get_spectator() # 手动规定 # transform_vehicle = carla.Transform(carla.Location(0, 10, 0), carla.Rotation(0, 0, 0)) # 自动选择 transform_vehicle = random.choice(world.get_map().get_spawn_points()) ego_vehicle = world.spawn_actor(random.choice(blueprint_library.filter("model3")), ...
world.get_blueprint_library().find('sensor.camera.rgb') disp_size = self.display_man.get_display_size() camera_bp.set_attribute('image_size_x', str(disp_size[0])) camera_bp.set_attribute('image_size_y', str(disp_size[1])) for key in sensor_options: camera_bp.set_attribute(key...
world = client.get_world() # 创建一个车辆 blueprint_library = world.get_blueprint_library() bp = blueprint_library.filter('vehicle.tesla.model3')[0] spawn_point = random.choice(world.get_map().get_spawn_points()) vehicle = world.spawn_actor(bp, spawn_point) # 设置自动驾驶(假设已结...
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...
world = client.get_world() blueprint_library = world.get_blueprint_library() 1. 2. 3. 4. 5. 6. 7. 8. 请注意,您需要运行 carla(shell 或 .exe)才能连接。 现在我们有了蓝图,我们可以过滤一些东西。例如: bp = blueprint_library.filter('model3')[0] ...
#确定车辆模板blueprint_library =world.get_blueprint_library() vehicle_bp= random.choice(blueprint_library.filter('vehicle.*.*'))#从地图中获得Actor的生成点spawn_points =world.get_map().get_spawn_points() spawn_point=random.choice(spawn_points)#生成车辆1vehicle_1 =world.spawn_actor(vehicle_...
#设置ego的车型ego_bp = world.get_blueprint_library().find('vehicle.tesla.model3')ego_bp.set_attribute('role_name','ego') 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_tfelifSP...
carla.BlueprintLibrary类包含一个carla.ActorBlueprint元素列表,world对象可以进行访问 1 blueprint_library=world.get_blueprint_library() 蓝图有一个 ID 来识别它们以及由此产生的演员 可以读取该库以查找某个 ID,随机选择一个蓝图,或使用过通配符模式滤结果 ...
world = client.get_world() print('Carla version:', world.get_carla_version()) ``` 2. 创建车辆: ``` import carla client = carla.Client('localhost', 2000) client.set_timeout(2.0) world = client.get_world() blueprint_library = world.get_blueprint_library() vehicle_bp = blueprint_...
Client("localhost",2000)world=client.get_world()#设置ego的车型ego_bp=world.get_blueprint_library...