class DrawHandler(threading.Thread):
def __init__(self, handler):
threading.Thread.__init__(self)
self.max_rate = 60
self.rate = Rate(self.max_rate)
self.cursor_pos = (0, 0)
# self.image = cv2.imread('test2.jpg')
self.image = np.zeros((800, 800, 3))
self.width = self.image.shape[1]
self.height = self.image.shape[0]
self.screen = None
self.zero = (400, 400)
self.meter2pix_scale = 5.0
self.overlay = Overlay()
self.name = "Roundabout Map"
cv2.namedWindow(self.name)
cv2.setMouseCallback(self.name, self.mouse_event)
self.event = 200
self.handler = handler
self.scenario = Scenario(handler)
handler.overlay = self.overlay
def mouse_event(self, event, x, y, flags, param):
self.event = 200
self.cursor_pos = (x, y)
self.handler.mouse_event(event, x, y)
def run(self):
while True:
key = cv2.waitKey(1) & 0xFF
if key == 27:
self.handler.shutdown()
self.shutdown()
break
self.handler.keyboard_event(key)
self.handler.overlay_event()
if self.handler.update():
self.screen = copy.copy(self.image)
for obj in self.handler.graph.drawables:
obj.draw(self.screen, self.meter2pix_scale, self.zero)
vis = copy.copy(self.screen)
self.overlay.setCursor(self.cursor_pos)
self.overlay.draw(vis)
self.overlay.clear()
if self.event > 1:
self.event -= 1
cv2.imshow(self.name, vis)
self.rate.sleep_rate(self.event)
def shutdown(self):
cv2.destroyAllWindows()
class DrawHandler(threading.Thread):
def __init__(self, handler):
threading.Thread.__init__(self)
self.max_rate = 60
self.rate = Rate(self.max_rate)
self.cursor_pos = (0, 0)
self.image = cv2.imread('test.png')
self.width = self.image.shape[1]
self.height = self.image.shape[0]
self.screen = None
self.overlay = Overlay()
self.name = "Roundabout Map"
cv2.namedWindow(self.name)
cv2.setMouseCallback(self.name, self.mouse_event)
self.event = 200
self.handler = handler
handler.overlay=self.overlay
def mouse_event(self, event, x, y, flags, param):
self.event = 200
self.cursor_pos = (x, y)
self.handler.mouse_event(event, x, y)
def run(self):
while True:
key = cv2.waitKey(1) & 0xFF
if key == 27:
self.handler.shutdown()
self.shutdown()
break
self.handler.keyboard_event(key)
self.handler.overlay_event()
if self.handler.update():
self.screen = copy.copy(self.image)
for node in self.handler.graph.nodes:
cv2.circle(self.screen, (node.pos[0], node.pos[1]), 2, (0, 0, 255), 2)
for lane in node.lanes:
cv_ext.draw_arrowed_polyline(self.screen, lane.points, (0, 255, 255))
for lane in self.handler.graph.lanes:
cv2.polylines(self.screen, [np.array(lane.polygon)], False, (0, 255, 255))
if self.handler.mark is not None:
cv2.circle(self.screen, self.handler.mark, 5, (0, 0, 255), 1)
if self.handler.snapy is not None:
cv2.circle(self.screen, self.handler.snapy, 5, (0, 0, 0), 1)
vis = copy.copy(self.screen)
self.overlay.setCursor(self.cursor_pos)
self.overlay.draw(vis)
self.overlay.clear()
if self.event > 1:
self.event -= 1
cv2.imshow(self.name, vis)
self.rate.sleep_rate(self.event)
def shutdown(self):
cv2.destroyAllWindows()
