Add option to no_rendering_mode.py to show waypoint connections
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nsubiron
parent
143d1ee136
commit
b94ed197a8
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@ -432,10 +432,11 @@ class TrafficLightSurfaces(object):
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class MapImage(object):
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def __init__(self, carla_world, carla_map, pixels_per_meter=10, show_triggers=False):
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def __init__(self, carla_world, carla_map, pixels_per_meter, show_triggers, show_connections):
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self._pixels_per_meter = pixels_per_meter
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self.scale = 1.0
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self.show_triggers = show_triggers
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self.show_connections = show_connections
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waypoints = carla_map.generate_waypoints(2)
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margin = 50
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@ -715,6 +716,22 @@ class MapImage(object):
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draw_topology(topology, 0)
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draw_topology(topology, 1)
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if self.show_connections:
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dist = 1.5
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to_pixel = lambda wp: world_to_pixel(wp.transform.location)
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for wp in carla_map.generate_waypoints(dist):
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col = (0, 255, 255) if wp.is_intersection else (0, 255, 0)
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for nxt in wp.next(dist):
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pygame.draw.line(map_surface, col, to_pixel(wp), to_pixel(nxt), 2)
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if wp.lane_change & carla.LaneChange.Right:
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r = wp.get_right_lane()
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if r and r.lane_type == carla.LaneType.Driving:
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pygame.draw.line(map_surface, col, to_pixel(wp), to_pixel(r), 2)
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if wp.lane_change & carla.LaneChange.Left:
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l = wp.get_left_lane()
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if l and l.lane_type == carla.LaneType.Driving:
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pygame.draw.line(map_surface, col, to_pixel(wp), to_pixel(l), 2)
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actors = carla_world.get_actors()
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# Draw Traffic Signs
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@ -754,18 +771,13 @@ class MapImage(object):
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class ModuleWorld(object):
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def __init__(self, name, host, port, map_name, timeout, actor_filter, no_rendering=True, show_triggers=False):
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def __init__(self, name, args, timeout):
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self.client = None
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self.name = name
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self.host = host
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self.port = port
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self.map_name = map_name
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self.args = args
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self.timeout = timeout
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self.actor_filter = actor_filter
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self.no_rendering = no_rendering
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self.server_fps = 0.0
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self.simulation_time = 0
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self.show_triggers = show_triggers
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self.server_clock = pygame.time.Clock()
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# World data
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@ -800,13 +812,13 @@ class ModuleWorld(object):
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def _get_data_from_carla(self):
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try:
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self.client = carla.Client(self.host, self.port)
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self.client = carla.Client(self.args.host, self.args.port)
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self.client.set_timeout(self.timeout)
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if self.map_name is None:
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if self.args.map is None:
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world = self.client.get_world()
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else:
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world = self.client.load_world(self.map_name)
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world = self.client.load_world(self.args.map)
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town_map = world.get_map()
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return (world, town_map)
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@ -819,11 +831,16 @@ class ModuleWorld(object):
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self.world, self.town_map = self._get_data_from_carla()
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settings = self.world.get_settings()
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settings.no_rendering_mode = self.no_rendering
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settings.no_rendering_mode = self.args.no_rendering
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self.world.apply_settings(settings)
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# Create Surfaces
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self.map_image = MapImage(self.world, self.town_map, PIXELS_PER_METER, self.show_triggers)
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self.map_image = MapImage(
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carla_world=self.world,
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carla_map=self.town_map,
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pixels_per_meter=PIXELS_PER_METER,
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show_triggers=self.args.show_triggers,
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show_connections=self.args.show_connections)
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# Store necessary modules
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self.module_hud = module_manager.get_module(MODULE_HUD)
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@ -875,9 +892,8 @@ class ModuleWorld(object):
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self._spawn_hero()
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def _spawn_hero(self):
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# Get a random blueprint.
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blueprint = random.choice(self.world.get_blueprint_library().filter(self.actor_filter))
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blueprint = random.choice(self.world.get_blueprint_library().filter(self.args.filter))
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blueprint.set_attribute('role_name', 'hero')
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if blueprint.has_attribute('color'):
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color = random.choice(blueprint.get_attribute('color').recommended_values)
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@ -905,9 +921,9 @@ class ModuleWorld(object):
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affected_traffic_light_text = 'None'
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if self.affected_traffic_light is not None:
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state = self.affected_traffic_light.state
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if state == carla.libcarla.TrafficLightState.Green:
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if state == carla.TrafficLightState.Green:
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affected_traffic_light_text = 'GREEN'
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elif state == carla.libcarla.TrafficLightState.Yellow:
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elif state == carla.TrafficLightState.Yellow:
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affected_traffic_light_text = 'YELLOW'
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else:
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affected_traffic_light_text = 'RED'
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@ -991,7 +1007,7 @@ class ModuleWorld(object):
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world_pos = tl.get_location()
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pos = world_to_pixel(world_pos)
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if self.show_triggers:
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if self.args.show_triggers:
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corners = Util.get_bounding_box(tl)
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corners = [world_to_pixel(p) for p in corners]
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pygame.draw.lines(surface, COLOR_CHAMELEON_0, True, corners, 2)
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@ -1360,15 +1376,7 @@ def game_loop(args):
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# Init modules
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input_module = ModuleInput(MODULE_INPUT)
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hud_module = ModuleHUD(MODULE_HUD, args.width, args.height)
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world_module = ModuleWorld(
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MODULE_WORLD,
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args.host,
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args.port,
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args.map,
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2.0,
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args.filter,
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args.no_rendering,
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args.show_triggers)
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world_module = ModuleWorld(MODULE_WORLD, args, timeout=2.0)
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# Register Modules
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module_manager.register_module(world_module)
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@ -1440,6 +1448,10 @@ def main():
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'--show-triggers',
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action='store_true',
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help='show trigger boxes of traffic signs')
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argparser.add_argument(
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'--show-connections',
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action='store_true',
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help='show waypoint connections')
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args = argparser.parse_args()
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args.description = argparser.description
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