spawn_points = world.get_map().get_spawn_points() max_vehicles = 50 max_vehicles = min([max_vehicles, len(spawn_points)]) #生成障碍车并设置自动驾驶 for i, spawn_point in enumerate(random.sample(spawn_points, max_vehicles)): vehicle = world.try_spawn_actor(random.choice(blueprints), s...
filter('*pedestrian*') # 通过world获得map并获得所有可以生成车辆的地点 vehicle_spawn_points = world.get_map().get_spawn_points() # 通过world获得所有可以生成行人的地点并存储 ped_spawn_points = [] for i in range(num_walkers): spawn_point = carla.Transform() loc = world.get_random_...
world = client.get_world() blueprint_library = world.get_blueprint_library() bp = blueprint_library.filter('model3')[0] # 初始化汽车 spawn_point = random.choice(world.get_map().get_spawn_points()) vehicle = world.spawn_actor(bp, spawn_point) # 控制汽车直行 vehicle.apply_control(ca...
spawn_points=world.get_map().get_spawn_points() world.get_random_location() 对于步行者 返回人行道上的随机点。同样的方法用于为步行者设置目标位置 1 2 spawn_point=carla.Transform() spawn_point.location=world.get_random_location_from_navigation() 一个actor在生成时可以附加到另一个actor上。演员跟随...
我用RoadRunner创建了一条直路，然后加载这个xodr生成了新的world，并从world中获取所有的spawn_point时一个点都没有获取到（world.get_map().get_spawn_points()），导致无法选取点作为车辆的生成点。这个可能是因为xodr的直路实在是太简单了，没有道路节点，路口啥的，导致xodr在加载后无法正常生成一系列spawn_...
point=random.choice(spawn_points)#生成车辆1vehicle_1 =world.spawn_actor(vehicle_bp, spawn_point)#自定义生成点transform = carla.Transform(Location(x=230, y=195, z=40), Rotation(yaw=180))#生成车辆2vehicle_2 =world.spawn_actor(vehicle_bp, transform)#对车辆进行操作location =vehicle_2.get_...
spawn_points = world.get_map().get_spawn_points() spawn_point = spawn_points[0] vehicle = world.spawn_actor(vehicle_bp, spawn_point) print('Vehicle spawned:', vehicle) ``` 3. 创建摄像头: ``` import carla client = carla.Client('localhost', 2000) client.set_timeout(2.0) world = ...
ifSPAWN_POINT =="spectator":#选择当前spectator位置为ego生成位置spectator = world.get_spectator()spectator_tf = spectator.get_transform()spawn_point = spectator_tfelifSPAWN_POINT =="random":#随机选择预定义的生成点为ego生成位置spawn_points = world.get_map().get_spawn_points()# #生成点的可视化...
spawn_point = random.choice(world.get_map().get_spawn_points()) 1. 现在我们可以生成那辆车: vehicle = world.spawn_actor(bp, spawn_point) 1. 我们还可以通过以下方式控制汽车: vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=0.0)) ...
vehicle_blueprints = world.get_blueprint_library().filter('*vehicle*') 有了蓝图,需要在地图上找到一个合适的地点来生成车辆(每张 CARLA 地图都提供了预定义的生成点,这些点均匀分布在道路上的整个地图上。): # Get the map's spawn pointsspawn_points = world.get_map().get_spawn_points() ...