77 lines
1.8 KiB
Python
77 lines
1.8 KiB
Python
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#!/usr/bin/env python
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# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import glob
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import os
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import sys
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try:
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sys.path.append(glob.glob('../../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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import argparse
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argparser = argparse.ArgumentParser()
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argparser.add_argument(
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'-f', '--file',
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metavar='F',
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default="",
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type=str,
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help='OpenDRIVE file')
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args = argparser.parse_args()
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# read the OpenDRIVE
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try:
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f = open(args.file, "rt")
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except:
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print("OpenDRIVE file not found!")
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exit(1)
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data = f.read()
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f.close()
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# create the map with the OpenDRIVE content
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m = carla.Map("t", data)
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points = m.get_crosswalks()
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for i in range(len(points)):
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print(points[i])
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# generate the .OBJ file
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f = open("crosswalks.obj", "wt")
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faceIndex = 0
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vertexIndex = 0
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i = 0
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totalCrosswalks = 0
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totalPoints = 0
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while (i < len(points)):
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totalCrosswalks += 1
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# object
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f.write("o crosswalk_%d\n" % totalCrosswalks)
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a = i # get the starting point index for this object
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startPoint = totalPoints
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while (i < len(points)):
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# vertex
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f.write("v %f %f %f\n" % (points[i].x, points[i].z, points[i].y))
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i +=1
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totalPoints += 1
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if (points[i].x == points[a].x and points[i].y == points[a].y and points[i].z == points[a].z):
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i +=1
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break
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# material (type)
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f.write("usemtl crosswalk\n")
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# faces
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for j in range(startPoint+2, totalPoints):
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f.write("f %d %d %d\n" % (startPoint+1, j-1+1, j+1))
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f.close()
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