Source code for launch_tools.csv_tools

 1"""Contains snippets that can can import/export vehicle positions from/to csv files."""
 2
 3from __future__ import annotations
 4
 5# pyright: reportUnknownMemberType=none
 6# pyright: reportUnknownVariableType=information
 7from typing import TYPE_CHECKING
 8
 9if TYPE_CHECKING:
10    from os import PathLike
11
12import carla
13import pandas as pd
14
15__all__ = [
16    "csv_to_transformations",
17    "transform_to_pandas",
18    "vehicle_location_to_dataframe",
19]
20
21# A dataframe template to store the locations of vehicles
22LOC_DF = pd.DataFrame(columns=["x", "y", "z", "pitch", "yaw", "roll"])
23
24# -----------------------------------
25
26

[docs]
27def transform_to_pandas(transform: carla.Transform) -> pd.Series[float]:
28    """
29    Format a :py:class:`carla.Transform` object to a :py:class:`pandas.Series`.
30    """
31    loc = transform.location
32    rot = transform.rotation
33    return pd.Series({"x": loc.x, "y": loc.y, "z": loc.z, "pitch": rot.pitch, "yaw": rot.yaw, "roll": rot.roll})

34
35

[docs]
36def vehicle_location_to_dataframe(vehicles: list[carla.Actor]) -> pd.DataFrame:
37    """
38    Exports the locations of vehicles to a :py:class:`pandas.Dataframe`.
39    """
40    df = LOC_DF.copy()
41    for i, v in enumerate(vehicles):
42        df.loc[i] = transform_to_pandas(v.get_transform())
43    return df

44
45

[docs]
46def csv_to_transformations(path: str | PathLike[str]) -> list[carla.Transform]:
47    """
48    Read a csv file and return a list of Transform objects.
49    Expected columns: :code:`x, y, z, pitch, yaw, roll`.
50    """
51    df = pd.read_csv(path)  # pyright: ignore
52    transformations: list[carla.Transform] = []
53    for _, data in df.iterrows():  # pyright: ignore
54        loc = carla.Location(data.x, data.y, data.z)  # type: ignore[attr-defined]
55        rot = carla.Rotation(pitch=data.pitch, yaw=data.yaw, roll=data.roll)  # type: ignore[attr-defined]
56        t = carla.Transform(loc, rot)
57        transformations.append(t)
58    return transformations