p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Changed some colors and removed legend

This commit is contained in:
Manish 2019-02-07 16:02:55 +01:00
parent fbcf180d06
commit b95b455071
1 changed files with 27 additions and 64 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

91
PythonAPI/no_rendering_mode.py
View File

@ -135,12 +135,6 @@ COLOR_ALUMINIUM_5 = pygame.Color(46, 52, 54)
COLOR_WHITE = pygame.Color(255, 255, 255)
COLOR_BLACK = pygame.Color(0, 0, 0)
# Legend names
LEGEND_NAME = 'LEGEND'
VEHICLE_NAME = 'Vehicle'
TRAFFIC_LIGHT_NAME = 'Traffic Light'
SPEED_LIMIT_NAME = 'Speed Limit'
WALKER_NAME = 'Walker'
# Module Defines
MODULE_WORLD = 'WORLD'
@ -203,7 +197,7 @@ class ModuleManager(object):
module.tick(clock)
def render(self, display):
display.fill(COLOR_CHOCOLATE_0)
display.fill(COLOR_ALUMINIUM_5)
for module in self.modules:
module.render(display)
@ -217,39 +211,6 @@ class ModuleManager(object):
module.start()
# ==============================================================================
# -- HUD -----------------------------------------------------------------------
# ==============================================================================
class Legend(object):
def __init__(self, list_keys, header_font, font):
self.header_surface = header_font.render(LEGEND_NAME, True, COLOR_ALUMINIUM_0)
self.legend_surfaces = []
self.surface_size = 25
for key in list_keys:
color_surface = pygame.Surface((self.surface_size, self.surface_size))
color_surface.fill(key[0])
font_surface = font.render(key[1], True, COLOR_ALUMINIUM_0)
self.legend_surfaces.append((color_surface, font_surface))
def render(self, display):
h_offset = 20
v_offset = 235
h_space = 10
display.blit(self.header_surface, (8 + 100 / 2, v_offset))
for surface in self.legend_surfaces:
v_offset = v_offset + surface[0].get_height() + 10
display.blit(surface[0], (h_offset, v_offset))
display.blit(surface[1], (surface[0].get_width() + h_offset + h_space, v_offset + 5))
# ==============================================================================
# -- FadingText ----------------------------------------------------------------
@ -340,10 +301,6 @@ class ModuleHUD (object):
self.show_info = True
self.show_actor_ids = False
self._info_text = {}
self.legend = Legend(((COLOR_PLUM_2, VEHICLE_NAME),
(COLOR_ALUMINIUM_0, WALKER_NAME)),
self._header_font,
self._font_mono)
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
@ -422,7 +379,6 @@ class ModuleHUD (object):
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)
self._notifications.render(display)
self.help.render(display)
@ -493,7 +449,7 @@ class MapImage(object):
self.surface = self._big_map_surface
def draw_road_map(self, map_surface, carla_map, world_to_pixel):
map_surface.fill(COLOR_ALUMINIUM_3)
map_surface.fill(COLOR_ALUMINIUM_5)
precision = 0.05
def draw_lane_marking(surface, points, solid=True):
@ -672,6 +628,9 @@ class ModuleWorld(object):
self.round_surface = pygame.Surface(self.hud_module.dim, pygame.SRCALPHA)
self.round_surface.fill(COLOR_BLACK)
scaled_original_size = self.original_surface_size * (1.0 / 0.9)
self.hero_surface = pygame.Surface((scaled_original_size, scaled_original_size))
center_offset = (self.hud_module.dim[0] / 2, self.hud_module.dim[1] / 2)
pygame.draw.circle(self.round_surface, COLOR_WHITE, center_offset, self.hud_module.dim[1] / 2)
@ -857,25 +816,29 @@ class ModuleWorld(object):
corners = [world_to_pixel(p) for p in corners]
pygame.draw.polygon(surface, color, corners)
def _render_vehicles(self, surface, list_v, world_to_pixel):
def _render_vehicles(self, surface, list_v, world_to_pixel, world_to_pixel_width, scale_factor):
for v in list_v:
color = COLOR_PLUM_1
color = COLOR_ORANGE_1
if v.attributes['role_name'] == 'hero':
color = COLOR_SCARLET_RED_2
# Compute bounding box points
bb = v.bounding_box.extent
corners = [carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x - 0.8, y=-bb.y),
carla.Location(x=bb.x, y=0),
carla.Location(x=bb.x - 0.8, 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 = v.get_transform()
t.transform(corners)
corners = [world_to_pixel(p) for p in corners]
pygame.draw.lines(surface, color, False, corners, 2)
pygame.draw.lines(surface, color, False, corners, max(int(2 * scale_factor),1 ))
def render_actors(self, surface, vehicles, traffic_lights, speed_limits, walkers):
def render_actors(self, surface, vehicles, traffic_lights, speed_limits, walkers, scale_factor):
# Render Vehicles
self._render_vehicles(surface, vehicles, self.map_image.world_to_pixel)
self._render_vehicles(surface, vehicles, self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width, scale_factor)
self._render_traffic_lights(surface, traffic_lights, self.map_image.world_to_pixel)
self._render_speed_limits(surface, speed_limits, self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
@ -920,7 +883,7 @@ class ModuleWorld(object):
# Render Actors
self.actors_surface.fill(COLOR_BLACK)
self.render_actors(self.actors_surface, vehicles, traffic_lights, speed_limits, walkers)
self.render_actors(self.actors_surface, vehicles, traffic_lights, speed_limits, walkers, scale_factor)
# Render Ids
self.hud_module.render_actors_ids(self.vehicle_id_surface, vehicles,
@ -937,30 +900,30 @@ class ModuleWorld(object):
center_offset = (0, 0)
if self.hero_actor is not None:
hero_surface = pygame.Surface((self.original_surface_size, self.original_surface_size), pygame.SRCALPHA)
hero_location_screen = self.map_image.world_to_pixel(self.hero_actor.get_location())
translation_offset = (hero_location_screen[0] - hero_surface.get_width() / 2,
(hero_location_screen[1] - hero_surface.get_height() / 2))
hero_front = self.hero_actor.get_transform().get_forward_vector()
translation_offset = (hero_location_screen[0] - self.hero_surface.get_width() / 2 + hero_front.x * PIXELS_AHEAD_VEHICLE,
(hero_location_screen[1] - self.hero_surface.get_height() / 2 + hero_front.y * PIXELS_AHEAD_VEHICLE))
# Apply clipping rect
clipping_rect = pygame.Rect(translation_offset[0],
translation_offset[1],
hero_surface.get_width(),
hero_surface.get_height())
self.hero_surface.get_width(),
self.hero_surface.get_height())
self.clip_surfaces(clipping_rect)
Util.blits(self.result_surface, surfaces)
hero_surface.fill(COLOR_CHOCOLATE_1)
hero_surface.blit(self.result_surface, (-translation_offset[0],
-translation_offset[1]))
self.hero_surface.fill(COLOR_CHOCOLATE_1)
self.hero_surface.blit(self.result_surface, (-translation_offset[0],
-translation_offset[1]))
rotated_result_surface = pygame.transform.rotate(hero_surface, angle)
rotated_result_surface = pygame.transform.rotozoom(self.hero_surface, angle, 0.9)
center = (display.get_width() / 2, display.get_height() / 2)
rotation_pivot = rotated_result_surface.get_rect(center=center)
display.blit(rotated_result_surface, rotation_pivot)
# display.blit(self.round_surface, (0, 0), None, pygame.BLEND_MULT)
display.blit(self.round_surface, (0, 0), None, pygame.BLEND_MULT)
else:
# Translation offset
translation_offset = ((self.module_input.mouse_offset[0]) * scale_factor + self.scale_offset[0],