fix test (metadriverse#600)

* fix test

* doc string

metadrive/component/map/scenario_map.py

@@ -164,6 +164,6 @@ def get_boundary_line_vector(self, interval):
     map.road_network.show_bounding_box(engine)
 
     pos = map.get_center_point()
-    engine.main_camera.set_bird_view_pos(pos)
+    engine.main_camera.set_bird_view_pos_hpr(pos)
     while True:
         map.engine.step()

metadrive/engine/core/main_camera.py

@@ -99,7 +99,7 @@ def __init__(self, engine, camera_height: float, camera_dist: float):
         self.top_down_camera_height = engine.global_config["top_down_camera_initial_z"]
         self.camera_x = engine.global_config["top_down_camera_initial_x"]
         self.camera_y = engine.global_config["top_down_camera_initial_y"]
-        self.camera_rotate = 0
+        self.camera_hpr = [0, 0, 0]
         engine.interface.undisplay()
         engine.task_manager.add(self._top_down_task, self.TOP_DOWN_TASK_NAME, extraArgs=[], appendTask=True)
 
@@ -158,11 +158,32 @@ def _callback_func(cbdata: DisplayRegionDrawCallbackData):
             self.cuda_rendered_result = None
 
     def set_bird_view_pos(self, position):
+        """
+        Set the x,y position for the main camera
+        Args:
+            position:
+
+        Returns:
+
+        """
+        self.set_bird_view_pos_hpr(position)
+
+    def set_bird_view_pos_hpr(self, position, hpr=None):
+        """
+        Set the x,y position and heading, pitch, roll  for the main camera
+        Args:
+            position:
+            hpr:
+
+        Returns:
+
+        """
+        self.set_bird_view_pos_hpr(position)
         if self.engine.task_manager.hasTaskNamed(self.TOP_DOWN_TASK_NAME):
             # adjust hpr
             p_pos = panda_vector(position)
             self.camera_x, self.camera_y = p_pos[0], p_pos[1]
-            self.camera_rotate = 0
+            self.camera_hpr = hpr or [0, 0, 0]
             self.engine.task_manager.add(self._top_down_task, self.TOP_DOWN_TASK_NAME, extraArgs=[], appendTask=True)
 
     def reset(self):
@@ -344,7 +365,7 @@ def stop_track(self, bird_view_on_current_position=True):
             if bird_view_on_current_position:
                 current_pos = self.camera.getPos()
                 self.camera_x, self.camera_y = current_pos[0], current_pos[1]
-                self.camera_rotate = 0
+                self.camera_hpr = [0, 0, 0]
             self.engine.task_manager.add(self._top_down_task, self.TOP_DOWN_TASK_NAME, extraArgs=[], appendTask=True)
 
     def _top_down_task(self, task):
@@ -364,13 +385,10 @@ def _top_down_task(self, task):
         self.camera.setPos(self.camera_x, self.camera_y, self.top_down_camera_height)
         if self.engine.global_config["show_coordinates"]:
             self.engine.set_coordinates_indicator_pos([self.camera_x, self.camera_y])
-        self.camera.lookAt(self.camera_x, self.camera_y, 0)
-
-        if self.inputs.isSet("right_rotate"):
-            self.camera_rotate += 3
-        if self.inputs.isSet("left_rotate"):
-            self.camera_rotate -= 3
-        self.camera.setH(self.camera_rotate)
+        if abs(sum(self.camera_hpr)) < 0.0001:
+            self.camera.lookAt(self.camera_x, self.camera_y, 0)
+        else:
+            self.camera.setHpr(Vec3(*self.camera_hpr))
         return task.cont
 
     def _update_height(self, height):

metadrive/envs/base_env.py

@@ -552,7 +552,7 @@ def reset_sensors(self):
                 self.main_camera.track(current_track_agent)
                 if bev_cam:
                     self.main_camera.stop_track()
-                    self.main_camera.set_bird_view_pos(current_track_agent.position)
+                    self.main_camera.set_bird_view_pos_hpr(current_track_agent.position)
                 for name, sensor in self.engine.sensors.items():
                     if hasattr(sensor, "track") and name != "main_camera":
                         sensor.track(current_track_agent.origin, [0., 0.8, 1.5], [0, 0.59681, 0])

metadrive/examples/Basic_MetaDrive_Usages.ipynb

@@ -474,6 +474,7 @@
     "\n",
     "cfg=dict(image_observation=True, \n",
     "         show_terrain=not os.getenv('TEST_IPYNB'),\n",
+    "         sensors={\"main_camera\": ()},\n",
     "         vehicle_config=dict(image_source=\"main_camera\"),\n",
     "         window_size=(84, 60))\n",
     "\n",
@@ -519,7 +520,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.17"
+   "version": "3.7.13"
   }
  },
  "nbformat": 4,