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[scenario] Change spectator position, add dedicated function #200

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Merged
Haralishev77 merged 1 commit into from
Sep 30, 2026
Merged

[scenario] Change spectator position, add dedicated function #200

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27 changes: 17 additions & 10 deletions opencda/scenario_testing/scenario.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,17 @@ class Scenario:
bg_veh_list: list[carla.Actor]
scenario_name: str

@staticmethod
def _spectator_transform(ego_transform: carla.Transform) -> carla.Transform:
forward = ego_transform.get_forward_vector()
location = carla.Location(
x=ego_transform.location.x - 15.5 * forward.x,
y=ego_transform.location.y - 15.5 * forward.y,
z=ego_transform.location.z + 11.9,
)
rotation = carla.Rotation(pitch=-25.2, yaw=ego_transform.rotation.yaw)
return carla.Transform(location, rotation)

def _abort_simulation(self, message: str) -> NoReturn:
logger.error(message)
raise RuntimeError(message)
Expand Down Expand Up @@ -381,14 +392,12 @@ def default_loop(self, opt: argparse.Namespace) -> None:
carla_frame = self.scenario_manager.tick()
world_frame = self.scenario_manager.capture_world_frame(carla_frame)

if not opt.free_spectator and any(array is not None for array in [self.single_cav_list, self.platoon_list]):
if not opt.free_spectator and (self.single_cav_list or self.platoon_list):
if len(self.single_cav_list) > 0:
transform = world_frame.actor_state(self.single_cav_list[0].agent.vehicle.id).transform
self.spectator.set_transform(carla.Transform(transform.location + carla.Location(z=50), carla.Rotation(pitch=-90)))
else:
platoon_vehicle = self.platoon_list[0].agent_manager_list[0].agent.vehicle
transform = world_frame.actor_state(platoon_vehicle.id).transform
self.spectator.set_transform(carla.Transform(transform.location + carla.Location(z=50), carla.Rotation(pitch=-90)))
transform = world_frame.actor_state(self.platoon_list[0].agent_manager_list[0].agent.vehicle.id).transform
self.spectator.set_transform(self._spectator_transform(transform))

if self.platoon_list is not None:
logger.debug("updating platoons")
Expand Down Expand Up @@ -473,14 +482,12 @@ def capi_loop(self, opt: argparse.Namespace) -> None:
carla_frame = self.scenario_manager.tick()
world_frame = self.scenario_manager.capture_world_frame(carla_frame)

if not opt.free_spectator and any(array is not None for array in [self.single_cav_list, self.platoon_list]):
if not opt.free_spectator and (self.single_cav_list or self.platoon_list):
if len(self.single_cav_list) > 0:
transform = world_frame.actor_state(self.single_cav_list[0].agent.vehicle.id).transform
self.spectator.set_transform(carla.Transform(transform.location + carla.Location(z=50), carla.Rotation(pitch=-90)))
else:
platoon_vehicle = self.platoon_list[0].agent_manager_list[0].agent.vehicle
transform = world_frame.actor_state(platoon_vehicle.id).transform
self.spectator.set_transform(carla.Transform(transform.location + carla.Location(z=50), carla.Rotation(pitch=-90)))
transform = world_frame.actor_state(self.platoon_list[0].agent_manager_list[0].agent.vehicle.id).transform
self.spectator.set_transform(self._spectator_transform(transform))

# TODO: Add aim service support

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