mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-19 12:23:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

metadrive: fix dual_camera mode (#30743)

Browse Source 
* Use wide cam in metadrive

* 120 fov
This commit is contained in:
Kacper Rączy
2023-12-14 20:51:06 -08:00
committed by GitHub
parent 0830f62b36
commit 5fe9f1459c
3 changed files with 13 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
tools/sim/bridge/metadrive/metadrive_bridge.py
View File

@@ -36,7 +36,7 @@ class RGBCameraWide(CopyRamRGBCamera):
cam = self.get_cam()
cam.setPos(C3_POSITION)
lens = self.get_lens()
lens.setFov(160)
lens.setFov(120)
class RGBCameraRoad(CopyRamRGBCamera):
def __init__(self, *args, **kwargs):
@@ -116,4 +116,4 @@ class MetaDriveBridge(SimulatorBridge):
preload_models=False
)
return MetaDriveWorld(config)
return MetaDriveWorld(config, self.dual_camera)

9
tools/sim/bridge/metadrive/metadrive_process.py
View File

@@ -39,10 +39,13 @@ def apply_metadrive_patches():
MetaDriveEnv._is_arrive_destination = arrive_destination_patch
def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, controls_recv: Connection, state_send: Connection, exit_event):
apply_metadrive_patches()
road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
if dual_camera:
assert wide_camera_array is not None
wide_road_image = np.frombuffer(wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
env = MetaDriveEnv(config)
@@ -92,8 +95,8 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re
if terminated:
reset()
#if dual_camera:
# wide_road_image = get_cam_as_rgb("rgb_wide")
if dual_camera:
wide_road_image[...] = get_cam_as_rgb("rgb_wide")
road_image[...] = get_cam_as_rgb("rgb_road")
rk.keep_time()

6
tools/sim/bridge/metadrive/metadrive_world.py
View File

@@ -15,6 +15,10 @@ class MetaDriveWorld(World):
super().__init__(dual_camera)
self.camera_array = Array(ctypes.c_uint8, W*H*3)
self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
self.wide_camera_array = None
if dual_camera:
self.wide_camera_array = Array(ctypes.c_uint8, W*H*3)
self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
self.controls_send, self.controls_recv = Pipe()
self.state_send, self.state_recv = Pipe()
@@ -23,7 +27,7 @@ class MetaDriveWorld(World):
self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
functools.partial(metadrive_process, dual_camera, config,
self.camera_array, self.controls_recv, self.state_send, self.exit_event))
self.camera_array, self.wide_camera_array, self.controls_recv, self.state_send, self.exit_event))
self.metadrive_process.start()
print("----------------------------------------------------------")