#27/carla lights placement

.gitignore

@@ -170,3 +170,15 @@ CM*_proj/**/Release/*
 **/.vs/*
 tests/DelayedConnection/coordMerge.xml
 CM11_proj/tmp.obj
+
+# CARLA dependency bundle and local CMake build artifacts
+CommonLib/libcarla/
+VirCarlaEnv/build/
+VirCarlaEnv/VirCarlaEnv/CMakeFiles/
+VirCarlaEnv/VirCarlaEnv/CMakeCache.txt
+VirCarlaEnv/VirCarlaEnv/cmake_install.cmake
+VirCarlaEnv/VirCarlaEnv/*.ninja
+VirCarlaEnv/VirCarlaEnv/.ninja*
+VirCarlaEnv/VirCarlaEnv/Makefile
+VirCarlaEnv/VirCarlaEnv/compile_commands.json
+VirCarlaEnv/VirCarlaEnv/*.cmake

Carla/carla_tl_locs.csv

@@ -0,0 +1,12 @@
+1375.4974524064373,-1067.6701523048437,182.3,0,0,-91,1356.73,-1077.3400000000001,181.88,-1868_0,373
+1375.4974524064373,-1070.8701523048437,182.3,0,0,-91,1356.73,-1077.3400000000001,181.88,-1868_1,373
+1375.4974524064373,-1074.0701523048438,182.3,0,0,-91,1356.73,-1077.3400000000001,181.88,-1868_2,373
+1375.4974524064373,-1077.2701523048436,182.3,0,0,-91,1356.73,-1077.3400000000001,181.88,-1868_3,373
+1348.71,-1057.2,181.84,0,0,0,1356.73,-1077.3400000000001,181.88,-1871_0,373
+1351.91,-1057.2,181.84,0,0,0,1356.73,-1077.3400000000001,181.88,-1871_1,373
+1355.11,-1057.2,181.84,0,0,0,1356.73,-1077.3400000000001,181.88,-1871_2,373
+1338.0,-1086.48,181.46,0,0,-270,1356.73,-1077.3400000000001,181.88,-1880_0,373
+1338.0,-1083.28,181.46,0,0,-270,1356.73,-1077.3400000000001,181.88,-1880_1,373
+1338.0,-1080.08,181.46,0,0,-270,1356.73,-1077.3400000000001,181.88,-1880_2,373
+1361.5598476951563,-1099.4874524064373,181.95,0,0,-181,1356.73,-1077.3400000000001,181.88,-2001_0,373
+1358.3598476951563,-1099.4874524064373,181.95,0,0,-181,1356.73,-1077.3400000000001,181.88,-2001_1,373

Carla/carla_utils.py

@@ -0,0 +1,58 @@
+from re import T
+import carla
+import os
+from CommonLib.ConfigHelper import ConfigHelper
+
+config_path = os.path.join(os.getcwd(), 'defaultConfig.yaml')
+config_helper = ConfigHelper()
+config_helper.getConfig(config_path)
+carla_server_ip = config_helper.Carla_setup["CarlaServerIP"]
+carla_server_port = config_helper.Carla_setup["CarlaServerPort"]
+
+
+carla_client = carla.Client(carla_server_ip, carla_server_port)
+
+import carla
+
+def draw_axes_at_location(world, location, length=5.0, thickness=0.1, life_time=0.0, persistent=True):
+    """
+    Draw X (red), Y (green), Z (blue) axes at the world origin (0,0,0).
+    """
+    debug = world.debug
+
+    # Red X-axis
+    debug.draw_line(location, carla.Location(x=length, y=0, z=100),
+                    thickness=thickness, color=carla.Color(255, 0, 0), life_time=life_time, persistent_lines=persistent)
+
+    # Green Y-axis  
+    debug.draw_line(location, carla.Location(x=0, y=length, z=100),
+                    thickness=thickness, color=carla.Color(0, 255, 0), life_time=life_time, persistent_lines=persistent)
+
+    # Blue Z-axis
+    debug.draw_line(location, carla.Location(x=0, y=0, z=length),
+                    thickness=thickness, color=carla.Color(0, 0, 255), life_time=life_time, persistent_lines=persistent)
+
+def move_spectator_to_location(world, location, pitch=-90.0):
+    """
+    Move the spectator directly above the origin, looking down.
+    """
+    spectator = world.get_spectator()
+    rotation = carla.Rotation(pitch=pitch, yaw=0)
+    spectator.set_transform(carla.Transform(location, rotation))
+def try_to_spawn_vehicle(world, location, rotation):
+    vehicle_bp = world.get_blueprint_library().find('vehicle.mini.cooper_s')
+    vehicle = world.try_spawn_actor(vehicle_bp, carla.Transform(location, rotation))
+    return vehicle
+
+world = carla_client.get_world()
+settings = world.get_settings()
+settings.synchronous_mode = False
+world.apply_settings(settings)
+
+
+# draw_axes_at_location(world, carla.Location(334.887, 18.39, 0), length=100.0)
+# move_spectator_to_location(world, carla.Location(334.887, 18.39, 100))
+# try_to_spawn_vehicle(world, carla.Location(334.887, 18.39, 0.0), carla.Rotation(pitch=0, yaw=90.0346, roll=0))
+
+
+

Carla/dash_view.py

@@ -0,0 +1,88 @@
+import carla
+import os
+from CommonLib.ConfigHelper import ConfigHelper
+from dotenv import load_dotenv
+import cv2
+import numpy as np
+import random
+def process_image(image):
+    array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+    array = np.reshape(array, (image.height, image.width, 4))  # RGBA format
+    rgb_array = array[:, :, :3]  # Drop the alpha channel
+    cv2.imshow("Front Camera", rgb_array)
+    cv2.waitKey(1)
+
+
+
+if __name__ == "__main__":
+    load_dotenv()
+    config_path = os.environ["CONFIG_PATH"]
+    config_helper = ConfigHelper()
+    config_helper.getConfig(config_path)
+
+    carla_server_ip = config_helper.Carla_setup["CarlaServerIP"]
+    carla_server_port = config_helper.Carla_setup["CarlaServerPort"]
+    carla_client = carla.Client(carla_server_ip, carla_server_port)
+
+    carla_world = carla_client.get_world()
+    carla_settings = carla_world.get_settings()
+    if not carla_settings.synchronous_mode:
+        carla_settings.synchronous_mode = True  # Enable synchronous mode
+        carla_world.apply_settings(carla_settings)
+    carla_blueprint_library = carla_world.get_blueprint_library()
+    camera_bp = carla_blueprint_library.find('sensor.camera.rgb')
+    camera_bp.set_attribute('image_size_x', '800')
+    camera_bp.set_attribute('image_size_y', '600')
+    camera_bp.set_attribute('fov', '90')
+    camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))  # x is forward, z is up
+    # Wait until the ego vehicle is spawned in the carla world
+    RANDOM_SPAWN = True
+    ego_vehicle_role_name = 'ego'
+    ego_vehicle_carla_actor: carla.Vehicle = None
+    ego_vehicle_carla_actor_id = ''
+    while ego_vehicle_carla_actor is None:
+        try:
+            carla_vehicle_actors_in_world = carla_world.get_actors().filter('vehicle.*')
+            carla_vehicle_actor: carla.Vehicle
+            # if the ego vehicle is not spawned in carla
+            if RANDOM_SPAWN:
+                spawn_points = carla_world.get_map().get_spawn_points()
+                spawn_point = random.choice(spawn_points)
+                vehicle_blueprint = carla_blueprint_library.find('vehicle.tesla.model3')
+                vehicle_blueprint.set_attribute('role_name', ego_vehicle_role_name)
+                ego_vehicle_carla_actor = carla_world.spawn_actor(vehicle_blueprint, spawn_point)
+                # set as auto pilot
+                ego_vehicle_carla_actor.set_autopilot(True)
+            if ego_vehicle_carla_actor is None:
+                for carla_vehicle_actor in carla_vehicle_actors_in_world:
+                    if 'role_name' in carla_vehicle_actor.attributes.keys():
+                        carla_actor_role_name = carla_vehicle_actor.attributes.get('role_name', None)
+                        if carla_actor_role_name == ego_vehicle_role_name:
+                            ego_vehicle_carla_actor = carla_vehicle_actor
+                            ego_vehicle_carla_actor_id = carla_vehicle_actor.id
+                            # if the ego vehicle is in carla
+                            camera_actor: carla.Sensor
+                            camera_actor = carla_world.spawn_actor(camera_bp, camera_transform, attach_to=ego_vehicle_carla_actor)
+
+        except Exception as e:
+            print(f"Error occurred: {str(e)}")
+
+
+    camera_actor.listen(lambda image: process_image(image))
+    latest_image = None
+
+    try:
+        while True:
+            carla_world.tick()
+            if latest_image is not None:
+                cv2.imshow("Front Camera", latest_image)
+                if cv2.waitKey(1) & 0xFF == ord('q'):
+                    break
+    except KeyboardInterrupt:
+        print("Stopping the simulation.")
+    finally:
+        camera_actor.stop()
+        ego_vehicle_carla_actor.destroy()
+        camera_actor.destroy()
+        cv2.destroyAllWindows()
+        print("Cleaning up...")

Carla/disable_carla_synchronous_mode.py

@@ -0,0 +1,20 @@
+import carla
+import os
+from CommonLib.ConfigHelper import ConfigHelper
+from dotenv import load_dotenv
+if __name__ == "__main__":
+    load_dotenv()
+    config_path = os.environ["CONFIG_PATH"]
+    config_helper = ConfigHelper()
+    config_helper.getConfig(config_path)
+
+    carla_server_ip = config_helper.Carla_setup["CarlaServerIP"]
+    carla_server_port = config_helper.Carla_setup["CarlaServerPort"]
+    carla_client = carla.Client(carla_server_ip, carla_server_port)
+
+    world = carla_client.get_world()
+    settings = world.get_settings()
+    settings.synchronous_mode = False
+    world.apply_settings(settings)
+
+