tree 10 -->
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1859 |             <left_val>0.3868972063064575</left_val>
1860 |             <right_val>-0.3064059019088745</right_val></_></_>
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1873 |             <left_val>-0.0578359216451645</left_val>
1874 |             <right_val>0.2854403853416443</right_val></_></_>
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1876 |           <!-- tree 12 -->
1877 |           <_>
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1885 |               <tilted>0</tilted></feature>
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1887 |             <left_val>-0.3159281015396118</left_val>
1888 |             <right_val>0.4068993926048279</right_val></_></_></trees>
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1890 |       <parent>5</parent>
1891 |       <next>-1</next></_>
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1900 |               <rects>
1901 |                 <_>
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1906 |             <threshold>0.0220439601689577</threshold>
1907 |             <left_val>-0.2536872923374176</left_val>
1908 |             <right_val>0.5212177038192749</right_val></_></_>
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1911 |           <_>
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1914 |               <rects>
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1919 |               <tilted>0</tilted></feature>
1920 |             <threshold>2.1312560420483351e-03</threshold>
1921 |             <left_val>0.1482914984226227</left_val>
1922 |             <right_val>-0.5914195775985718</right_val></_></_>
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1924 |           <!-- tree 2 -->
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1933 |               <tilted>0</tilted></feature>
1934 |             <threshold>-0.0413990207016468</threshold>
1935 |             <left_val>0.4204145073890686</left_val>
1936 |             <right_val>-0.2349137067794800</right_val></_></_>
1937 |         <_>
1938 |           <!-- tree 3 -->
1939 |           <_>
1940 |             <!-- root node -->
1941 |             <feature>
1942 |               <rects>
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1947 |               <tilted>0</tilted></feature>
1948 |             <threshold>0.1522327959537506</threshold>
1949 |             <left_val>-0.3104422092437744</left_val>
1950 |             <right_val>0.4176956117153168</right_val></_></_>
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1956 |               <rects>
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1961 |               <tilted>0</tilted></feature>
1962 |             <threshold>7.2278419975191355e-04</threshold>
1963 |             <left_val>0.2251144051551819</left_val>
1964 |             <right_val>-0.6049224138259888</right_val></_></_>
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1966 |           <!-- tree 5 -->
1967 |           <_>
1968 |             <!-- root node -->
1969 |             <feature>
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1977 |               <tilted>0</tilted></feature>
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1979 |             <left_val>0.1998808979988098</left_val>
1980 |             <right_val>-0.5362910032272339</right_val></_></_>
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1991 |               <tilted>0</tilted></feature>
1992 |             <threshold>9.3200067058205605e-03</threshold>
1993 |             <left_val>-0.3086053133010864</left_val>
1994 |             <right_val>0.3600850105285645</right_val></_></_>
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1996 |           <!-- tree 7 -->
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1999 |             <feature>
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2007 |             <left_val>0.7699136137962341</left_val>
2008 |             <right_val>-0.1129935979843140</right_val></_></_>
2009 |         <_>
2010 |           <!-- tree 8 -->
2011 |           <_>
2012 |             <!-- root node -->
2013 |             <feature>
2014 |               <rects>
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2016 |                   1 8 18 8 -1.</_>
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2019 |               <tilted>0</tilted></feature>
2020 |             <threshold>-0.2024694979190826</threshold>
2021 |             <left_val>0.5726454854011536</left_val>
2022 |             <right_val>-0.1685701012611389</right_val></_></_>
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2024 |           <!-- tree 9 -->
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2034 |             <threshold>0.0256939493119717</threshold>
2035 |             <left_val>-0.0890305936336517</left_val>
2036 |             <right_val>0.4055748879909515</right_val></_></_>
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2038 |           <!-- tree 10 -->
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2049 |             <left_val>0.4805161952972412</left_val>
2050 |             <right_val>-0.1680151969194412</right_val></_></_>
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2062 |             <threshold>-6.3351547578349710e-04</threshold>
2063 |             <left_val>0.2068227976560593</left_val>
2064 |             <right_val>-0.2571463882923126</right_val></_></_>
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2075 |               <tilted>0</tilted></feature>
2076 |             <threshold>1.3086969556752592e-04</threshold>
2077 |             <left_val>0.2003916949033737</left_val>
2078 |             <right_val>-0.4468185007572174</right_val></_></_>
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2092 |             <threshold>9.4451867043972015e-03</threshold>
2093 |             <left_val>0.0453975386917591</left_val>
2094 |             <right_val>-0.6604390144348145</right_val></_></_>
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2105 |               <tilted>0</tilted></feature>
2106 |             <threshold>-1.1732289567589760e-03</threshold>
2107 |             <left_val>-0.7233589887619019</left_val>
2108 |             <right_val>0.1189457029104233</right_val></_></_>
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2110 |           <!-- tree 15 -->
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2119 |               <tilted>0</tilted></feature>
2120 |             <threshold>-0.0270948894321918</threshold>
2121 |             <left_val>0.4183718860149384</left_val>
2122 |             <right_val>-0.0622722618281841</right_val></_></_>
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2124 |           <!-- tree 16 -->
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2133 |               <tilted>0</tilted></feature>
2134 |             <threshold>0.0128746498376131</threshold>
2135 |             <left_val>-0.2036883980035782</left_val>
2136 |             <right_val>0.4376415908336639</right_val></_></_>
2137 |         <_>
2138 |           <!-- tree 17 -->
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2151 |             <left_val>-0.6812670230865479</left_val>
2152 |             <right_val>0.1294167041778564</right_val></_></_></trees>
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2154 |       <parent>6</parent>
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2173 |             <left_val>-0.2364671975374222</left_val>
2174 |             <right_val>0.5514438152313232</right_val></_></_>
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2186 |             <threshold>-5.0143511034548283e-03</threshold>
2187 |             <left_val>0.4693753123283386</left_val>
2188 |             <right_val>-0.3883568942546844</right_val></_></_>
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2199 |               <tilted>0</tilted></feature>
2200 |             <threshold>4.2181540629826486e-04</threshold>
2201 |             <left_val>0.1153784990310669</left_val>
2202 |             <right_val>-0.7132592797279358</right_val></_></_>
2203 |         <_>
2204 |           <!-- tree 3 -->
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2216 |             <threshold>-0.0263313204050064</threshold>
2217 |             <left_val>-0.6675789952278137</left_val>
2218 |             <right_val>0.1828629970550537</right_val></_></_>
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2233 |             <left_val>0.0714882835745811</left_val>
2234 |             <right_val>-0.7389600276947021</right_val></_></_>
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2247 |             <left_val>-0.0624900311231613</left_val>
2248 |             <right_val>0.2579961121082306</right_val></_></_>
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2250 |           <!-- tree 6 -->
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2261 |             <left_val>-0.1166857033967972</left_val>
2262 |             <right_val>0.8323975801467896</right_val></_></_>
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2275 |             <left_val>0.2551425099372864</left_val>
2276 |             <right_val>-0.1464619040489197</right_val></_></_>
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2288 |             <threshold>-5.6102341040968895e-03</threshold>
2289 |             <left_val>0.3810698091983795</left_val>
2290 |             <right_val>-0.2898282110691071</right_val></_></_>
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2303 |             <left_val>0.3976930975914001</left_val>
2304 |             <right_val>-0.1791553944349289</right_val></_></_>
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2306 |           <!-- tree 10 -->
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2317 |             <left_val>0.1220583021640778</left_val>
2318 |             <right_val>-0.7954893708229065</right_val></_></_>
2319 |         <_>
2320 |           <!-- tree 11 -->
2321 |           <_>
2322 |             <!-- root node -->
2323 |             <feature>
2324 |               <rects>
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2327 |                 <_>
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2331 |             <left_val>-0.3227156102657318</left_val>
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2333 |       <stage_threshold>-0.8488889932632446</stage_threshold>
2334 |       <parent>7</parent>
2335 |       <next>-1</next></_>
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2343 |             <feature>
2344 |               <rects>
2345 |                 <_>
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2350 |             <threshold>-1.2407209724187851e-03</threshold>
2351 |             <left_val>0.7162470817565918</left_val>
2352 |             <right_val>-0.2007752954959869</right_val></_></_>
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2358 |               <rects>
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2361 |                 <_>
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2367 |             <left_val>0.3968873023986816</left_val>
2368 |             <right_val>-0.2290832996368408</right_val></_></_>
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2370 |           <!-- tree 2 -->
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2380 |             <threshold>6.2309550121426582e-03</threshold>
2381 |             <left_val>-0.2406931966543198</left_val>
2382 |             <right_val>0.3659430146217346</right_val></_></_>
2383 |         <_>
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2395 |             <left_val>0.2607584893703461</left_val>
2396 |             <right_val>-0.2829737067222595</right_val></_></_>
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2400 |             <!-- root node -->
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2408 |             <threshold>6.5327459014952183e-04</threshold>
2409 |             <left_val>0.1528156995773315</left_val>
2410 |             <right_val>-0.5593969821929932</right_val></_></_>
2411 |         <_>
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2423 |             <left_val>-0.2089716047048569</left_val>
2424 |             <right_val>0.2781802117824554</right_val></_></_>
2425 |         <_>
2426 |           <!-- tree 6 -->
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2439 |             <left_val>0.1483357995748520</left_val>
2440 |             <right_val>-0.6003684997558594</right_val></_></_>
2441 |         <_>
2442 |           <!-- tree 7 -->
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2446 |               <rects>
2447 |                 <_>
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2452 |             <threshold>7.4582709930837154e-04</threshold>
2453 |             <left_val>-0.2270790934562683</left_val>
2454 |             <right_val>0.1987556070089340</right_val></_></_>
2455 |         <_>
2456 |           <!-- tree 8 -->
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2465 |               <tilted>0</tilted></feature>
2466 |             <threshold>-0.0158222708851099</threshold>
2467 |             <left_val>0.2820397913455963</left_val>
2468 |             <right_val>-0.2920896112918854</right_val></_></_>
2469 |         <_>
2470 |           <!-- tree 9 -->
2471 |           <_>
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2474 |               <rects>
2475 |                 <_>
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2479 |               <tilted>0</tilted></feature>
2480 |             <threshold>8.7247788906097412e-03</threshold>
2481 |             <left_val>-0.1720713973045349</left_val>
2482 |             <right_val>0.4697273969650269</right_val></_></_>
2483 |         <_>
2484 |           <!-- tree 10 -->
2485 |           <_>
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2488 |               <rects>
2489 |                 <_>
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2491 |                 <_>
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2493 |               <tilted>0</tilted></feature>
2494 |             <threshold>6.8489677505567670e-04</threshold>
2495 |             <left_val>0.1544692963361740</left_val>
2496 |             <right_val>-0.6636797189712524</right_val></_></_>
2497 |         <_>
2498 |           <!-- tree 11 -->
2499 |           <_>
2500 |             <!-- root node -->
2501 |             <feature>
2502 |               <rects>
2503 |                 <_>
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2507 |               <tilted>0</tilted></feature>
2508 |             <threshold>2.5823758915066719e-04</threshold>
2509 |             <left_val>0.1690579950809479</left_val>
2510 |             <right_val>-0.4210532009601593</right_val></_></_>
2511 |         <_>
2512 |           <!-- tree 12 -->
2513 |           <_>
2514 |             <!-- root node -->
2515 |             <feature>
2516 |               <rects>
2517 |                 <_>
2518 |                   5 0 9 4 -1.</_>
2519 |                 <_>
2520 |                   8 0 3 4 3.</_></rects>
2521 |               <tilted>0</tilted></feature>
2522 |             <threshold>0.0420489497482777</threshold>
2523 |             <left_val>-0.1286004930734634</left_val>
2524 |             <right_val>0.6025344729423523</right_val></_></_>
2525 |         <_>
2526 |           <!-- tree 13 -->
2527 |           <_>
2528 |             <!-- root node -->
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2530 |               <rects>
2531 |                 <_>
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2535 |               <tilted>0</tilted></feature>
2536 |             <threshold>-0.0152104198932648</threshold>
2537 |             <left_val>0.3247380852699280</left_val>
2538 |             <right_val>-0.2400044947862625</right_val></_></_>
2539 |         <_>
2540 |           <!-- tree 14 -->
2541 |           <_>
2542 |             <!-- root node -->
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2544 |               <rects>
2545 |                 <_>
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2547 |                 <_>
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2549 |               <tilted>0</tilted></feature>
2550 |             <threshold>-7.4586068512871861e-04</threshold>
2551 |             <left_val>-0.7052754759788513</left_val>
2552 |             <right_val>0.1198176965117455</right_val></_></_>
2553 |         <_>
2554 |           <!-- tree 15 -->
2555 |           <_>
2556 |             <!-- root node -->
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2558 |               <rects>
2559 |                 <_>
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2561 |                 <_>
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2565 |               <tilted>0</tilted></feature>
2566 |             <threshold>-5.6090662255883217e-03</threshold>
2567 |             <left_val>-0.5189142227172852</left_val>
2568 |             <right_val>0.1511954963207245</right_val></_></_>
2569 |         <_>
2570 |           <!-- tree 16 -->
2571 |           <_>
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2574 |               <rects>
2575 |                 <_>
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2579 |               <tilted>0</tilted></feature>
2580 |             <threshold>-6.9692882243543863e-04</threshold>
2581 |             <left_val>0.2492880970239639</left_val>
2582 |             <right_val>-0.2738071978092194</right_val></_></_>
2583 |         <_>
2584 |           <!-- tree 17 -->
2585 |           <_>
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2588 |               <rects>
2589 |                 <_>
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2594 |             <threshold>-1.3032859424129128e-03</threshold>
2595 |             <left_val>-0.7021797895431519</left_val>
2596 |             <right_val>0.1096538975834846</right_val></_></_></trees>
2597 |       <stage_threshold>-1.0809509754180908</stage_threshold>
2598 |       <parent>8</parent>
2599 |       <next>-1</next></_>
2600 |     <_>
2601 |       <!-- stage 10 -->
2602 |       <trees>
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2605 |           <_>
2606 |             <!-- root node -->
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2608 |               <rects>
2609 |                 <_>
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2613 |               <tilted>0</tilted></feature>
2614 |             <threshold>0.0127973603084683</threshold>
2615 |             <left_val>-0.2490361928939819</left_val>
2616 |             <right_val>0.4674673080444336</right_val></_></_>
2617 |         <_>
2618 |           <!-- tree 1 -->
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2622 |               <rects>
2623 |                 <_>
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2627 |               <tilted>0</tilted></feature>
2628 |             <threshold>-4.1834129951894283e-03</threshold>
2629 |             <left_val>0.3007251024246216</left_val>
2630 |             <right_val>-0.2219883054494858</right_val></_></_>
2631 |         <_>
2632 |           <!-- tree 2 -->
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2634 |             <!-- root node -->
2635 |             <feature>
2636 |               <rects>
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2641 |               <tilted>0</tilted></feature>
2642 |             <threshold>-0.0236128699034452</threshold>
2643 |             <left_val>0.2414264976978302</left_val>
2644 |             <right_val>-0.3374670147895813</right_val></_></_>
2645 |         <_>
2646 |           <!-- tree 3 -->
2647 |           <_>
2648 |             <!-- root node -->
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2650 |               <rects>
2651 |                 <_>
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2655 |               <tilted>0</tilted></feature>
2656 |             <threshold>-0.0251536108553410</threshold>
2657 |             <left_val>0.4372070133686066</left_val>
2658 |             <right_val>-0.3275614082813263</right_val></_></_>
2659 |         <_>
2660 |           <!-- tree 4 -->
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2665 |                 <_>
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2670 |             <threshold>0.0211393106728792</threshold>
2671 |             <left_val>-0.2863174080848694</left_val>
2672 |             <right_val>0.3124063909053802</right_val></_></_>
2673 |         <_>
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2687 |             <left_val>0.6942697763442993</left_val>
2688 |             <right_val>-0.1012582033872604</right_val></_></_>
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2690 |           <!-- tree 6 -->
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2701 |               <tilted>0</tilted></feature>
2702 |             <threshold>-0.0430783592164516</threshold>
2703 |             <left_val>-0.5607234239578247</left_val>
2704 |             <right_val>0.1663125008344650</right_val></_></_>
2705 |         <_>
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2716 |             <threshold>-1.4987450558692217e-03</threshold>
2717 |             <left_val>0.1272646039724350</left_val>
2718 |             <right_val>-0.1166080012917519</right_val></_></_>
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2720 |           <!-- tree 8 -->
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2729 |               <tilted>0</tilted></feature>
2730 |             <threshold>4.1716569103300571e-03</threshold>
2731 |             <left_val>-0.2401334047317505</left_val>
2732 |             <right_val>0.4614624083042145</right_val></_></_>
2733 |         <_>
2734 |           <!-- tree 9 -->
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2743 |               <tilted>0</tilted></feature>
2744 |             <threshold>4.8898528330028057e-03</threshold>
2745 |             <left_val>0.0905465632677078</left_val>
2746 |             <right_val>-0.4839006960391998</right_val></_></_>
2747 |         <_>
2748 |           <!-- tree 10 -->
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2753 |                 <_>
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2758 |             <threshold>-1.1625960469245911e-03</threshold>
2759 |             <left_val>-0.5429257154464722</left_val>
2760 |             <right_val>0.1364106982946396</right_val></_></_>
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2774 |             <threshold>-0.0367816612124443</threshold>
2775 |             <left_val>-0.7064548730850220</left_val>
2776 |             <right_val>0.1088668033480644</right_val></_></_>
2777 |         <_>
2778 |           <!-- tree 12 -->
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2788 |             <threshold>0.0246897693723440</threshold>
2789 |             <left_val>-0.1673354059457779</left_val>
2790 |             <right_val>0.5149983167648315</right_val></_></_>
2791 |         <_>
2792 |           <!-- tree 13 -->
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2802 |             <threshold>-4.8654521815478802e-03</threshold>
2803 |             <left_val>0.5060626268386841</left_val>
2804 |             <right_val>-0.1594700068235397</right_val></_></_>
2805 |         <_>
2806 |           <!-- tree 14 -->
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2817 |             <left_val>0.4351908862590790</left_val>
2818 |             <right_val>-0.1512733995914459</right_val></_></_>
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2820 |           <!-- tree 15 -->
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2830 |             <threshold>9.4989547505974770e-04</threshold>
2831 |             <left_val>0.0692935213446617</left_val>
2832 |             <right_val>-0.4393649101257324</right_val></_></_>
2833 |         <_>
2834 |           <!-- tree 16 -->
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2844 |             <threshold>5.9616740327328444e-04</threshold>
2845 |             <left_val>0.0982565581798553</left_val>
2846 |             <right_val>-0.6629868745803833</right_val></_></_>
2847 |         <_>
2848 |           <!-- tree 17 -->
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2858 |             <threshold>-6.2817288562655449e-03</threshold>
2859 |             <left_val>0.4888150990009308</left_val>
2860 |             <right_val>-0.1557238996028900</right_val></_></_></trees>
2861 |       <stage_threshold>-1.1087180376052856</stage_threshold>
2862 |       <parent>9</parent>
2863 |       <next>-1</next></_>
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2878 |             <threshold>-9.9095050245523453e-03</threshold>
2879 |             <left_val>0.5630884766578674</left_val>
2880 |             <right_val>-0.2063539028167725</right_val></_></_>
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2893 |             <left_val>-0.2470169961452484</left_val>
2894 |             <right_val>0.1799020022153854</right_val></_></_>
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2907 |             <left_val>0.2453050017356873</left_val>
2908 |             <right_val>-0.2765454053878784</right_val></_></_>
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2910 |           <!-- tree 3 -->
2911 |           <_>
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2920 |             <threshold>-0.0216368697583675</threshold>
2921 |             <left_val>0.2515161931514740</left_val>
2922 |             <right_val>-0.3227509856224060</right_val></_></_>
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2924 |           <!-- tree 4 -->
2925 |           <_>
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2928 |               <rects>
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2937 |             <left_val>-0.1476895958185196</left_val>
2938 |             <right_val>0.5545899271965027</right_val></_></_>
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2941 |           <_>
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2944 |               <rects>
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2950 |             <threshold>1.6613079933449626e-03</threshold>
2951 |             <left_val>-0.2122790962457657</left_val>
2952 |             <right_val>0.1571837961673737</right_val></_></_>
2953 |         <_>
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2958 |               <rects>
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2964 |             <threshold>9.4684818759560585e-03</threshold>
2965 |             <left_val>-0.2621173858642578</left_val>
2966 |             <right_val>0.2920702099800110</right_val></_></_>
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2968 |           <!-- tree 7 -->
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2979 |             <left_val>0.1780423969030380</left_val>
2980 |             <right_val>-0.3343229889869690</right_val></_></_>
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2992 |             <threshold>2.5752868968993425e-03</threshold>
2993 |             <left_val>-0.2065097987651825</left_val>
2994 |             <right_val>0.4189889132976532</right_val></_></_>
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2996 |           <!-- tree 9 -->
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3006 |             <threshold>-0.0160471405833960</threshold>
3007 |             <left_val>0.2585200071334839</left_val>
3008 |             <right_val>-0.1094772964715958</right_val></_></_>
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3010 |           <!-- tree 10 -->
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3020 |             <threshold>-0.1159958988428116</threshold>
3021 |             <left_val>0.6298483014106750</left_val>
3022 |             <right_val>-0.1196947023272514</right_val></_></_>
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3024 |           <!-- tree 11 -->
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3034 |             <threshold>-9.7595580155029893e-04</threshold>
3035 |             <left_val>-0.6507467031478882</left_val>
3036 |             <right_val>0.0756275802850723</right_val></_></_>
3037 |         <_>
3038 |           <!-- tree 12 -->
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3048 |             <threshold>-4.2097578989341855e-04</threshold>
3049 |             <left_val>-0.5833796858787537</left_val>
3050 |             <right_val>0.1222841963171959</right_val></_></_>
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3052 |           <!-- tree 13 -->
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3062 |             <threshold>3.9017631206661463e-04</threshold>
3063 |             <left_val>0.0758925378322601</left_val>
3064 |             <right_val>-0.2629995942115784</right_val></_></_>
3065 |         <_>
3066 |           <!-- tree 14 -->
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3076 |             <threshold>3.1535029411315918e-03</threshold>
3077 |             <left_val>-0.1664831042289734</left_val>
3078 |             <right_val>0.4664255082607269</right_val></_></_>
3079 |         <_>
3080 |           <!-- tree 15 -->
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3090 |             <threshold>-1.4046890428289771e-03</threshold>
3091 |             <left_val>-0.3981274962425232</left_val>
3092 |             <right_val>0.0561619699001312</right_val></_></_>
3093 |         <_>
3094 |           <!-- tree 16 -->
3095 |           <_>
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3104 |             <threshold>3.1666089780628681e-03</threshold>
3105 |             <left_val>-0.1787768006324768</left_val>
3106 |             <right_val>0.4090973138809204</right_val></_></_>
3107 |         <_>
3108 |           <!-- tree 17 -->
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3110 |             <!-- root node -->
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3118 |             <threshold>-0.0164993591606617</threshold>
3119 |             <left_val>0.2048030048608780</left_val>
3120 |             <right_val>-0.3630825877189636</right_val></_></_>
3121 |         <_>
3122 |           <!-- tree 18 -->
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3132 |             <threshold>4.1761019383557141e-04</threshold>
3133 |             <left_val>0.1311777979135513</left_val>
3134 |             <right_val>-0.4833852946758270</right_val></_></_>
3135 |         <_>
3136 |           <!-- tree 19 -->
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3146 |             <threshold>9.0707670897245407e-03</threshold>
3147 |             <left_val>9.2487707734107971e-03</left_val>
3148 |             <right_val>-0.6447566151618958</right_val></_></_>
3149 |         <_>
3150 |           <!-- tree 20 -->
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3160 |             <threshold>3.3107338822446764e-04</threshold>
3161 |             <left_val>-0.2549797892570496</left_val>
3162 |             <right_val>0.2758406996726990</right_val></_></_>
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3164 |           <!-- tree 21 -->
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3174 |             <threshold>0.0139847695827484</threshold>
3175 |             <left_val>0.1226134970784187</left_val>
3176 |             <right_val>-0.5258917808532715</right_val></_></_>
3177 |         <_>
3178 |           <!-- tree 22 -->
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3188 |             <threshold>0.0238846298307180</threshold>
3189 |             <left_val>-0.1637594997882843</left_val>
3190 |             <right_val>0.3971964120864868</right_val></_></_>
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3192 |           <!-- tree 23 -->
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3202 |             <threshold>-0.0941136777400970</threshold>
3203 |             <left_val>0.2231238931417465</left_val>
3204 |             <right_val>-0.2817093133926392</right_val></_></_>
3205 |         <_>
3206 |           <!-- tree 24 -->
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3216 |             <threshold>-0.0163963604718447</threshold>
3217 |             <left_val>0.5174812078475952</left_val>
3218 |             <right_val>-0.1398597955703735</right_val></_></_></trees>
3219 |       <stage_threshold>-1.1378910541534424</stage_threshold>
3220 |       <parent>10</parent>
3221 |       <next>-1</next></_>
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3236 |             <threshold>-1.8984159396495670e-04</threshold>
3237 |             <left_val>0.4796459972858429</left_val>
3238 |             <right_val>-0.1926054060459137</right_val></_></_>
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3250 |             <threshold>4.7213290818035603e-03</threshold>
3251 |             <left_val>-0.3855938911437988</left_val>
3252 |             <right_val>0.2359178066253662</right_val></_></_>
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3254 |           <!-- tree 2 -->
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3264 |             <threshold>1.7611780203878880e-03</threshold>
3265 |             <left_val>0.1145095974206924</left_val>
3266 |             <right_val>-0.5536686778068542</right_val></_></_>
3267 |         <_>
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3278 |             <threshold>0.0619058012962341</threshold>
3279 |             <left_val>0.0361764803528786</left_val>
3280 |             <right_val>-0.7537580132484436</right_val></_></_>
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3292 |             <threshold>6.8295709788799286e-03</threshold>
3293 |             <left_val>-0.2995564043521881</left_val>
3294 |             <right_val>0.2059424966573715</right_val></_></_>
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3306 |             <threshold>-0.0229486804455519</threshold>
3307 |             <left_val>0.1910860985517502</left_val>
3308 |             <right_val>-0.2746480107307434</right_val></_></_>
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3310 |           <!-- tree 6 -->
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3320 |             <threshold>0.0131213096901774</threshold>
3321 |             <left_val>-0.1467829048633575</left_val>
3322 |             <right_val>0.4494847953319550</right_val></_></_>
3323 |         <_>
3324 |           <!-- tree 7 -->
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3335 |             <left_val>0.2912957966327667</left_val>
3336 |             <right_val>-0.1595291942358017</right_val></_></_>
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3338 |           <!-- tree 8 -->
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3348 |             <threshold>0.0224155597388744</threshold>
3349 |             <left_val>-0.1776317954063416</left_val>
3350 |             <right_val>0.3403505980968475</right_val></_></_>
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3362 |             <threshold>-0.0255698896944523</threshold>
3363 |             <left_val>0.5480523109436035</left_val>
3364 |             <right_val>-0.1752621978521347</right_val></_></_>
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3366 |           <!-- tree 10 -->
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3376 |             <threshold>0.0174023006111383</threshold>
3377 |             <left_val>-0.3940981030464172</left_val>
3378 |             <right_val>0.1953804939985275</right_val></_></_>
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3380 |           <!-- tree 11 -->
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3390 |             <threshold>-6.6808518022298813e-03</threshold>
3391 |             <left_val>0.1267247051000595</left_val>
3392 |             <right_val>-0.3698250055313110</right_val></_></_>
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3404 |             <threshold>-0.0474075004458427</threshold>
3405 |             <left_val>-0.6734154224395752</left_val>
3406 |             <right_val>0.0941268503665924</right_val></_></_>
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3408 |           <!-- tree 13 -->
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3420 |             <threshold>-7.0174131542444229e-03</threshold>
3421 |             <left_val>-0.4878580868244171</left_val>
3422 |             <right_val>-4.7722761519253254e-03</right_val></_></_>
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3434 |             <threshold>-5.6818639859557152e-04</threshold>
3435 |             <left_val>0.3031811118125916</left_val>
3436 |             <right_val>-0.1906266957521439</right_val></_></_>
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3438 |           <!-- tree 15 -->
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3449 |             <left_val>0.1061747968196869</left_val>
3450 |             <right_val>-0.1113270968198776</right_val></_></_>
3451 |         <_>
3452 |           <!-- tree 16 -->
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3465 |             <left_val>0.1139544025063515</left_val>
3466 |             <right_val>-0.6669226884841919</right_val></_></_>
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3468 |           <!-- tree 17 -->
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3479 |             <left_val>-0.1820058971643448</left_val>
3480 |             <right_val>0.3209075033664703</right_val></_></_>
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3482 |           <!-- tree 18 -->
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3652 |       <parent>11</parent>
3653 |       <next>-1</next></_></stages></cars3>
3654 | </opencv_storage>
3655 | 


--------------------------------------------------------------------------------
/tutorial-2.py:
--------------------------------------------------------------------------------
 1 | import carla
 2 | from carla import ColorConverter as cc
 3 | import numpy as np
 4 | import time
 5 | 
 6 | running = True
 7 | 
 8 | 
 9 | # Create client and connected to the server
10 | client = carla.Client("localhost", 2000)
11 | client.set_timeout(10.0)
12 | 
13 | # get world
14 | world = client.load_world('Town02')
15 | weather = carla.WeatherParameters(
16 |     cloudiness=0.0,
17 |     precipitation=0.0,
18 |     sun_altitude_angle=50.0)
19 | world.set_weather(weather)
20 | 
21 | # get vehicle blueprint
22 | model3_bp = world.get_blueprint_library().find('vehicle.tesla.model3')
23 | model3_bp.set_attribute('color', '255,255,255')
24 | 
25 | camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')
26 | 
27 | # spawn vehicle(Actor)
28 | spawn_points = world.get_map().get_spawn_points()
29 | model3_spawn_point = np.random.choice(spawn_points)
30 | model3 = world.spawn_actor(model3_bp, model3_spawn_point)
31 | model3.set_autopilot(True)
32 | 
33 | 
34 | # spawn camera
35 | camera = world.spawn_actor(camera_bp, 
36 |                            carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), 
37 |                            model3,
38 |                            carla.AttachmentType.SpringArm
39 |                            )
40 | camera.listen(lambda image:image.save_to_disk('output/%06d.png' % image.frame))
41 | 
42 | 
43 | 
44 | 
45 | while running:
46 |     spectator = world.get_spectator()
47 |     transform = model3.get_transform()
48 |     spectator.set_transform(carla.Transform(transform.location + carla.Location(z=50),
49 |     carla.Rotation(pitch=-90)))
50 |     time.sleep(5)


--------------------------------------------------------------------------------
/tutorial-3.py:
--------------------------------------------------------------------------------
 1 | import copy
 2 | 
 3 | import carla
 4 | import cv2
 5 | import numpy as np
 6 | from carla import ColorConverter as cc
 7 | 
 8 | import time
 9 | 
10 | 
11 | client = carla.Client("localhost", 2000)
12 | client.set_timeout(10.0)
13 | 
14 | # get world
15 | world = client.load_world('Town02')
16 | weather = carla.WeatherParameters(
17 |     cloudiness=0.0,
18 |     precipitation=0.0,
19 |     sun_altitude_angle=50.0)
20 | 
21 | world.set_weather(weather)
22 | 
23 | # get vehicle blueprint
24 | model3_bp = world.get_blueprint_library().find('vehicle.tesla.model3')
25 | model3_bp.set_attribute('color', '255,255,255')
26 | 
27 | camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')
28 | camera_bp.set_attribute('image_size_x', str(1028))
29 | camera_bp.set_attribute('image_size_y', str(720))
30 | 
31 | # get avaliable spawn points 
32 | spawn_points = world.get_map().get_spawn_points()
33 | 
34 | # spawn vehicle
35 | model3_spawn_point = np.random.choice(spawn_points)
36 | model3 = world.spawn_actor(model3_bp, model3_spawn_point)
37 | 
38 | model3.set_autopilot(True)
39 | # spawn camera
40 | camera = world.spawn_actor(camera_bp, 
41 |                            carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), 
42 |                            model3,
43 |                            carla.AttachmentType.SpringArm
44 |                            )
45 | camera.listen(lambda image:parse_image(image)) #image.save_to_disk('output/%06d.png' % image.frame))
46 | 
47 | 
48 | Image_Array = None
49 | Cars = None
50 | 
51 | Car_Cascade = cv2.CascadeClassifier('cars.xml')
52 | 
53 | def parse_image(image):
54 |     global Image_Array
55 |     global Car_Cascade
56 |     global Cars
57 |     # image.raw_data is a memoryview type: https://docs.python.org/3/c-api/memoryview.html
58 |     array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
59 |     array = np.reshape(array, (image.height, image.width, 4))
60 |     array = array[:, :, :3]
61 |     array_gray = cv2.cvtColor(array, cv2.COLOR_BGR2GRAY)
62 |     Cars = Car_Cascade.detectMultiScale(array_gray, 1.3, 5)
63 | 
64 |     Image_Array = array 
65 |     # array = array[:, :, ::-1]
66 | 
67 | while True:
68 |     if Image_Array is not None:
69 |         image = copy.copy(Image_Array)
70 |         if Cars is not None:
71 |             for (x,y,w,h) in Cars:
72 |                 cv2.rectangle(image,(int(x),int(y)),(int(x+w),int(y+h)),(255,0,0), 2)
73 |         cv2.imshow('Carla Tutorial', image )
74 |     if cv2.waitKey(25) & 0xFF == ord('q'):
75 |         # destroy cv2 window when 'q' is pressed
76 |         cv2.destroyAllWindows()
77 |         break


--------------------------------------------------------------------------------
/tutorial-4.py:
--------------------------------------------------------------------------------
  1 | import copy
  2 | import random
  3 | 
  4 | import carla
  5 | import cv2
  6 | import numpy as np
  7 | from carla import ColorConverter as cc
  8 | 
  9 | import time
 10 | 
 11 | 
 12 | client = carla.Client("localhost", 2000)
 13 | client.set_timeout(10.0)
 14 | 
 15 | # get world
 16 | world = client.load_world('Town02')
 17 | #world = client.get_world()
 18 | weather = carla.WeatherParameters(
 19 |     cloudiness=0.0,
 20 |     precipitation=0.0,
 21 |     sun_altitude_angle=50.0)
 22 | 
 23 | world.set_weather(weather)
 24 | 
 25 | picked_spawn_points = []
 26 | 
 27 | # get vehicle blueprint
 28 | model3_bp = world.get_blueprint_library().find('vehicle.tesla.model3')
 29 | model3_bp.set_attribute('color', '255,255,255')
 30 | 
 31 | camera_bp = world.get_blueprint_library().find('sensor.camera.rgb')
 32 | camera_bp.set_attribute('image_size_x', str(1028))
 33 | camera_bp.set_attribute('image_size_y', str(720))
 34 | 
 35 | # get avaliable spawn points 
 36 | spawn_points = world.get_map().get_spawn_points()
 37 | random.shuffle(spawn_points)
 38 | 
 39 | # spawn vehicle
 40 | model3_spawn_point = spawn_points[-1]
 41 | model3 = world.spawn_actor(model3_bp, model3_spawn_point)
 42 | picked_spawn_points.append(model3_spawn_point) 
 43 | 
 44 | NUMBER_OF_VEHICLES = 10
 45 | 
 46 | vehicle_bps = world.get_blueprint_library().filter('vehicle.*.*')
 47 | 
 48 | vehicle_bps = [x for x in vehicle_bps if int(x.get_attribute('number_of_wheels')) == 4]
 49 | 
 50 | vehicle_list = []
 51 | 
 52 | for i in range(NUMBER_OF_VEHICLES):
 53 |     point = spawn_points[i]
 54 |     vehicle_bp = np.random.choice(vehicle_bps)
 55 |     try:
 56 |         vehicle = world.spawn_actor(vehicle_bp, point)
 57 |         picked_spawn_points.append(point)
 58 |         vehicle_list.append(vehicle)
 59 |     except:
 60 |         print('failed')
 61 |         pass
 62 | 
 63 | tm = client.get_trafficmanager()
 64 | tm.global_percentage_speed_difference(30.0)
 65 | 
 66 | tm_port = tm.get_port()
 67 | for v in vehicle_list:
 68 |     v.set_autopilot(True, tm_port)
 69 |     tm.ignore_lights_percentage(v,100)
 70 |     tm.distance_to_leading_vehicle(v,0)
 71 |     tm.vehicle_percentage_speed_difference(v,-20)
 72 | 
 73 | model3.set_autopilot(True)
 74 | 
 75 | # spawn camera
 76 | camera = world.spawn_actor(camera_bp, 
 77 |                            carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), 
 78 |                            model3,
 79 |                            carla.AttachmentType.SpringArm
 80 |                            )
 81 | camera.listen(lambda image:parse_image(image)) #image.save_to_disk('output/%06d.png' % image.frame))
 82 | 
 83 | 
 84 | Image_Array = None
 85 | Cars = None
 86 | 
 87 | Car_Cascade = cv2.CascadeClassifier('cars.xml')
 88 | 
 89 | def parse_image(image):
 90 |     global Image_Array
 91 |     global Car_Cascade
 92 |     global Cars
 93 |     # image.raw_data is a memoryview type: https://docs.python.org/3/c-api/memoryview.html
 94 |     array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
 95 |     array = np.reshape(array, (image.height, image.width, 4))
 96 |     array = array[:, :, :3]
 97 |     array_gray = cv2.cvtColor(array, cv2.COLOR_BGR2GRAY)
 98 |     Cars = Car_Cascade.detectMultiScale(array_gray, 1.3, 5)
 99 | 
100 |     Image_Array = array 
101 |     # array = array[:, :, ::-1]
102 | 
103 | while True:
104 |     if Image_Array is not None:
105 |         image = copy.copy(Image_Array)
106 |         if Cars is not None:
107 |             for (x,y,w,h) in Cars:
108 |                 cv2.rectangle(image,(int(x),int(y)),(int(x+w),int(y+h)),(255,0,0), 2)
109 |         cv2.imshow('Carla Tutorial', image )
110 |     if cv2.waitKey(25) & 0xFF == ord('q'):
111 |         # destroy cv2 window when 'q' is pressed
112 |         cv2.destroyAllWindows()
113 |         break


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