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carla-birdeye-view-1.1.1
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مشاهده بیشترتوضیحات
Bird-eye's view for CARLA simulator
| ویژگی | مقدار |
|---|---|
| سیستم عامل | - |
| نام فایل | carla-birdeye-view-1.1.1 |
| نام | carla-birdeye-view |
| نسخه کتابخانه | 1.1.1 |
| نگهدارنده | [] |
| ایمیل نگهدارنده | [] |
| نویسنده | Michał Martyniak |
| ایمیل نویسنده | michal.martyniak@linux.pl |
| آدرس صفحه اصلی | https://github.com/deepsense-ai/carla-birdeye-view |
| آدرس اینترنتی | https://pypi.org/project/carla-birdeye-view/ |
| مجوز | MIT |
## Bird-eye's view for CARLA
Freeway-oriented shape | *[Learning By Cheating](https://arxiv.org/abs/1912.12294)*-like shape | Centerlines layer
:-------------------------:|:-------------------------:|:---------------------------------------:
 |  | 
(GIFs above present feature maps after applying `as_rgb()` function)
### Motivation
During our [research](https://arxiv.org/abs/1911.12905) we found a very inspiring paper called [Learning By Cheating]( https://arxiv.org/abs/1912.12294). **Bird-eye's view** is made specifically to **learn faster thanks to much simpler, 2D world representation** (cheating oracle) which we think fits well in **Reinforcement Learning** setup.
This repository is an almost complete reimplementation that gives better performance and compatibility with most recent versions of CARLA. You can use it out-of-the-box as input for your model, and if necessary convert and visualize into RGB.
### Features
- **one-hot 3D feature map** (8x2D layers, each representing other entities, e.g. road layer, pedestrians layer) - made specifically to feed your CNN
- feature map **can be converted to an RGB** image
- layers can be easily removed
- caching mechanism for static layers like: roads and lanes
- using **OpenCV rendering** (efficient, multi-threading friendly) instead of slow Pygame method
- huge **FPS speedup** thanks to restricted rendering (only agent's surroundings, not whole map)
- all CARLA maps are supported out-of-the-box, custom maps with valid OpenDrive file made in RoadRunner are also supported
- current implementation is specifically adjusted for highway scenarios (prolonged shape), but other shapes and crops are easy to implement
### Installation
```bash
pip install carla-birdeye-view
```
### How to run
Make sure that `PYTHONPATH` env variable contains CARLA distribution egg, so that `carla` package can be imported.
```bash
# Launch server instance
./CarlaUE4.sh
# (optional) For CARLA 0.9.8+ you may get additional performance improvement with this
python PythonAPI/util/config.py --no-rendering
# Preview while cruising on autopilot (birdview/__main__.py)
python -m carla_birdeye_view
```
### Basic code usage
```python
from carla_birdeye_view import BirdViewProducer, BirdViewCropType, PixelDimensions
birdview_producer = BirdViewProducer(
client, # carla.Client
target_size=PixelDimensions(width=150, height=336),
pixels_per_meter=4,
crop_type=BirdViewCropType.FRONT_AND_REAR_AREA
)
# Input for your model - call it every simulation step
# returned result is np.ndarray with ones and zeros of shape (8, height, width)
birdview = birdview_producer.produce(
agent_vehicle=agent # carla.Actor (spawned vehicle)
)
# Use only if you want to visualize
# produces np.ndarray of shape (height, width, 3)
rgb = BirdViewProducer.as_rgb(birdview)
```
### Contribution and feedback
We'd :heart: to collct any feedback, issues and pull requests!
### Credits
Project born at [deepsense.ai](deepsense.ai), made by:
 [Michał Martyniak (@micmarty)](https://micmarty.github.io)
نحوه نصب
نصب پکیج whl carla-birdeye-view-1.1.1:
pip install carla-birdeye-view-1.1.1.whl
نصب پکیج tar.gz carla-birdeye-view-1.1.1:
pip install carla-birdeye-view-1.1.1.tar.gz