77 lines
3.1 KiB
Python
77 lines
3.1 KiB
Python
import pygame
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from metadrive.component.sensors.semantic_camera import SemanticCamera
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from metadrive.component.sensors.depth_camera import DepthCamera
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from metadrive.component.sensors.rgb_camera import RGBCamera
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from metadrive.engine.asset_loader import AssetLoader
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from metadrive.envs.scenario_env import ScenarioEnv
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from metadrive.policy.replay_policy import ReplayEgoCarPolicy
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NuScenesEnv = ScenarioEnv
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if __name__ == "__main__":
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env = NuScenesEnv(
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{
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"use_render": True,
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"agent_policy": ReplayEgoCarPolicy,
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"show_interface": True,
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"interface_panel": ["semantic_camera"],
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# "need_lane_localization": False,
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"show_logo": False,
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"no_traffic": False,
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"drivable_region_extension": 15,
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"sequential_seed": True,
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"reactive_traffic": False,
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"show_fps": False,
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# "debug": True,
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"render_pipeline": False,
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"daytime": "08:10",
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"window_size": (800, 450),
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"camera_dist": 0.8,
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"camera_height": 1.5,
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"camera_pitch": None,
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"camera_fov": 60,
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"start_scenario_index": 0,
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"num_scenarios": 10,
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# "force_reuse_object_name": True,
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# "data_directory": "/home/shady/Downloads/test_processed",
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"horizon": 1000,
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"no_static_vehicles": False,
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# "show_policy_mark": True,
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# "show_coordinates": True,
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# "force_destroy": True,
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# "default_vehicle_in_traffic": True,
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"default_vehicle_in_traffic": True,
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"sensors": dict(semantic_camera=(SemanticCamera, 1600, 900)),
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"vehicle_config": dict(
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show_navi_mark=False,
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use_special_color=False,
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image_source="semantic_camera",
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lidar=dict(num_lasers=120, distance=50),
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lane_line_detector=dict(num_lasers=0, distance=50),
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side_detector=dict(num_lasers=12, distance=50)
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),
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"data_directory": AssetLoader.file_path("nuscenes", unix_style=False),
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# "image_observation": True,
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}
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)
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# 0,1,3,4,5,6
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# for seed in range(10):
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while True:
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env.reset(seed=6)
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for t in range(10000):
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# env.capture("rgb_deluxe_{}_{}.jpg".format(env.current_seed, t))
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# ret = env.render(
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# mode="topdown", screen_size=(1600, 900), film_size=(9000, 9000), target_vehicle_heading_up=True
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# )
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# pygame.image.save(ret, "top_down_{}_{}.png".format(env.current_seed, t))
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# env.vehicle.get_camera("depth_camera").save_image(env.vehicle, "depth_{}.jpg".format(t))
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# env.vehicle.get_camera("rgb_camera").save_image(env.vehicle, "rgb_{}.jpg".format(t))
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if t == 100:
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# env.engine.get_sensor("semantic_camera").save_image(env.vehicle, "depth_{}.jpg".format(t))
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env.engine.get_sensor("semantic_camera").save_image(env.vehicle, "semantic_{}.jpg".format(t))
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break
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env.step([1, 0.88])
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# if d:
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