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Changing colors to Tango project palette color

This commit is contained in:
Manish 2019-02-04 12:24:12 +01:00
parent b9727568bd
commit b197e9bc58
1 changed files with 78 additions and 48 deletions
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126
PythonAPI/no_rendering_mode.py
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@ -58,20 +58,48 @@ except ImportError:
# ==============================================================================
# Colors
COLOR_RED = pygame.Color(255, 0, 0)
COLOR_BLUE = pygame.Color(0, 0, 255)
COLOR_GREEN = pygame.Color(0, 255, 0)
COLOR_YELLOW = pygame.Color(255, 255, 0)
COLOR_DARK_YELLOW = pygame.Color(150, 150, 0)
COLOR_MAGENTA = pygame.Color(255, 0, 255)
COLOR_CYAN = pygame.Color(0, 255, 255)
# We will use the color palette used in Tango Desktop Project (Each color is indexed depending on brightness level)
# See: https://en.wikipedia.org/wiki/Tango_Desktop_Project
COLOR_BUTTER_0 = pygame.Color(252, 233,79)
COLOR_BUTTER_1 = pygame.Color(237, 212,0)
COLOR_BUTTER_2 = pygame.Color(196, 160,0)
COLOR_ORANGE_0 = pygame.Color(252, 175, 62)
COLOR_ORANGE_1 = pygame.Color(245, 121, 0)
COLOR_ORANGE_2 = pygame.Color(209, 92, 0)
COLOR_CHOCOLATE_0 = pygame.Color(233, 185, 110)
COLOR_CHOCOLATE_1 = pygame.Color(193, 125, 17)
COLOR_CHOCOLATE_2 = pygame.Color(143, 89, 2)
COLOR_CHAMELEON_0 = pygame.Color(138,226,52)
COLOR_CHAMELEON_1 = pygame.Color(115,210,22)
COLOR_CHAMELEON_2 = pygame.Color(78,154,6)
COLOR_SKY_BLUE_0 = pygame.Color(114,159,207)
COLOR_SKY_BLUE_1 = pygame.Color(52,101,164)
COLOR_SKY_BLUE_2 = pygame.Color(32,74,135)
COLOR_PLUM_0 = pygame.Color(173,127,168)
COLOR_PLUM_1 = pygame.Color(117,80,123)
COLOR_PLUM_2 = pygame.Color(92,53,102)
COLOR_SCARLET_RED_0 = pygame.Color(239, 41, 41)
COLOR_SCARLET_RED_1 = pygame.Color(204, 0, 0)
COLOR_SCARLET_RED_2 = pygame.Color(164, 0, 0)
COLOR_ALUMINIUM_0 = pygame.Color(238,238,236)
COLOR_ALUMINIUM_1 = pygame.Color(211,215,207)
COLOR_ALUMINIUM_2 = pygame.Color(186,189,182)
COLOR_ALUMINIUM_3 = pygame.Color(136,138,133)
COLOR_ALUMINIUM_4 = pygame.Color(85,87,83)
COLOR_ALUMINIUM_5 = pygame.Color(46,52,54)
COLOR_WHITE = pygame.Color(255, 255, 255)
COLOR_BLACK = pygame.Color(0, 0, 0)
COLOR_GREY = pygame.Color(127, 127, 127)
COLOR_LIGHT_GREY = pygame.Color(200, 200, 200)
COLOR_DARK_GREY = pygame.Color(50, 50, 50)
COLOR_ORANGE = pygame.Color(255, 127, 0)
COLOR_BROWN = pygame.Color(139, 69, 19)
# Legend names
LEGEND_NAME = 'LEGEND'
@ -91,6 +119,7 @@ MODULE_RENDER = 'RENDER'
MIN_WHEEL = 0.1
MAX_WHEEL = 6.0
MAP_DEFAULT_ZOOM = 1.0
HERO_DEFAULT_ZOOM = 3.0
# ==============================================================================
# -- TransformHelper -----------------------------------------------------------
@ -256,7 +285,7 @@ class Vehicle(object):
arrow_width = map_transform_helper.convert_world_to_screen_size((0.5, 0.5))[0]
render_module = module_manager.get_module(MODULE_RENDER)
render_module.draw_arrow(surface, COLOR_BLUE, [line_0, line_1, line_2], arrow_width)
render_module.draw_arrow(surface, COLOR_SKY_BLUE_2, [line_0, line_1, line_2], arrow_width)
actor_location = self.actor.get_location()
@ -275,11 +304,11 @@ class TrafficLight(object):
self.color = COLOR_BLACK
if actor.state == carla.libcarla.TrafficLightState.Green:
self.color = COLOR_GREEN
self.color = COLOR_CHAMELEON_1
elif actor.state == carla.libcarla.TrafficLightState.Yellow:
self.color = COLOR_YELLOW
self.color = COLOR_BUTTER_1
else:
self.color = COLOR_RED
self.color = COLOR_SCARLET_RED_1
# Compute bounding box points
# bb_extent = self.actor.bounding_box.extent
@ -308,9 +337,9 @@ class SpeedLimit(object):
# Render speed limit
white_circle_radius = int(radius * 0.75)
pygame.draw.circle(self.surface, COLOR_RED, (radius, radius), radius)
pygame.draw.circle(self.surface, COLOR_WHITE, (radius, radius), white_circle_radius)
font_surface = self.font.render(self.speed_limit, False, COLOR_DARK_GREY)
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:
@ -331,7 +360,7 @@ class Walker(object):
actor_location = actor.get_location()
self.x, self.y = map_transform_helper.convert_world_to_screen_point((actor_location.x, actor_location.y))
self.color = COLOR_WHITE
self.color = COLOR_ALUMINIUM_0
# Compute bounding box points
bb_extent = self.actor.bounding_box.extent
@ -366,7 +395,7 @@ class ModuleManager(object):
module.tick(clock)
def render(self, display):
display.fill(COLOR_BROWN)
display.fill(COLOR_CHOCOLATE_0)
for module in self.modules:
module.render(display)
@ -409,7 +438,7 @@ class ModuleRender(object):
lateral_right_screen = transform_helper.convert_world_to_screen_line(lateral_right)
pygame.draw.polygon(surface,
COLOR_DARK_GREY,
COLOR_ALUMINIUM_5,
[lateral_left_screen[0],
lateral_left_screen[1],
lateral_right_screen[1],
@ -428,7 +457,7 @@ class ModuleRender(object):
class Legend(object):
def __init__(self, list_keys, header_font, font):
self.header_surface = header_font.render(LEGEND_NAME, True, COLOR_LIGHT_GREY)
self.header_surface = header_font.render(LEGEND_NAME, True, COLOR_ALUMINIUM_0)
self.legend_surfaces = []
self.surface_size = 25
@ -437,7 +466,7 @@ class Legend(object):
color_surface = pygame.Surface((self.surface_size, self.surface_size))
color_surface.fill(key[0])
font_surface = font.render(key[1], True, COLOR_LIGHT_GREY)
font_surface = font.render(key[1], True, COLOR_ALUMINIUM_0)
self.legend_surfaces.append((color_surface, font_surface))
@ -477,8 +506,8 @@ class ModuleHUD (object):
self.dim = (height, width)
self.show_info = True
self._info_text = {}
self.legend = Legend(((COLOR_MAGENTA, VEHICLE_NAME),
(COLOR_WHITE, WALKER_NAME)),
self.legend = Legend(((COLOR_PLUM_1, VEHICLE_NAME),
(COLOR_ALUMINIUM_0, WALKER_NAME)),
self._header_font,
self._font_mono)
@ -526,7 +555,7 @@ class ModuleHUD (object):
bar_width = 106
i = 0
for module_name, module_info in self._info_text.items():
surface = self._header_font.render(module_name, True, COLOR_LIGHT_GREY).convert_alpha()
surface = self._header_font.render(module_name, True, COLOR_ALUMINIUM_0).convert_alpha()
display.blit(surface, (8 + bar_width / 2, 18 * i + v_offset))
i += 1
for item in module_info:
@ -541,19 +570,19 @@ class ModuleHUD (object):
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, COLOR_WHITE, rect, 0 if item[1] else 1)
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, COLOR_WHITE, rect_border, 1)
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, COLOR_WHITE, rect)
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, COLOR_WHITE).convert_alpha()
surface = self._font_mono.render(item, True, COLOR_ALUMINIUM_0).convert_alpha()
display.blit(surface, (8, 18 * i + v_offset))
v_offset += 18
self.legend.render(display)
@ -637,25 +666,25 @@ class ModuleWorld(object):
self.map_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.vehicles_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.vehicles_surface.set_colorkey((0, 0, 0))
self.vehicles_surface.set_colorkey(COLOR_BLACK)
self.traffic_light_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.traffic_light_surface.set_colorkey((0, 0, 0))
self.traffic_light_surface.set_colorkey(COLOR_BLACK)
self.speed_limits_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.speed_limits_surface.set_colorkey((0, 0, 0))
self.speed_limits_surface.set_colorkey(COLOR_BLACK)
self.walkers_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.walkers_surface.set_colorkey((0, 0, 0))
self.walkers_surface.set_colorkey(COLOR_BLACK)
self.hero_actor_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.hero_actor_surface.set_colorkey((0, 0, 0))
self.hero_actor_surface.set_colorkey(COLOR_BLACK)
self.vehicle_id_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.vehicle_id_surface.set_colorkey((0, 0, 0))
self.vehicle_id_surface.set_colorkey(COLOR_BLACK)
self.result_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.result_surface.set_colorkey((0, 0, 0))
self.result_surface.set_colorkey(COLOR_BLACK)
def _compute_map_bounding_box(self, map_waypoints):
@ -686,6 +715,8 @@ class ModuleWorld(object):
def prepare_waypoints_data(self):
print ("Generating map")
# compute bounding boxes
self.x_min, self.y_min, self.x_max, self.y_max = self._compute_map_bounding_box(self.map_waypoints)
@ -720,7 +751,7 @@ class ModuleWorld(object):
carla.Location(x=right_lateral[0][0], y=right_lateral[0][1]))
# Orientation of road
if waypoint.is_intersection:
intersection_render_data = Waypoint( COLOR_DARK_GREY,
intersection_render_data = Waypoint( COLOR_ALUMINIUM_5,
waypoint.lane_width,
(wp_0,wp_1),
left_lateral,
@ -742,7 +773,7 @@ class ModuleWorld(object):
wp_half[1] - wl[1] * self.waypoint_length / 2)]
arrow_lines = [line_0, line_1]
road_render_data = Waypoint(COLOR_DARK_GREY,
road_render_data = Waypoint(COLOR_ALUMINIUM_5,
waypoint.lane_width,
(wp_0,wp_1),
left_lateral,
@ -853,15 +884,14 @@ class ModuleWorld(object):
border_line_width = self.transform_helper.convert_world_to_screen_size((0.3, 0.3))[0]
line_screen = self.transform_helper.convert_world_to_screen_line(line)
if is_central_line or is_lateral_line:
self.render_module.draw_line(map_surface, COLOR_DARK_YELLOW, False, line_screen, border_line_width)
self.render_module.draw_line(map_surface, COLOR_BUTTER_0, False, line_screen, border_line_width)
else:
if math.fmod(index, 3) == 0:
self.render_module.draw_line(map_surface, COLOR_WHITE, False, line_screen, border_line_width)
self.render_module.draw_line(map_surface, COLOR_ALUMINIUM_0, False, line_screen, border_line_width)
def render_map(self, map_surface):
print ("Rendering map")
map_surface.fill(COLOR_GREY)
map_surface.fill(COLOR_ALUMINIUM_3)
i = 0
# Draw Roads
@ -915,7 +945,7 @@ class ModuleWorld(object):
i = 0
for road_render_data in self.road_render_data_list:
if math.fmod(i, 17) == 0:
self.render_module.draw_arrow(map_surface, COLOR_CYAN, road_render_data.arrow_lines_screen, 1)
self.render_module.draw_arrow(map_surface, COLOR_SKY_BLUE_0, road_render_data.arrow_lines_screen, 1)
i = i + 1
def render_hero_actor(self, translation_offset):
@ -925,7 +955,7 @@ class ModuleWorld(object):
(self.filter_radius * 2.0, self.filter_radius * 2.0))[0]
self.render_module.drawCircle(self.hero_actor_surface, translation_offset[0],
translation_offset[1], int(hero_diameter_screen / 2), COLOR_ORANGE)
translation_offset[1], int(hero_diameter_screen / 2), COLOR_ORANGE_1)
def is_actor_inside_hero_radius(self, actor):
actor_location = actor.get_location()
@ -961,7 +991,7 @@ class ModuleWorld(object):
# Render Vehicles
vehicle_renderer = []
for actor in vehicles:
vehicle = Vehicle(actor, COLOR_MAGENTA, self.transform_helper)
vehicle = Vehicle(actor, COLOR_PLUM_1, self.transform_helper)
vehicle_renderer.append((vehicle.surface, (vehicle.x - vehicle.bb_extent.x, vehicle.y - vehicle.bb_extent.y)))
Util.blits(self.vehicles_surface, vehicle_renderer)
@ -1112,7 +1142,7 @@ class ModuleWorld(object):
self.clip_surfaces(clipping_rect)
Util.blits(self.result_surface, surfaces)
hero_surface.fill(COLOR_BROWN)
hero_surface.fill(COLOR_CHOCOLATE_0)
hero_surface.blit(self.result_surface, (translation_offset[0] + hero_surface.get_width() / 2,
translation_offset[1] + hero_surface.get_height() / 2))