#32 Minor fixes, format mostly
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nsubiron
parent
05d8afc7ce
commit
9f95e088c4
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@ -1,16 +1,13 @@
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import os
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#!/usr/bin/env python3
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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB), and the INTEL Visual Computing Lab.
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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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"""
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Class used for operating the city map
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"""Class used for operating the city map."""
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"""
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import math
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import os
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try:
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import numpy as np
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@ -18,148 +15,126 @@ except ImportError:
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raise RuntimeError('cannot import numpy, make sure numpy package is installed')
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try:
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from PIL import Image
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from PIL import Image
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except ImportError:
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raise RuntimeError('cannot import PIL, make sure pillow package is installed')
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raise RuntimeError('cannot import PIL, make sure pillow package is installed')
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import math
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def string_to_node(string):
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vec = string.split(',')
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return (int(vec[0]),int(vec[1]))
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vec = string.split(',')
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return (int(vec[0]), int(vec[1]))
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def string_to_floats(string):
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vec = string.split(',')
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return (float(vec[0]),float(vec[1]),float(vec[2]))
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vec = string.split(',')
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return (float(vec[0]), float(vec[1]), float(vec[2]))
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class CarlaMap(object):
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def __init__(self, city):
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dir_path = os.path.dirname(__file__)
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city_file = os.path.join(dir_path, city + '.txt')
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city_map_file = os.path.join(dir_path, city + '.png')
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with open(city_file, 'r') as file:
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def __init__(self,city):
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linewordloffset = file.readline()
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# The offset of the world from the zero coordinates ( The
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# coordinate we consider zero)
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self.worldoffset = string_to_floats(linewordloffset)
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lineworldangles = file.readline()
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self.angles = string_to_floats(lineworldangles)
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dir_path = os.path.dirname(__file__)
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city_file = dir_path+'/' + city + '.txt'
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city_map_file = dir_path+'/' + city + '.png'
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self.worldrotation = np.array([
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[math.cos(math.radians(self.angles[2])), -math.sin(math.radians(self.angles[2])), 0.0],
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[math.sin(math.radians(self.angles[2])), math.cos(math.radians(self.angles[2])), 0.0],
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[0.0, 0.0, 1.0]])
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with open(city_file, 'r') as file:
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# Ignore for now, these are offsets for map coordinates and scale
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# (not used).
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_ = file.readline()
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linemapoffset = file.readline()
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linewordloffset = file.readline()
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# The offset of the world from the zero coordinates ( The coordinate we consider zero)
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self.worldoffset = string_to_floats(linewordloffset)
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# The offset of the map zero coordinate.
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self.mapoffset = string_to_floats(linemapoffset)
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lineworldangles = file.readline()
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self.angles = string_to_floats(lineworldangles)
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# the graph resolution.
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linegraphres = file.readline()
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self.resolution = string_to_node(linegraphres)
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self.worldrotation = np.array([[math.cos(math.radians(self.angles[2])),-math.sin(math.radians(self.angles[2])) ,0.0],[math.sin(math.radians(self.angles[2])),math.cos(math.radians(self.angles[2])),0.0],[0.0,0.0,1.0]])
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# The number of game units per pixel.
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self.pixel_density = 16.43
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self.map_image = Image.open(city_map_file)
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self.map_image.load()
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self.map_image = np.asarray(self.map_image, dtype="int32")
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# Ignore for now, these are offsets for map coordinates and scale ( Not used)
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lineworscale = file.readline()
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linemapoffset = file.readline()
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def draw_position_on_map(self, position, color, size=20):
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position = self.get_position_on_map([position.x, position.y, position.z])
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for i in range(0, size):
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self.map_image[int(position[1]), int(position[0])] = color
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self.map_image[int(position[1]) + i, int(position[0])] = color
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self.map_image[int(position[1]), int(position[0]) + i] = color
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self.map_image[int(position[1]) - i, int(position[0])] = color
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self.map_image[int(position[1]), int(position[0]) - i] = color
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self.map_image[int(position[1]) + i, int(position[0]) + i] = color
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self.map_image[int(position[1]) - i, int(position[0]) - i] = color
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self.map_image[int(position[1]) + i, int(position[0]) - i] = color
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self.map_image[int(position[1]) - i, int(position[0]) + i] = color
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# The offset of the map zero coordinate
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self.mapoffset = string_to_floats(linemapoffset)
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def get_map(self, size=None):
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if size is not None:
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img = Image.fromarray(self.map_image.astype(np.uint8))
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img = img.resize((size[1], size[0]), Image.ANTIALIAS)
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img.load()
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return np.fliplr(np.asarray(img, dtype="int32"))
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return np.fliplr(self.map_image)
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# the graph resolution.
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linegraphres = file.readline()
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self.resolution = string_to_node(linegraphres)
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def get_position_on_map(self, world):
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"""Get the position on the map for a certain world position."""
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relative_location = []
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pixel = []
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# The number of game units per pixel
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self.pixel_density = 16.43
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self.map_image = Image.open(city_map_file)
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self.map_image.load()
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self.map_image = np.asarray(self.map_image, dtype="int32" )
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rotation = np.array([world[0], world[1], world[2]])
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rotation = rotation.dot(self.worldrotation)
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relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0])
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relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1])
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relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2])
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pixel.append(math.floor(relative_location[0] / float(self.pixel_density)))
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pixel.append(math.floor(relative_location[1] / float(self.pixel_density)))
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def draw_position_on_map(self,position,color,size=20):
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return pixel
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position = self.get_position_on_map([position.x,position.y,position.z])
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for i in range(0,size):
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self.map_image[int(position[1]),int(position[0])]=color
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self.map_image[int(position[1])+i,int(position[0])]=color
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self.map_image[int(position[1]),int(position[0])+i]=color
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self.map_image[int(position[1])-i,int(position[0])]=color
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self.map_image[int(position[1]),int(position[0])-i]=color
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self.map_image[int(position[1])+i,int(position[0])+i]=color
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self.map_image[int(position[1])-i,int(position[0])-i]=color
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self.map_image[int(position[1])+i,int(position[0])-i]=color
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self.map_image[int(position[1])-i,int(position[0])+i]=color
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def get_position_on_world(self, pixel):
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"""Get world position of a certain map position."""
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relative_location = []
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world_vertex = []
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relative_location.append(pixel[0] * self.pixel_density)
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relative_location.append(pixel[1] * self.pixel_density)
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world_vertex.append(relative_location[0] + self.mapoffset[0] - self.worldoffset[0])
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world_vertex.append(relative_location[1] + self.mapoffset[1] - self.worldoffset[1])
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world_vertex.append(22) # Z does not matter for now.
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def get_map(self,size=None):
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if size != None:
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img = Image.fromarray(self.map_image.astype(np.uint8))
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img = img.resize((size[1],size[0]), Image.ANTIALIAS)
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img.load()
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return np.fliplr(np.asarray( img, dtype="int32"))
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return np.fliplr(self.map_image)
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return world_vertex
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def get_lane_orientation(self, world):
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"""Get the lane orientation of a certain world position."""
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relative_location = []
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pixel = []
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rotation = np.array([world[0], world[1], world[2]])
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rotation = rotation.dot(self.worldrotation)
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# get the position on the map for a certain world position
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relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0])
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relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1])
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relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2])
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def get_position_on_map(self,world):
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pixel.append(math.floor(relative_location[0] / float(self.pixel_density)))
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pixel.append(math.floor(relative_location[1] / float(self.pixel_density)))
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relative_location = []
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pixel=[]
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ori = self.map_image[int(pixel[1]), int(pixel[0]), 2]
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ori = ((float(ori) / 255.0)) * 2 * math.pi
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rotation = np.array([world[0],world[1],world[2]])
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rotation = rotation.dot(self.worldrotation)
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relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0])
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relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1])
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relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2])
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pixel.append(math.floor(relative_location[0]/float(self.pixel_density)))
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pixel.append(math.floor(relative_location[1]/float(self.pixel_density)))
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return pixel
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# Get world position of a certain map position
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def get_position_on_world(self,pixel):
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relative_location =[]
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world_vertex = []
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relative_location.append(pixel[0]*self.pixel_density)
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relative_location.append(pixel[1]*self.pixel_density)
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world_vertex.append(relative_location[0]+self.mapoffset[0] -self.worldoffset[0])
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world_vertex.append(relative_location[1]+self.mapoffset[1] -self.worldoffset[1])
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world_vertex.append(22) # Z does not matter for now
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return world_vertex
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# Get the lane orientation of a certain world position
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def get_lane_orientation(self,world):
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relative_location = []
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pixel=[]
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rotation = np.array([world[0],world[1],world[2]])
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rotation = rotation.dot(self.worldrotation)
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relative_location.append(rotation[0] + self.worldoffset[0] - self.mapoffset[0])
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relative_location.append(rotation[1] + self.worldoffset[1] - self.mapoffset[1])
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relative_location.append(rotation[2] + self.worldoffset[2] - self.mapoffset[2])
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pixel.append(math.floor(relative_location[0]/float(self.pixel_density)))
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pixel.append(math.floor(relative_location[1]/float(self.pixel_density)))
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ori = self.map_image[int(pixel[1]),int(pixel[0]),2]
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ori = ((float(ori)/255.0) ) *2*math.pi
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return (-math.cos(ori),-math.sin(ori))
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return (-math.cos(ori), -math.sin(ori))
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@ -88,16 +88,15 @@ class Image(SensorData):
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Lazy initialization for data property, stores converted data in its
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default format.
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"""
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from . import image_converter
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if self._converted_data is None:
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from . import image_converter
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if self.type == 'Depth':
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self._converted_data = image_converter.depth_to_array(self)
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elif self.type == 'SemanticSegmentation':
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self._converted_data = image_converter.labels_to_array(self)
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else:
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self._converted_data = image_converter.to_rgb_array(self)
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return self._converted_data
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def save_to_disk(self, filename):
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