def get_message(self, time_offset):
timestamp = self._timestamp + time_offset
builder = xviz.XVIZBuilder(metadata=self._metadata)
if self._first:
self._first = False
return self._get_first_message(builder, time_offset)
return self._get_message(builder, time_offset)
def get_message_sp(self, time_offset):
timestamp = self._timestamp + time_offset
# timestamp = time.time()
t_start = time.perf_counter()
t_elapsed = {}
builder = xviz.XVIZBuilder(metadata=self._metadata)
t_elapsed['builder'] = time.perf_counter() - t_start
t_start = time.perf_counter()
#######################################################################
self._draw_pose(builder, timestamp)
t_elapsed['pose'] = time.perf_counter() - t_start
t_start = time.perf_counter()
self._update_vehicle_info(builder, timestamp)
t_elapsed['vehinfo'] = time.perf_counter() - t_start
t_start = time.perf_counter()
self._update_lane(builder, timestamp)
t_elapsed['lane'] = time.perf_counter() - t_start
t_start = time.perf_counter()
self._update_obstacle(builder, timestamp)
t_elapsed['obstacle'] = time.perf_counter() - t_start
t_start = time.perf_counter()
# self._updata_camera(builder, timestamp)
# self._update_point_cloud(builder, timestamp)
#######################################################################
data = builder.get_message()
t_elapsed['get_msg'] = time.perf_counter() - t_start
t_start = time.perf_counter()
message = {'type': 'xviz/state_update', 'data': data.to_object()}
t_elapsed['protocl'] = time.perf_counter() - t_start
t_start = time.perf_counter()
# print('message', message)
# for k in t_elapsed.keys():
# print('{}={: ^8,.6f}, '.format(k, t_elapsed[k]), end='')
# print('')
return json.dumps(message)
def get_message_inner(self, time_offset) -> xviz.message.XVIZMessage:
timestamp = self._timestamp + time_offset
builder = xviz.XVIZBuilder(metadata=self._metadata)
self._draw_pose(builder, timestamp)
#self._draw_grid(builder)
#image = Image.open('cat.jpg')
#self._put_image(builder, np.asarray(image))
return builder.get_message()
def get_message(self, time_offset):
timestamp = self._timestamp + time_offset
builder = xviz_avs.XVIZBuilder(metadata=self._metadata)
self._draw_pose(builder, timestamp)
self._draw_grid(builder)
data = builder.get_message()
if self._live:
return {
'type': 'xviz/state_update',
'data': data.to_object()
}
else:
return data
def get_message_part(self, part):
timestamp = time.time() # self._timestamp + time_offset
builder = xviz.XVIZBuilder(metadata=self._metadata)
self._draw_pose(builder, timestamp)
if part == 'vehinfo':
self._update_vehicle_info(builder, timestamp)
elif part == 'lane':
self._update_lane(builder, timestamp)
elif part == 'obstacle':
self._update_obstacle(builder, timestamp)
data = builder.get_message()
message = {'type': 'xviz/state_update', 'data': data.to_object()}
# print('message', message)
return message
def get_message(metadata, frame, vehicle):
timestamp = frame / 30.0
location = vehicle.get_transform().location
rotation = vehicle.get_transform().rotation
builder = xviz.XVIZBuilder(metadata=metadata)
builder.pose() \
.timestamp(timestamp) \
.orientation(rotation.roll, rotation.pitch, rotation.yaw) \
.position(location.x, location.y, location.z)
builder.primitive('/points') \
.points([3, 0, 0, 0, 3, 0, 0, 0, 3]) \
.colors([200, 40, 80, 80, 40, 200, 80, 200, 40]) \
.id("indicator")
return builder.get_message()
async def get_message(self, t, runtime):
world = runtime._world
timestamp = world.time
builder = xviz_avs.XVIZBuilder(metadata=self._metadata)
for type_name, primitives in world.renderer.primitives.items():
if type_name == "EGO_AGENT_STATE":
await self.ProcessEgoState(builder, primitives, timestamp)
elif type_name == "MAP_LINE":
await self.DrawLines(builder,
primitives,
timestamp,
channel="/map")
elif type_name == "EGO_AGENT":
await self.DrawPolygons(builder,
primitives,
timestamp,
channel="/ego_vehicle/bounding_box")
elif type_name == "OTHER_AGENT":
await self.DrawPolygons(builder,
primitives,
timestamp,
channel="/other_vehicles")
elif type_name == "LINES":
await self.DrawLines(builder,
primitives,
timestamp,
channel="/other/lines")
elif type_name == "POINTS":
await self.DrawPoints(builder,
primitives,
timestamp,
channel="/other/points")
elif type_name == "POLYGONS":
await self.DrawPolygons(builder,
primitives,
timestamp,
channel="/other/polygons")
data = builder.get_message()
return {'type': 'xviz/state_update', 'data': data.to_object()}
def get_message(self, time_offset):
timestamp = self._timestamp + time_offset
builder = xviz.XVIZBuilder(metadata=self._metadata)
return self._get_message(builder, timestamp)