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.
109 lines
3.0 KiB
109 lines
3.0 KiB
#!/usr/bin/env python
|
|
|
|
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
|
|
# Barcelona (UAB).
|
|
#
|
|
# This work is licensed under the terms of the MIT license.
|
|
# For a copy, see <https://opensource.org/licenses/MIT>.
|
|
|
|
import carla
|
|
|
|
import argparse
|
|
|
|
|
|
def main():
|
|
|
|
argparser = argparse.ArgumentParser(
|
|
description=__doc__)
|
|
argparser.add_argument(
|
|
'--host',
|
|
metavar='H',
|
|
default='127.0.0.1',
|
|
help='IP of the host server (default: 127.0.0.1)')
|
|
argparser.add_argument(
|
|
'-p', '--port',
|
|
metavar='P',
|
|
default=2000,
|
|
type=int,
|
|
help='TCP port to listen to (default: 2000)')
|
|
argparser.add_argument(
|
|
'-s', '--start',
|
|
metavar='S',
|
|
default=0.0,
|
|
type=float,
|
|
help='starting time (default: 0.0)')
|
|
argparser.add_argument(
|
|
'-d', '--duration',
|
|
metavar='D',
|
|
default=0.0,
|
|
type=float,
|
|
help='duration (default: 0.0)')
|
|
argparser.add_argument(
|
|
'-f', '--recorder-filename',
|
|
metavar='F',
|
|
default="test1.log",
|
|
help='recorder filename (test1.log)')
|
|
argparser.add_argument(
|
|
'-c', '--camera',
|
|
metavar='C',
|
|
default=0,
|
|
type=int,
|
|
help='camera follows an actor (ex: 82)')
|
|
argparser.add_argument(
|
|
'-x', '--time-factor',
|
|
metavar='X',
|
|
default=1.0,
|
|
type=float,
|
|
help='time factor (default 1.0)')
|
|
argparser.add_argument(
|
|
'-i', '--ignore-hero',
|
|
action='store_true',
|
|
help='ignore hero vehicles')
|
|
argparser.add_argument(
|
|
'--move-spectator',
|
|
action='store_true',
|
|
help='move spectator camera')
|
|
argparser.add_argument(
|
|
'--top-view',
|
|
action='store_true',
|
|
help='enable top-down camera view when following an actor')
|
|
argparser.add_argument(
|
|
'--spawn-sensors',
|
|
action='store_true',
|
|
help='spawn sensors in the replayed world')
|
|
args = argparser.parse_args()
|
|
|
|
try:
|
|
|
|
client = carla.Client(args.host, args.port)
|
|
client.set_timeout(60.0)
|
|
|
|
# set the time factor for the replayer
|
|
client.set_replayer_time_factor(args.time_factor)
|
|
|
|
# set to ignore the hero vehicles or not
|
|
client.set_replayer_ignore_hero(args.ignore_hero)
|
|
|
|
# set to ignore the spectator camera or not
|
|
client.set_replayer_ignore_spectator(not args.move_spectator)
|
|
|
|
# set desired offset
|
|
offset = carla.Transform(carla.Location(-10, 0, 5), carla.Rotation(-25, 0, 0))
|
|
if args.top_view:
|
|
offset = carla.Transform(carla.Location(0, 0, 40), carla.Rotation(-90, 0, 0))
|
|
|
|
# replay the session
|
|
print(client.replay_file(args.recorder_filename, args.start, args.duration, args.camera, args.spawn_sensors, offset))
|
|
|
|
finally:
|
|
pass
|
|
|
|
|
|
if __name__ == '__main__':
|
|
|
|
try:
|
|
main()
|
|
except KeyboardInterrupt:
|
|
pass
|
|
finally:
|
|
print('\ndone.')
|