metadrive: fix dual_camera mode (commaai#30743)

* Use wide cam in metadrive * 120 fov
deanlee · Dec 15, 2023 · 5fe9f14 · 5fe9f14
1 parent 0830f62
commit 5fe9f14
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Showing 3 changed files with 13 additions and 6 deletions.
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -36,7 +36,7 @@ def __init__(self, *args, **kwargs):
  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 @@ def spawn_world(self):
  preload_models=False
  )
 
- return MetaDriveWorld(config)
+ return MetaDriveWorld(config, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -39,10 +39,13 @@ def arrive_destination_patch(self, vehicle):
 
  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 get_cam_as_rgb(cam):
  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()
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -15,6 +15,10 @@ def __init__(self, config, dual_camera = False):
  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 @@ def __init__(self, config, dual_camera = False):
 
  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("----------------------------------------------------------")