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| <h1 id="3d-spectatorpy">路口微观3D 动画演示运动场景spectator.py</h1> | ||
| <h4 id="_1"><strong>介绍</strong></h4> | ||
| <p>此脚本连接到CARLA仿真环境，并定期切换湖工商附近的四个预设路口视角。通过不断改变观众（Spectator）的视角，用户可以观察到不同路口的交通状况。</p> | ||
| <h4 id="_2"><strong>环境要求</strong></h4> | ||
| <ul> | ||
| <li> | ||
| <p>Python 3.6 及以上版本</p> | ||
| </li> | ||
| <li> | ||
| <p>CARLA 仿真环境</p> | ||
| </li> | ||
| <li> | ||
| <p>安装必要的Python库：</p> | ||
| </li> | ||
| </ul> | ||
| <p><code>pip install carla</code></p> | ||
| <h4 id="_3"><strong>运行</strong></h4> | ||
| <p>此示例支持设置 <strong>spectator</strong> 视角来观察交通路口运动情形。</p> | ||
| <p>以下示例通过预定义 <strong>spectator</strong> 对象视角的位置 <strong>Location</strong> 和旋转角度 <strong>pitch</strong> 来进行视角的更换</p> | ||
| <pre><code>client = carla.Client('localhost', 2000) | ||
| client.set_timeout(10) | ||
| world = client.get_world() | ||
| spectator_transform = [ | ||
| carla.Transform(carla.Location(x=-323, y=-15.7, z=108), carla.Rotation(pitch=-90)), | ||
| carla.Transform(carla.Location(x=-359.6, y=391.3, z=94), carla.Rotation(pitch=-90)), | ||
| carla.Transform(carla.Location(x=426.2, y=-33.4, z=91.6), carla.Rotation(pitch=-90)), | ||
| carla.Transform(carla.Location(x=375.1, y=-558.4, z=91.6), carla.Rotation(pitch=-90)) | ||
| ] | ||
| spectator = world.get_spectator() | ||
| spectator.set_transform(spectator_transform[0]) | ||
| </code></pre> | ||
| <h5 id="_4">定期切换视角</h5> | ||
| <p>脚本将连接到CARLA服务器，并每5秒切换一次预设的观众视角。</p> | ||
| <pre><code>start_time = time.time() | ||
| state = 0 | ||
| while True: | ||
| elapsed_time = time.time() - start_time | ||
| if elapsed_time >= 5: | ||
| spectator.set_transform(spectator_transform[state]) | ||
| state += 1 | ||
| if state > 3: | ||
| state = 0 | ||
| start_time = time.time() | ||
| </code></pre> | ||
| <h5 id="_5">运行结果：</h5> | ||
| <p><img alt="" src="../../img/traffic_course_img/1.gif" /></p> | ||
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