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Improving lane markings no rendering mode + small fix

This commit is contained in:
Manish 2019-03-27 16:16:00 +01:00 committed by Marc Garcia Puig
parent 7b97f11959
commit e2d3795239
2 changed files with 91 additions and 34 deletions
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12
LibCarla/source/carla/road/element/WaypointInformationTypes.h
View File

@ -24,13 +24,13 @@ namespace element {
LaneMarking type = LaneMarking::None;
enum class Color : uint8_t {
Standard, // (equivalent to "white")
Blue,
Green,
Red,
Standard = 0, // (equivalent to "white")
Blue = 1,
Green = 2,
Red = 3,
White = Standard,
Yellow,
Other
Yellow = 4,
Other = 5
} color = Color::Standard;
/// Can be used as flags

113
PythonAPI/no_rendering_mode.py
View File

@ -441,14 +441,79 @@ class MapImage(object):
map_surface.fill(COLOR_ALUMINIUM_4)
precision = 0.05
def draw_lane_marking(surface, points, solid=True):
if solid:
if len(points) > 1:
pygame.draw.lines(surface, COLOR_ORANGE_0, False, points, 2)
def road_mark_color_to_tango(road_mark_color):
tango_color = COLOR_BLACK
if road_mark_color == carla.RoadMarkColor.White:
tango_color = COLOR_ALUMINIUM_2
elif road_mark_color == carla.RoadMarkColor.Blue:
tango_color = COLOR_SKY_BLUE_0
elif road_mark_color == carla.RoadMarkColor.Green:
tango_color = COLOR_CHAMELEON_0
elif road_mark_color == carla.RoadMarkColor.Red:
tango_color = COLOR_SCARLET_RED_0
elif road_mark_color == carla.RoadMarkColor.Yellow:
tango_color = COLOR_ORANGE_0
return tango_color
def draw_solid_line (surface, color, closed, points, width):
if len(points) >= 2:
pygame.draw.lines(surface, color, closed, points, width)
def draw_broken_line (surface, color, closed, points, width):
broken_lines = [x for n, x in enumerate(zip(*(iter(points),) * 20)) if n % 3 == 0]
for line in broken_lines:
pygame.draw.lines(surface, color, closed, line, width)
def draw_lane_marking(surface, waypoints, is_left, sample):
sign = 0.0
marking_type = carla.LaneMarking.NONE
marking_color = carla.RoadMarkColor.Other
road_mark = None
if is_left:
sign = -1
road_mark = sample.get_left_road_mark()
else:
broken_lines = [x for n, x in enumerate(zip(*(iter(points),) * 20)) if n % 3 == 0]
for line in broken_lines:
pygame.draw.lines(surface, COLOR_ORANGE_0, False, line, 2)
sign = 1
road_mark = sample.get_right_road_mark()
if road_mark is not None:
marking_type = road_mark.type
marking_color = road_mark.color
margin = 0.20
w = carla_map.get_waypoint(lateral_shift(sample.transform, sign * sample.lane_width), project_to_road=False)
tango_color = road_mark_color_to_tango(marking_color)
if marking_type == carla.LaneMarking.SolidSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * ( (w.lane_width * 0.5) - margin))) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.BrokenBroken:
marking = [world_to_pixel(lateral_shift(w.transform, sign *(w.lane_width * 0.5 - margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.SolidBroken or marking_type == carla.LaneMarking.BrokenSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
marking = [world_to_pixel(lateral_shift(w.transform, sign * (w.lane_width * 0.5 + margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.Broken:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif (marking_type == carla.LaneMarking.Solid or w is None) and marking_type != carla.LaneMarking.NONE:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
def draw_arrow(surface, transform, color=COLOR_ALUMINIUM_2):
transform.rotation.yaw += 180
@ -492,18 +557,6 @@ class MapImage(object):
transform.rotation.yaw += 90
return transform.location + shift * transform.get_forward_vector()
def does_cross_solid_line_left(waypoint):
return (waypoint.get_left_road_mark().type == carla.LaneMarking.Solid)
def does_cross_solid_line_right(waypoint):
return (waypoint.get_right_road_mark().type == carla.LaneMarking.Solid)
def has_line_left(waypoint):
return (waypoint.get_left_road_mark().type != carla.LaneMarking.NONE)
def has_line_right(waypoint):
return (waypoint.get_right_road_mark().type != carla.LaneMarking.NONE)
def draw_topology (carla_topology, index):
topology = [x[index] for x in carla_topology]
topology = sorted(topology, key=lambda w: w.transform.location.z)
@ -521,28 +574,32 @@ class MapImage(object):
else:
break
left_marking = [lateral_shift(w.transform, -w.lane_width * 0.5) for w in waypoints]
right_marking = [lateral_shift(w.transform, w.lane_width * 0.5) for w in waypoints]
# Draw Road
road_left_side = [lateral_shift(w.transform, -w.lane_width * 0.5) for w in waypoints]
road_right_side= [lateral_shift(w.transform, w.lane_width * 0.5) for w in waypoints]
polygon = left_marking + [x for x in reversed(right_marking)]
polygon = road_left_side + [x for x in reversed(road_right_side)]
polygon = [world_to_pixel(x) for x in polygon]
if len(polygon) > 2:
pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon, 10)
pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon, 2)
pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon)
# Draw Lane Markings and Arrows
if not waypoint.is_intersection:
sample = waypoints[int(len(waypoints) / 2)]
draw_lane_marking(
map_surface,
[world_to_pixel(x) for x in left_marking],
does_cross_solid_line_left(sample) and has_line_left(sample))
waypoints,
True,
sample)
draw_lane_marking(
map_surface,
[world_to_pixel(x) for x in right_marking],
does_cross_solid_line_right(sample) and has_line_right(sample))
waypoints,
False,
sample)
for n, wp in enumerate(waypoints):
if (n % 400) == 0:
if ((n+1) % 400) == 0:
draw_arrow(map_surface, wp.transform)
topology = carla_map.get_topology()