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51 lines
1.4 KiB
51 lines
1.4 KiB
#!/usr/bin/env python
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# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import carla
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import math
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import random
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def get_transform(vehicle_location, angle, d=6.4):
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a = math.radians(angle)
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location = carla.Location(d * math.cos(a), d * math.sin(a), 2.0) + vehicle_location
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return carla.Transform(location, carla.Rotation(yaw=180 + angle, pitch=-15))
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def main():
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client = carla.Client('localhost', 2000)
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client.set_timeout(2.0)
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world = client.get_world()
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spectator = world.get_spectator()
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vehicle_blueprints = world.get_blueprint_library().filter('vehicle')
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location = random.choice(world.get_map().get_spawn_points()).location
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for blueprint in vehicle_blueprints:
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transform = carla.Transform(location, carla.Rotation(yaw=-45.0))
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vehicle = world.spawn_actor(blueprint, transform)
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try:
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print(vehicle.type_id)
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angle = 0
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while angle < 356:
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timestamp = world.wait_for_tick().timestamp
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angle += timestamp.delta_seconds * 60.0
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spectator.set_transform(get_transform(vehicle.get_location(), angle - 90))
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finally:
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vehicle.destroy()
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if __name__ == '__main__':
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main()
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