Whitehat-Carla/project-217.py at master · bunnypranav/Whitehat-Carla · GitHub

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import glob
import os
import sys
import time
import math

try:
    sys.path.append(
        glob.glob(
            "../carla/dist/carla-*%d.%d-%s.egg"
            % (
                sys.version_info.major,
                sys.version_info.minor,
                "win-amd64" if os.name == "nt" else "linux-x86_64",
            )
        )[0]
    )
except IndexError:
    pass

import carla

actor_list = []


def generate_radar_blueprint(blueprint_library):
    radar_blueprint = blueprint_library.filter("sensor.other.radar")[0]
    radar_blueprint.set_attribute("horizontal_fov", str(35))
    radar_blueprint.set_attribute("vertical_fov", str(20))
    radar_blueprint.set_attribute("points_per_second", str(1500))
    radar_blueprint.set_attribute("range", str(20))
    return radar_blueprint


try:
    client = carla.Client("127.0.0.1", 2000)
    client.set_timeout(10.0)
    world = client.get_world()

    get_blueprint_of_world = world.get_blueprint_library()
    car_model = get_blueprint_of_world.filter("model3")[0]
    spawn_point = world.get_map().get_spawn_points()[50]
    dropped_vehicle = world.spawn_actor(car_model, spawn_point)
    dropped_vehicle.set_autopilot(True)
    simulator_camera_location_rotation = carla.Transform(
        spawn_point.location, spawn_point.rotation
    )
    simulator_camera_location_rotation.location += (
        spawn_point.get_forward_vector() * -30
    )
    simulator_camera_location_rotation.location += spawn_point.get_up_vector() * -5
    simulator_camera_location_rotation.rotation.yaw += 0
    simulator_camera_view = world.get_spectator()
    simulator_camera_view.set_transform(simulator_camera_location_rotation)
    actor_list.append(dropped_vehicle)

    radar_sensor = generate_radar_blueprint(get_blueprint_of_world)
    sensor_radar_spawn_point = carla.Transform(carla.Location(x=-0.5, z=1.8))
    sensor = world.spawn_actor(
        radar_sensor, sensor_radar_spawn_point, attach_to=dropped_vehicle
    )

    sensor.listen(lambda radar_data: _Radar_callback(radar_data))

    def _Radar_callback(radar_data):
        radar_current_rotation = radar_data.transform.rotation
        debug = world.debug
        for detect in radar_data:
            radar_azimuth = math.degrees(detect.azimuth)
            radar_altitude = math.degrees(detect.altitude)

            rear_view = carla.Vector3D(x=-(detect.depth - 1))
            new_pitch = radar_current_rotation.pitch + radar_altitude
            new_yaw = radar_current_rotation.yaw + radar_azimuth
            new_roll = radar_current_rotation.roll
            carla.Transform(
                carla.Location(),
                carla.Rotation(pitch=new_pitch, yaw=new_yaw, roll=new_roll),
            ).transform(rear_view)

            debug.draw_string(
                radar_data.transform.location + rear_view,
                text="%0.1f m" % detect.depth,
                life_time=0.06,
                color=carla.Color(0, 210, 255),
            )

    actor_list.append(sensor)

    time.sleep(1000)
finally:
    print("destroying actors")
    for actor in actor_list:
        actor.destroy()
    print("done.")