Lidar_Data_Generator - Githubissues

I have created the module for generating the Lidar data along with the location and driving log with following code!

`import glob import os import sys import time import numpy as np import open3d as o3d from csv import writer from PIL import Image as im from utlis import *

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 preProcess(image): image.save_to_disk('lidar_dataset/lidar/1%08d.ply' % image.frame_number) name = ('1%08d' % image.frame_number)

location = vehicle.get_location()
arr = [name,location.x,location.y,location.z]
with open('lidar_dataset/vehicle_location.csv', 'a') as f_object:
    writer_object = writer(f_object)
    writer_object.writerow(arr)
    f_object.close()

c = vehicle.get_control()
arr2 = [name, c.throttle, c.steer, c.brake, c.gear]
with open('lidar_dataset/driving_log.csv', 'a') as f_object:
    writer_object = writer(f_object)
    writer_object.writerow(arr2)
    f_object.close()

try: client = carla.Client("localhost", 2000) client.set_timeout(5.0)

world = client.get_world()

blueprint_library = world.get_blueprint_library()
bp = blueprint_library.filter("model3")[0]
print(bp)

list = world.get_map().get_spawn_points()
print(list)
spawn_point = list[4]
# spawn_point = random.choice(world.get_map().get_spawn_points())

vehicle = world.spawn_actor(bp, spawn_point)
vehicle.set_autopilot(True)
# vehicle.apply_control(carla.VehicleControl(throttle = 0.0, steer = 0.0))
actor_list.append(vehicle)

lidar_bp = blueprint_library.find("sensor.lidar.ray_cast")
lidar_bp.set_attribute('range', '5000') #Maximum distance to measure/raycast in centimeter
lidar_bp.set_attribute('points_per_second', '56000')
lidar_bp.set_attribute('rotation_frequency', '12')
# lidar_bp.set_attribute('upper_fov', '60') #Angle in degrees of the highest laser.
lidar_bp.set_attribute('channels', '64') #Number of lasers.

spawn_point = carla.Transform(carla.Location(x=2.5, z=2))

lidar_sensor = world.spawn_actor(lidar_bp, spawn_point, attach_to=vehicle)
actor_list.append(lidar_sensor)

lidar_sensor.listen(lambda image: preProcess(image))

location = vehicle.get_location()
print(location)

time.sleep(3600)

finally: for actor in actor_list: actor.destroy() print("All cleaned up!")

hasibkyau / Carla_Mapping

Lidar_Data_Generator #12

You have to generate a dataset of LiDAR data from CARLA environment along with the vehicle location and driving log

lidar_bp.set_attribute('upper_fov', '60') #Angle in degrees of the highest laser.