diff --git a/PythonAPI/no_rendering_mode.py b/PythonAPI/no_rendering_mode.py index ad1d7f081..44c677dd9 100755 --- a/PythonAPI/no_rendering_mode.py +++ b/PythonAPI/no_rendering_mode.py @@ -13,7 +13,7 @@ Welcome to CARLA No Rendering Mode Visualizer I : Toggle HUD H : Hero Mode Mouse Wheel : Zoom In / Zoom Out - Mouse Drag : Move Map in No Hero Mode + Mouse Drag : Move Map in Map Mode ESC : quit """ @@ -91,11 +91,39 @@ MODULE_HUD = 'HUD' MODULE_INPUT = 'INPUT' MODULE_RENDER = 'RENDER' +# Input +MIN_WHEEL = 0.1 +MAX_WHEEL = 3.0 + # ============================================================================== # -- TransformHelper ----------------------------------------------------------- # ============================================================================== +class Util(object): + @staticmethod + def rotate_surface(img, pos, angle): + w, h = img.get_size() + img2 = pygame.Surface((w*2, h*2), pygame.SRCALPHA).convert() + img2.set_clip(pygame.Rect(w-pos[0], h-pos[1], w, h)) + img2.blit(img, (w-pos[0], h-pos[1])) + rotated_surface = pygame.transform.rotate(img2, angle) + return rotated_surface + + @staticmethod + def normalize_vector(vector): + length_vector = math.sqrt(vector[0] ** 2 + vector[1] ** 2) + normalized_vector = (vector[0] / length_vector, vector[1] / length_vector) + return normalized_vector + + @staticmethod + def blits(destination_surface, source_surfaces): + if hasattr(destination_surface, 'blits'): + destination_surface.blits(source_surfaces) + else: + for surface in source_surfaces: + destination_surface.blit(surface[0], surface[1]) + class TransformHelper(object): def __init__(self, min_map_point, max_map_point, map_size): @@ -113,12 +141,6 @@ class TransformHelper(object): int(size[1] / float((self.max_map_point[1] - self.min_map_point[1])) * self.map_size)) return (max(screen_size[0], 1), max(screen_size[1], 1)) - def rotate(self, img, pos, angle): - w, h = img.get_size() - img2 = pygame.Surface((w*2, h*2), pygame.SRCALPHA).convert() - img2.set_clip(pygame.Rect(w-pos[0], h-pos[1], w, h)) - img2.blit(img, (w-pos[0], h-pos[1])) - return pygame.transform.rotate(img2, angle) # ============================================================================== # -- Vehicle ---------------------------------------------------------------------- @@ -214,7 +236,7 @@ class SpeedLimit(object): font_surface = self.font.render(self.speed_limit, False, COLOR_DARK_GREY) if hero_actor is not None: angle = -hero_actor.get_transform().rotation.yaw - 90.0 - font_surface = map_transform_helper.rotate(font_surface, (radius/2,radius/2), angle) + font_surface = Util.rotate_surface(font_surface, (radius/2,radius/2), angle) font_surface.set_colorkey(COLOR_BLACK) final_offset = font_surface.get_rect(center=(radius,radius)) self.surface.blit(font_surface, final_offset) @@ -292,25 +314,27 @@ class ModuleRender(object): pass def tick(self, clock): - pass + pass - def getParallelLinesAtDistance(self, line, distance, transform_helper): + def getParallelLineAtDistance(self, line, unit_vector, distance): + parallel_line = [(line[0][0] + unit_vector[0] * distance, line[0][1] + unit_vector[1] * distance), + (line[1][0] + unit_vector[0] * distance, line[1][1] + unit_vector[1] * distance)] + return parallel_line + + def getLateralLinesFromLane(self, line, distance, transform_helper): front_vector = (line[1][0] - line[0][0], line[1][1] - line[0][1]) left_vector = (-front_vector[1], front_vector[0]) - - length_left_vector = math.sqrt(left_vector[0] ** 2 + left_vector[1] ** 2) - unit_left_vector = (left_vector[0] / length_left_vector, left_vector[1] / length_left_vector) - - distance = distance / 2.0 + + unit_left_vector = Util.normalize_vector(left_vector) unit_right_vector = (-unit_left_vector[0], -unit_left_vector[1]) + distance = distance / 2.0 + # Get lateral lines - lateral_left = [(line[0][0] + unit_left_vector[0] * distance, line[0][1] + unit_left_vector[1] * distance), - (line[1][0] + unit_left_vector[0] * distance, line[1][1] + unit_left_vector[1] * distance)] + lateral_left = self.getParallelLineAtDistance(line, unit_left_vector, distance) # Get lateral lines - lateral_right = [(line[0][0] + unit_right_vector[0] * distance, line[0][1] + unit_right_vector[1] * distance), - (line[1][0] + unit_right_vector[0] * distance, line[1][1] + unit_right_vector[1] * distance)] + lateral_right = self.getParallelLineAtDistance(line, unit_right_vector, distance) # Convert to screen space lateral_left_screen = [transform_helper.convert_world_to_screen_point(lateral_left[0]), @@ -327,7 +351,7 @@ class ModuleRender(object): self.drawLine(surface, color, False, lines[2], arrow_width) def drawPolygonFromParallelLines(self, surface, color, line, distance, transform_helper): - lateral_left, lateral_right, lateral_left_screen, lateral_right_screen = self.getParallelLinesAtDistance(line, distance, transform_helper) + lateral_left, lateral_right, lateral_left_screen, lateral_right_screen = self.getLateralLinesFromLane(line, distance, transform_helper) pygame.draw.polygon(surface, COLOR_DARK_GREY, [lateral_left_screen[0], @@ -337,7 +361,7 @@ class ModuleRender(object): def drawLineAtDistance(self, index, map, road_id, lane_id, surface, line, distance, width, color, transform_helper): - lateral_left, lateral_right, lateral_left_screen, lateral_right_screen= self.getParallelLinesAtDistance(line, distance + 0.5, transform_helper) + lateral_left, lateral_right, lateral_left_screen, lateral_right_screen= self.getLateralLinesFromLane(line, distance + 0.5, transform_helper) left_location = carla.Location(x=lateral_left[0][0], y=lateral_left[0][1]) @@ -662,7 +686,7 @@ class ModuleWorld(object): if len(vehicles) > 0: self.hero_actor = vehicles[0] else: - print("There are no hero vehicle spawned") + print("There are no hero vehicles spawned") def tick(self, clock): self.update_hud_info(clock) @@ -811,7 +835,8 @@ class ModuleWorld(object): for actor in vehicles: vehicle = Vehicle(actor, COLOR_MAGENTA, self.transform_helper) vehicle_renderer.append((vehicle.surface, (vehicle.x, vehicle.y))) - self.vehicles_surface.blits(vehicle_renderer) + + Util.blits(self.vehicles_surface, vehicle_renderer) # Render Traffic Lights traffic_lights_renderer = [] @@ -820,7 +845,7 @@ class ModuleWorld(object): traffic_light = TrafficLight(actor, traffic_light_width, self.transform_helper) traffic_lights_renderer.append((traffic_light.surface, (traffic_light.x, traffic_light.y))) - self.traffic_light_surface.blits(traffic_lights_renderer) + Util.blits(self.traffic_light_surface, traffic_lights_renderer) # Render Speed limit speed_limit_renderer = [] @@ -829,7 +854,7 @@ class ModuleWorld(object): speed_limit = SpeedLimit(actor, speed_limit_width, self.transform_helper, self.hero_actor) speed_limit_renderer.append((speed_limit.surface, (speed_limit.x, speed_limit.y))) - self.speed_limits_surface.blits(speed_limit_renderer) + Util.blits(self.speed_limits_surface, speed_limit_renderer) # Render Walkers walkers_renderer = [] @@ -837,7 +862,7 @@ class ModuleWorld(object): for actor in walkers: walker = Walker(actor, walker_width, self.transform_helper) walkers_renderer.append((walker.surface, (walker.x, walker.y))) - self.walkers_surface.blits(walkers_renderer) + Util.blits(self.walkers_surface, walkers_renderer) def clip_surfaces(self, clipping_rect): self.map_surface.set_clip(clipping_rect) @@ -966,13 +991,13 @@ class ModuleWorld(object): clipping_rect = pygame.Rect(-translation_offset[0] - hero_surface.get_width() / 2, -translation_offset[1] - hero_surface.get_height() / 2, self.hud_module.dim[0], self.hud_module.dim[1]) self.clip_surfaces(clipping_rect) - self.result_surface.blits(surfaces) + Util.blits(self.result_surface, surfaces) hero_surface.fill(COLOR_BROWN) hero_surface.blit(self.result_surface, (translation_offset[0] + hero_surface.get_width()/2, translation_offset[1] + hero_surface.get_height()/2)) - rotated_result_surface = self.transform_helper.rotate(hero_surface, + rotated_result_surface = Util.rotate_surface(hero_surface, (hero_surface.get_width()/2, hero_surface.get_height()/2), angle) @@ -983,7 +1008,7 @@ class ModuleWorld(object): clipping_rect = pygame.Rect(-translation_offset[0] - center_offset[0], -translation_offset[1], self.hud_module.dim[0], self.hud_module.dim[1]) self.clip_surfaces(clipping_rect) - self.result_surface.blits(surfaces) + Util.blits(self.result_surface, surfaces) display.blit(rotated_result_surface, (translation_offset[0] + center_offset[0], translation_offset[1])) @@ -1006,7 +1031,7 @@ class ModuleInput(object): self.mouse_offset = [0.0, 0.0] self.wheel_offset = [1.0, 1.0] self.wheel_amount = 0.1 - + def start(self): pass @@ -1038,14 +1063,19 @@ class ModuleInput(object): if event.button == 4: self.wheel_offset[0] += self.wheel_amount self.wheel_offset[1] += self.wheel_amount + if self.wheel_offset[0] >= MAX_WHEEL: + self.wheel_offset[0] = MAX_WHEEL + if self.wheel_offset[1] >= MAX_WHEEL: + self.wheel_offset[1] = MAX_WHEEL if event.button == 5: self.wheel_offset[0] -= self.wheel_amount self.wheel_offset[1] -= self.wheel_amount - if self.wheel_offset[0] <= 0.1: - self.wheel_offset[0] = 0.1 - if self.wheel_offset[1] <= 0.1: - self.wheel_offset[1] = 0.1 + + if self.wheel_offset[0] <= MIN_WHEEL: + self.wheel_offset[0] = MIN_WHEEL + if self.wheel_offset[1] <= MIN_WHEEL: + self.wheel_offset[1] = MIN_WHEEL def _parse_keys(self): keys = pygame.key.get_pressed()