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Refactor + Bug fix: Blits surfaces

This commit is contained in:
Manish 2019-01-30 12:15:24 +01:00
parent 23ef5d73cc
commit e29950b60f
1 changed files with 64 additions and 34 deletions
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94
PythonAPI/no_rendering_mode.py
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@ -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)
@ -294,23 +316,25 @@ class ModuleRender(object):
def tick(self, clock):
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])
# 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)]
distance = distance / 2.0
# 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_left = self.getParallelLineAtDistance(line, unit_left_vector, distance)
# Get lateral lines
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]))
@ -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()