traffic lights are bounding boxes + refactor
This commit is contained in:
Manish
parent
30ce63fc49
commit
4a3d3f4762
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@ -137,7 +137,6 @@ class Vehicle(object):
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pygame.draw.polygon(surface, color, [(0, 0), (self.surface_size[0], 0),
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(self.surface_size[0], self.surface_size[1]), (0, self.surface_size[1])])
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render_module = module_manager.get_module(MODULE_RENDER)
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center = (self.surface_size[0] / 2, self.surface_size[1] / 2)
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arrow_tip = (self.surface_size[0], self.surface_size[1] / 2)
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@ -148,6 +147,8 @@ class Vehicle(object):
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line_2 = [arrow_tip, (arrow_half - 1, self.surface_size[1])]
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arrow_width = map_transform_helper.convert_world_to_screen_size((0.5, 0.5))[0]
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render_module = module_manager.get_module(MODULE_RENDER)
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render_module.drawArrow(surface, COLOR_BLUE, [line_0, line_1, line_2], arrow_width)
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actor_location = self.actor.get_location()
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@ -161,9 +162,10 @@ class Vehicle(object):
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class TrafficLight(object):
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def __init__(self, actor, radius, map_transform_helper):
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self.actor = actor
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self.map_transform_helper = map_transform_helper
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actor_location = actor.get_location()
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self.x, self.y = map_transform_helper.convert_world_to_screen_point((actor_location.x, actor_location.y))
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pos = self.actor.get_location()
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self.x, self.y = self.map_transform_helper.convert_world_to_screen_point((pos.x, pos.y))
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self.color = COLOR_BLACK
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if actor.state == carla.libcarla.TrafficLightState.Green:
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@ -173,9 +175,18 @@ class TrafficLight(object):
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else:
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self.color = COLOR_RED
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self.surface = pygame.Surface((radius * 2, radius * 2))
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pygame.draw.circle(self.surface, self.color, (radius, radius), radius)
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self.surface = self.surface.convert()
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# Compute bounding box points
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# bb_extent = self.actor.bounding_box.extent
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# original_size = [bb_extent.x * 2.0, bb_extent.y * 2.0]
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original_size = [2, 2]
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self.surface_size = map_transform_helper.convert_world_to_screen_size(original_size)
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self.surface = pygame.Surface((self.surface_size[0], self.surface_size[1]), pygame.SRCALPHA)
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self.surface.set_colorkey(COLOR_BLACK)
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pygame.draw.polygon(self.surface, self.color, [(0, 0), (self.surface_size[0], 0),
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(self.surface_size[0], self.surface_size[1]), (0, self.surface_size[1])])
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class SpeedLimit(object):
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@ -435,7 +446,6 @@ class ModuleHUD (object):
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pass
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def _init_hud_params(self):
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font = pygame.font.Font(pygame.font.get_default_font(), 20)
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fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
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default_font = 'ubuntumono'
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mono = default_font if default_font in fonts else fonts[0]
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@ -481,7 +491,7 @@ class ModuleHUD (object):
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font_surface = self._font_mono.render(str(actor.id), True, COLOR_WHITE)
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font_surface.set_colorkey(COLOR_BLACK)
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font_surface.set_alpha(255)
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rotated_font_surface = pygame.transform.rotate(font_surface, angle)
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rotated_font_surface = pygame.transform.rotate(font_surface, angle).convert_alpha()
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vehicle_id_surface.blit(rotated_font_surface, (x, y))
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return vehicle_id_surface
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@ -558,36 +568,28 @@ class ModuleWorld(object):
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exit_game()
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def _create_world_surfaces(self):
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self.map_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.map_surface.convert()
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self.map_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.vehicles_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.vehicles_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.vehicles_surface.set_colorkey((0, 0, 0))
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self.vehicles_surface.convert_alpha()
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self.traffic_light_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.traffic_light_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.traffic_light_surface.set_colorkey((0, 0, 0))
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self.traffic_light_surface.convert_alpha()
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self.speed_limits_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.speed_limits_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.speed_limits_surface.set_colorkey((0, 0, 0))
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self.speed_limits_surface.convert_alpha()
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self.walkers_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.walkers_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.walkers_surface.set_colorkey((0, 0, 0))
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self.walkers_surface.convert_alpha()
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self.hero_actor_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.hero_actor_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.hero_actor_surface.set_colorkey((0, 0, 0))
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self.hero_actor_surface.convert()
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self.vehicle_id_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.vehicle_id_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.vehicle_id_surface.set_colorkey((0, 0, 0))
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self.vehicle_id_surface.convert_alpha()
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self.result_surface = pygame.Surface((self.surface_size, self.surface_size))
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self.result_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
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self.result_surface.set_colorkey((0, 0, 0))
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self.result_surface.convert()
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def _compute_map_bounding_box(self, map_waypoints):
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@ -836,7 +838,7 @@ class ModuleWorld(object):
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surface.fill(COLOR_BLACK)
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new_surface = pygame.Surface(size)
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new_surface.set_colorkey(COLOR_BLACK)
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new_surface.convert_alpha()
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new_surface = new_surface.convert()
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return new_surface
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def render_actors(self, vehicles, traffic_lights, speed_limits, walkers):
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@ -875,8 +877,7 @@ class ModuleWorld(object):
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def rotate(self, img, pos, angle):
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w, h = img.get_size()
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img2 = pygame.Surface((w*2, h*2), pygame.SRCALPHA)
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img2 = img2.convert()
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img2 = pygame.Surface((w*2, h*2), pygame.SRCALPHA).convert()
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img2.blit(img, (w-pos[0], h-pos[1]))
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return pygame.transform.rotate(img2, angle)
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@ -939,11 +940,9 @@ class ModuleWorld(object):
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self.transform_helper.map_size = self.scaled_size[0]
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self.map_surface.fill(COLOR_BLACK)
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new_map_surface = pygame.Surface(self.scaled_size)
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new_map_surface.convert()
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new_map_surface = pygame.Surface(self.scaled_size).convert()
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self.render_map(new_map_surface)
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self.map_surface = new_map_surface
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self.map_surface.convert()
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self.vehicles_surface = self.refresh_surface(self.vehicles_surface, self.scaled_size)
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self.traffic_light_surface = self.refresh_surface(self.traffic_light_surface, self.scaled_size)
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self.speed_limits_surface = self.refresh_surface(self.speed_limits_surface, self.scaled_size)
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