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Changing way of rendering traffic lights and speed limits

This commit is contained in:
Manish 2019-02-06 16:25:12 +01:00
parent fbcdf45d5e
commit 0bcc01318c
1 changed files with 62 additions and 73 deletions
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135
PythonAPI/no_rendering_mode.py
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@ -243,65 +243,6 @@ class Vehicle(object):
surface, (self.surface_size[0] / 2, self.surface_size[1] / 2), -self.actor.get_transform().rotation.yaw).convert()
class TrafficLight(object):
def __init__(self, actor, map_transform_helper):
self.actor = actor
self.map_transform_helper = map_transform_helper
pos = self.actor.get_location()
self.x, self.y = self.map_transform_helper.convert_world_to_screen_location(pos)
self.color = COLOR_BLACK
if actor.state == carla.libcarla.TrafficLightState.Green:
self.color = COLOR_CHAMELEON_1
elif actor.state == carla.libcarla.TrafficLightState.Yellow:
self.color = COLOR_BUTTER_1
else:
self.color = COLOR_SCARLET_RED_1
# Compute bounding box points
# bb_extent = self.actor.bounding_box.extent
# original_size = [bb_extent.x * 2.0, bb_extent.y * 2.0]
original_size = [2, 2]
self.surface_size = map_transform_helper.convert_world_to_screen_size(original_size)
self.surface = pygame.Surface((self.surface_size[0], self.surface_size[1]), pygame.SRCALPHA)
self.surface.set_colorkey(COLOR_BLACK)
pygame.draw.polygon(self.surface, self.color, [(0, 0), (self.surface_size[0], 0),
(self.surface_size[0], self.surface_size[1]), (0, self.surface_size[1])])
class SpeedLimit(object):
def __init__(self, actor, radius, map_transform_helper, hero_actor):
self.actor = actor
self.speed_limit = actor.type_id.split('.')[2]
self.font = pygame.font.SysFont('Arial', radius)
actor_location = actor.get_location()
self.x, self.y = map_transform_helper.convert_world_to_screen_location(actor_location)
self.surface = pygame.Surface((radius * 2, radius * 2)).convert()
# Render speed limit
white_circle_radius = int(radius * 0.75)
pygame.draw.circle(self.surface, COLOR_SCARLET_RED_0, (radius, radius), radius)
pygame.draw.circle(self.surface, COLOR_ALUMINIUM_0, (radius, radius), white_circle_radius)
font_surface = self.font.render(self.speed_limit, False, COLOR_ALUMINIUM_5)
# Blit
if hero_actor is not None:
# Rotate font surface with respect to hero vehicle front
angle = -hero_actor.get_transform().rotation.yaw - 90.0
font_surface = Util.rotate_surface(font_surface, (radius / 2, radius / 2), angle)
font_surface.set_colorkey(COLOR_BLACK)
final_offset = font_surface.get_rect(center=(radius, radius))
self.surface.blit(font_surface, final_offset)
else:
self.surface.blit(font_surface, (radius / 2, radius / 2))
class Walker(object):
def __init__(self, actor, map_transform_helper):
self.actor = actor
@ -853,6 +794,65 @@ class ModuleWorld(object):
return (vehicles, traffic_lights, speed_limits, walkers)
def _render_traffic_lights(self, surface, list_tl, transform_helper):
for tl in list_tl:
color = COLOR_BLACK
if tl.state == carla.libcarla.TrafficLightState.Green:
color = COLOR_CHAMELEON_1
elif tl.state == carla.libcarla.TrafficLightState.Yellow:
color = COLOR_BUTTER_1
else:
color = COLOR_SCARLET_RED_1
# Compute bounding box points
# bb_extent = self.actor.bounding_box.extent
bb_x = 1
bb_y = 1
corners = [
carla.Location(x=-bb_x, y=-bb_y),
carla.Location(x=bb_x, y=-bb_y),
carla.Location(x=bb_x, y=bb_y),
carla.Location(x=-bb_x, y=bb_y)]
t = tl.get_transform()
t.transform(corners)
corners = [transform_helper.convert_world_to_screen_location(p) for p in corners]
pygame.draw.polygon(surface, color, corners)
def _render_speed_limits(self, surface, list_sl, transform_helper):
font_size = 10
radius = 10
font = pygame.font.SysFont('Arial', font_size)
for sl in list_sl:
x, y = transform_helper.convert_world_to_screen_location(sl.get_location())
# Render speed limit
white_circle_radius = int(radius * 0.75)
pygame.draw.circle(surface, COLOR_SCARLET_RED_0, (x, y), radius)
pygame.draw.circle(surface, COLOR_ALUMINIUM_0, (x, y), white_circle_radius)
limit = sl.type_id.split('.')[2]
font_surface = font.render(limit, False, COLOR_ALUMINIUM_5)
# Blit
if self.hero_actor is not None:
# Rotate font surface with respect to hero vehicle front
angle = -self.hero_actor.get_transform().rotation.yaw - 90.0
font_surface = Util.rotate_surface(font_surface, (radius / 2, radius / 2), angle)
offset = font_surface.get_rect(center=(x, y))
surface.blit(font_surface, offset)
else:
surface.blit(font_surface, (x - radius/2,y - radius/2))
def render_actors(self, vehicles, traffic_lights, speed_limits, walkers):
# Render Vehicles
vehicle_renderer = []
@ -864,21 +864,10 @@ class ModuleWorld(object):
Util.blits(self.vehicles_surface, vehicle_renderer, None, pygame.BLEND_RGB_MAX)
# Render Traffic Lights
traffic_lights_renderer = []
for actor in traffic_lights:
traffic_light = TrafficLight(actor, self.transform_helper)
traffic_lights_renderer.append((traffic_light.surface, (traffic_light.x, traffic_light.y)))
Util.blits(self.traffic_light_surface, traffic_lights_renderer)
self._render_traffic_lights(self.traffic_light_surface, traffic_lights, self.transform_helper)
# Render Speed limit
speed_limit_renderer = []
speed_limit_width = self.transform_helper.convert_world_to_screen_size((3, 3))[0]
for actor in speed_limits:
speed_limit = SpeedLimit(actor, speed_limit_width, self.transform_helper, self.hero_actor)
speed_limit_renderer.append((speed_limit.surface, (speed_limit.x, speed_limit.y)))
Util.blits(self.speed_limits_surface, speed_limit_renderer)
self._render_speed_limits(self.speed_limits_surface, speed_limits, self.transform_helper)
# Render Walkers
walkers_renderer = []