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实现车辆颜色切换功能（支持10种颜色循环切换） #7

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实现车辆颜色切换功能（支持10种颜色循环切换） #7

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9ce538b
实现场景切换功能（支持不同CARLA地图间自动切换）
XieTJ Apr 19, 2026
dd1c5bd
Merge pull request #5 from XieTJ/XieTJ-patch-5
XieTJ Apr 19, 2026
3466f97
实现车辆颜色切换功能（支持10种颜色循环切换）
XieTJ Apr 29, 2026
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330 changes: 308 additions & 22 deletions src/car_navigation_system/main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,9 +101,33 @@ def __init__(self):
self.client = None
self.world = None
self.vehicle = None
self.camera = None
self.cameras = {} # 存储多个相机
self.controller = None
self.camera_image = None
self.current_view = 'third_person' # 当前视角模式：'first_person', 'third_person', 'birdseye'
self.current_map = 'Town01' # 当前地图
self.available_maps = ['Town01', 'Town02', 'Town03', 'Town04', 'Town05', 'Town06', 'Town07'] # 可用地图列表
self.current_weather = 'clear' # 当前天气
# 简化天气预设，使用肯定存在的天气类型
self.weather_presets = {
'clear': carla.WeatherParameters.ClearNoon,
'rain': carla.WeatherParameters.HardRainNoon,
'cloudy': carla.WeatherParameters.CloudyNoon,
'wet': carla.WeatherParameters.WetNoon
} # 天气预设
self.car_colors = [
(255, 0, 0), # 红色
(0, 0, 255), # 蓝色
(0, 255, 0), # 绿色
(255, 255, 0), # 黄色
(255, 0, 255), # 品红色
(0, 255, 255), # 青色
(128, 0, 128), # 紫色
(255, 165, 0), # 橙色
(128, 128, 128), # 灰色
(255, 255, 255) # 白色
] # 车辆颜色列表
self.current_color_index = 0 # 当前颜色索引

def connect(self):
"""连接到CARLA服务器"""
Expand Down Expand Up @@ -196,7 +220,7 @@ def spawn_vehicle(self):
return False

def setup_camera(self):
"""设置相机"""
"""设置多个相机"""
print("正在设置相机...")

try:
Expand All @@ -208,37 +232,255 @@ def setup_camera(self):
camera_bp.set_attribute('image_size_y', '480')
camera_bp.set_attribute('fov', '90')

# 相机位置（车辆后方）
camera_transform = carla.Transform(
# 第一人称相机
first_person_transform = carla.Transform(
carla.Location(x=2.0, z=1.2), # 驾驶座位置
carla.Rotation(pitch=0.0) # 平视
)
first_person_camera = self.world.spawn_actor(
camera_bp, first_person_transform, attach_to=self.vehicle
)
first_person_camera.listen(lambda image: self.camera_callback(image, 'first_person'))
self.cameras['first_person'] = first_person_camera

# 第三人称相机
third_person_transform = carla.Transform(
carla.Location(x=-8.0, z=6.0), # 在车辆后方上方
carla.Rotation(pitch=-20.0) # 向下看
)

# 生成相机
self.camera = self.world.spawn_actor(
camera_bp, camera_transform, attach_to=self.vehicle
third_person_camera = self.world.spawn_actor(
camera_bp, third_person_transform, attach_to=self.vehicle
)
third_person_camera.listen(lambda image: self.camera_callback(image, 'third_person'))
self.cameras['third_person'] = third_person_camera

# 设置回调函数
self.camera.listen(lambda image: self.camera_callback(image))
# 鸟瞰图相机
birdseye_transform = carla.Transform(
carla.Location(x=0.0, z=30.0), # 车辆正上方30米
carla.Rotation(pitch=-90.0) # 垂直向下
)
birdseye_camera = self.world.spawn_actor(
camera_bp, birdseye_transform, attach_to=self.vehicle
)
birdseye_camera.listen(lambda image: self.camera_callback(image, 'birdseye'))
self.cameras['birdseye'] = birdseye_camera

print("相机设置成功")
print("相机设置成功 - 已创建三个视角相机")
return True

except Exception as e:
print(f"设置相机时出错: {e}")
return False

def camera_callback(self, image):
def camera_callback(self, image, view_mode=None):
"""相机数据回调"""
try:
# 转换图像数据
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
self.camera_image = array[:, :, :3] # RGB通道
# 只有当前视角的相机数据才会被使用
if view_mode == self.current_view:
# 转换图像数据
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
self.camera_image = array[:, :, :3] # RGB通道
except:
pass

def update_camera_view(self):
"""更新相机视角"""
print(f"已切换到{self.get_view_name()}视角")

def switch_map(self):
"""切换到下一个地图"""
try:
# 停止所有相机
for view_mode, camera in self.cameras.items():
if camera:
try:
camera.stop()
camera.destroy()
except:
pass
self.cameras.clear()

# 销毁车辆
if self.vehicle:
try:
self.vehicle.destroy()
except:
pass
self.vehicle = None

# 等待清理完成
time.sleep(1.0)

# 切换到下一个地图
current_index = self.available_maps.index(self.current_map)
next_index = (current_index + 1) % len(self.available_maps)
new_map = self.available_maps[next_index]

print(f"正在加载地图: {new_map}...")

# 完全重新连接CARLA客户端
self.client = carla.Client('localhost', 2000)
self.client.set_timeout(10.0)

# 加载新地图
self.world = self.client.load_world(new_map)
self.current_map = new_map

# 等待地图完全加载
time.sleep(3.0)

# 重新生成车辆
if not self.spawn_vehicle():
raise Exception("车辆生成失败")

# 重新设置相机
if not self.setup_camera():
raise Exception("相机设置失败")

# 重新设置控制器
self.setup_controller()

# 重新生成NPC车辆
self.spawn_npc_vehicles(2)

# 应用当前天气
self.set_weather(self.current_weather)

print(f"地图切换成功: {self.current_map}")

except Exception as e:
print(f"切换地图时出错: {e}")
# 尝试重新加载Town01作为备份
try:
print("正在恢复到Town01...")
self.current_map = 'Town01'
time.sleep(1.0)
self.client = carla.Client('localhost', 2000)
self.client.set_timeout(10.0)
self.world = self.client.load_world(self.current_map)
time.sleep(3.0)
self.spawn_vehicle()
self.setup_camera()
self.setup_controller()
self.set_weather(self.current_weather)
print("已恢复到Town01")
except Exception as e2:
print(f"恢复失败: {e2}")

def set_weather(self, weather_type):
"""设置天气"""
try:
if weather_type in self.weather_presets:
weather = self.weather_presets[weather_type]
self.world.set_weather(weather)
self.current_weather = weather_type
print(f"天气设置成功: {weather_type}")
return True
else:
print(f"无效的天气类型: {weather_type}")
return False
except Exception as e:
print(f"设置天气时出错: {e}")
return False

def switch_weather(self):
"""切换到下一个天气"""
try:
weather_types = list(self.weather_presets.keys())
current_index = weather_types.index(self.current_weather)
next_index = (current_index + 1) % len(weather_types)
next_weather = weather_types[next_index]
self.set_weather(next_weather)
except Exception as e:
print(f"切换天气时出错: {e}")

def switch_color(self):
"""切换车辆颜色"""
try:
if self.vehicle:
# 获取当前车辆位置和方向
transform = self.vehicle.get_transform()

# 切换到下一个颜色
self.current_color_index = (self.current_color_index + 1) % len(self.car_colors)
color = self.car_colors[self.current_color_index]

# 获取颜色名称
color_names = ['Red', 'Blue', 'Green', 'Yellow', 'Magenta', 'Cyan', 'Purple', 'Orange', 'Gray', 'White']
color_name = color_names[self.current_color_index]

# 停止相机
for view_mode, camera in self.cameras.items():
if camera:
try:
camera.stop()
camera.destroy()
except:
pass
self.cameras.clear()

# 销毁当前车辆
self.vehicle.destroy()
self.vehicle = None

# 创建新车辆蓝图
blueprint_library = self.world.get_blueprint_library()
vehicle_bp = blueprint_library.find('vehicle.tesla.model3')
if not vehicle_bp:
vehicle_bp = blueprint_library.filter('vehicle.*')[0]

# 设置新颜色
vehicle_bp.set_attribute('color', f'{color[0]},{color[1]},{color[2]}')

# 首先尝试在相同位置生成新车辆
self.vehicle = self.world.try_spawn_actor(vehicle_bp, transform)

# 如果失败，尝试使用出生点
if not self.vehicle:
spawn_points = self.world.get_map().get_spawn_points()
for spawn_point in spawn_points[:5]: # 尝试前5个出生点
self.vehicle = self.world.try_spawn_actor(vehicle_bp, spawn_point)
if self.vehicle:
print("车辆已移动到新位置")
break

if self.vehicle:
# 禁用自动驾驶
self.vehicle.set_autopilot(False)

# 重新设置相机
self.setup_camera()

# 重新设置控制器
self.setup_controller()

print(f"车辆颜色已切换: {color_name}")
else:
print("无法生成新车辆，颜色切换失败")
# 重置颜色索引
self.current_color_index = (self.current_color_index - 1) % len(self.car_colors)
# 尝试恢复车辆
self.spawn_vehicle()
else:
print("车辆不存在，无法切换颜色")
except Exception as e:
print(f"切换车辆颜色时出错: {e}")
# 重置颜色索引
self.current_color_index = (self.current_color_index - 1) % len(self.car_colors)
# 尝试恢复车辆
if not self.vehicle:
self.spawn_vehicle()

def get_view_name(self):
"""获取视角名称"""
view_names = {
'first_person': 'First Person',
'third_person': 'Third Person',
'birdseye': 'Birds Eye'
}
return view_names.get(self.current_view, 'Unknown')

def setup_controller(self):
"""设置控制器"""
self.controller = SimpleController(self.world, self.vehicle)
Expand Down Expand Up @@ -287,6 +529,10 @@ def run(self):
print(" r - 重置车辆")
print(" s - 紧急停止")
print(" x - 切换倒车/前进模式（速度为0时生效）")
print(" v - 切换视角（第一人称/第三人称/鸟瞰图）")
print(" m - 切换地图（Town01/Town02/Town03等）")
print(" w - 切换天气（晴天/雨天/多云/湿滑）")
print(" c - 切换车辆颜色")
print("\n开始自动驾驶...\n")

frame_count = 0
Expand Down Expand Up @@ -336,6 +582,28 @@ def run(self):
cv2.putText(display_img, "REVERSE MODE",
(20, 200), cv2.FONT_HERSHEY_SIMPLEX,
0.8, (0, 0, 255), 2) # 红色显示

# 显示当前视角模式
cv2.putText(display_img, f"View: {self.get_view_name()}",
(20, 240), cv2.FONT_HERSHEY_SIMPLEX,
0.8, (0, 255, 0), 2) # 绿色显示

# 显示当前地图
cv2.putText(display_img, f"Map: {self.current_map}",
(20, 280), cv2.FONT_HERSHEY_SIMPLEX,
0.8, (255, 255, 0), 2) # 黄色显示

# 显示当前天气
cv2.putText(display_img, f"Weather: {self.current_weather}",
(20, 320), cv2.FONT_HERSHEY_SIMPLEX,
0.8, (255, 0, 255), 2) # 品红色显示

# 显示当前车辆颜色
color_names = ['Red', 'Blue', 'Green', 'Yellow', 'Magenta', 'Cyan', 'Purple', 'Orange', 'Gray', 'White']
current_color_name = color_names[self.current_color_index]
cv2.putText(display_img, f"Color: {current_color_name}",
(20, 360), cv2.FONT_HERSHEY_SIMPLEX,
0.8, (0, 128, 255), 2) # 橙色显示

cv2.imshow('Autonomous Driving - Simple Version', display_img)

Expand All @@ -358,6 +626,22 @@ def run(self):
self.controller.toggle_reverse()
else:
print("请先减速到接近停止（速度<1km/h）再切换倒车模式")
elif key == ord('v'):
# 切换视角模式
view_modes = ['third_person', 'first_person', 'birdseye']
current_index = view_modes.index(self.current_view)
next_index = (current_index + 1) % len(view_modes)
self.current_view = view_modes[next_index]
self.update_camera_view()
elif key == ord('m'):
# 切换地图
self.switch_map()
elif key == ord('w'):
# 切换天气
self.switch_weather()
elif key == ord('c'):
# 切换车辆颜色
self.switch_color()

frame_count += 1

Expand Down Expand Up @@ -427,12 +711,14 @@ def cleanup(self):
"""清理资源"""
print("\n正在清理资源...")

if self.camera:
try:
self.camera.stop()
self.camera.destroy()
except:
pass
# 清理所有相机
for view_mode, camera in self.cameras.items():
if camera:
try:
camera.stop()
camera.destroy()
except:
pass

if self.vehicle:
try:
Expand Down