文章目录
find_weather_presets()
这个函数的目的是：
从 Carla 的 WeatherParameters 中找出所有天气预设
将预设的驼峰命名转换为更可读的格式
返回预设的实际值和可读名称列表
例如，对于 "ClearNoon"，函数会返回对应的天气预设值和 "Clear Noon" 这样可读的名称。
python
def find_weather_presets():
"""Method to find weather presets"""
rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
def name(x): return ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]get_actor_display_name
函数的主要目的是：
用于获取（Actor）显示名称的函数
从演员的类型ID中提取一个更友好、可读的显示名称
如果名称过长，进行截断并添加省略号
如果 actor.type_id 是 "vehicle_car_tesla",最终 name 会是 "Car Tesla"
python
def get_actor_display_name(actor, truncate=250):
"""Method to get actor display name"""
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else nameget_actor_blueprints()
函数的主要目的是：
根据传入的过滤器（filter）筛选蓝图
根据代际（generation）进一步筛选蓝图
处理各种特殊情况，如全部、单一蓝图、无效代际等
这个函数在自动驾驶模拟器（如Carla）中用于精确选择要生成的车辆或演员蓝图，提供了灵活的筛选机制
例子：获取第2代特定类型的蓝图
gen2_blueprints = get_actor_blueprints(world, "vehicle.tesla", "2")
python
def get_actor_blueprints(world, filter, generation):
bps = world.get_blueprint_library().filter(filter)
if generation.lower() == "all":
return bps
# If the filter returns only one bp, we assume that this one needed
# and therefore, we ignore the generation
if len(bps) == 1:
return bps
try:
int_generation = int(generation)
# Check if generation is in available generations
if int_generation in [1, 2, 3]:
bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
return bps
else:
print(" Warning! Actor Generation is not valid. No actor will be spawned.")
return []
except:
print(" Warning! Actor Generation is not valid. No actor will be spawned.")
return []restart()
python
def restart(self, args):
"""Restart the world"""
# Keep same camera config if the camera manager exists.
#保存当前相机的索引和变换索引
#如果相机管理器不存在，则使用默认值0
cam_index = self.camera_manager.index if self.camera_manager is not None else 0
cam_pos_id = self.camera_manager.transform_index if self.camera_manager is not None else 0
# Get a random blueprint.
# get_actor_blueprints() 获取可用的蓝图列表
blueprint_list = get_actor_blueprints(self.world, self._actor_filter, self._actor_generation)
if not blueprint_list:
raise ValueError("Couldn't find any blueprints with the specified filters")
blueprint = random.choice(blueprint_list)
# 设置角色名为 'hero'，随机选择一个推荐颜色
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Spawn the player. 将已存在的车辆更换位置重新生成
if self.player is not None:
spawn_point = self.player.get_transform()
spawn_point.location.z += 2.0
spawn_point.rotation.roll = 0.0
spawn_point.rotation.pitch = 0.0
self.destroy()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
self.modify_vehicle_physics(self.player)
while self.player is None:
if not self.map.get_spawn_points():
print('There are no spawn points available in your map/town.')
print('Please add some Vehicle Spawn Point to your UE4 scene.')
sys.exit(1)
# 获取当前地图中所有预定义的生成点
spawn_points = self.map.get_spawn_points()
# 随机选择一个生成点
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
# 尝试在选定的生成点生成一个演员(车辆)
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
# 对新生成的车辆调用物理特性修改方法
self.modify_vehicle_physics(self.player)
# 根据同步参数，更新世界状态
if self._args.sync:
self.world.tick()
else:
self.world.wait_for_tick()
# Set up the sensors.
# 碰撞传感器
self.collision_sensor = CollisionSensor(self.player, self.hud)
# 车道入侵传感器
self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
# GNSS传感器
self.gnss_sensor = GnssSensor(self.player)
# 相机管理器
# 1.创建一个摄像机管理器实例 2.设置摄像机的变换索引 3.设置具体的摄像机传感器
# 这段代码确保了在重新生成车辆后，摄像机能够保持之前的配置，提供连续的模拟体验
self.camera_manager = CameraManager(self.player, self.hud)
self.camera_manager.transform_index = cam_pos_id
self.camera_manager.set_sensor(cam_index, notify=False)
# 获取车辆显示名称
actor_type = get_actor_display_name(self.player)
# 在抬头显示（HUD）上通知
self.hud.notification(actor_type)