def __init__(self, params=None, **kwargs):
if(params is None):
params = ParameterServer()
Viewer.__init__(self)
# color parameters
# agents
self.color_other_agents_line = params["Visualization"]["Agents"]["Color"]["Other"]["Lines", "Color of other agents", (0.7,0.7,0.7)]
self.color_other_agents_face = params["Visualization"]["Agents"]["Color"]["Other"]["Face", "Color of other agents", (0.7,0.7,0.7)]
self.color_eval_agents_line = params["Visualization"]["Agents"]["Color"]["Controlled"]["Lines", "Color of controlled, evaluated agents", (0.,.27,.58)]
self.color_eval_agents_face = params["Visualization"]["Agents"]["Color"]["Controlled"]["Face", "Color of controlled, evaluated agents", (.49, .63, .83)]
self.use_colormap_for_other_agents = params["Visualization"]["Agents"]["Color"]["UseColormapForOtherAgents", "Flag to enable color map for other agents", False]
self.alpha_eval_agent = params["Visualization"]["Agents"]["Alpha"]["Controlled", "Alpha of evalagents", 1.]
self.alpha_other_agents = params["Visualization"]["Agents"]["Alpha"]["Other", "Alpha of other agents", 1]
self.route_color = params["Visualization"]["Agents"]["ColorRoute", "Color of agents routes", (0.2,0.2,0.2)]
self.draw_route = params["Visualization"]["Agents"]["DrawRoute", "Draw Route of each agent", False]
self.draw_agent_id = params["Visualization"]["Agents"]["DrawAgentId", "Draw id of each agent", True]
self.draw_eval_goals = params["Visualization"]["Agents"]["DrawEvalGoals", "Draw Route of eval agent goals", True]
self.eval_goal_color = params["Visualization"]["Agents"]["EvalGoalColor", "Color of eval agent goals", (.49, .63, .83)]
self.draw_history = params["Visualization"]["Agents"]["DrawHistory", "Draw history with alpha trace for each agent", False]
# map
self.color_lane_boundaries = params["Visualization"]["Map"]["XodrLanes"]["Boundaries"]["Color", "Color of agents except ego vehicle", (0.7,0.7,0.7)]
self.alpha_lane_boundaries = params["Visualization"]["Map"]["XodrLanes"]["Boundaries"]["Alpha", "Color of agents except ego vehicle", 1.0]
self.plane_color = params["Visualization"]["Map"]["Plane"]["Color", "Color of the background plane", (1, 1, 1, 1)]
self.plane_alpha = params["Visualization"]["Map"]["Plane"]["Alpha", "Alpha of the background plane", 1.0]
self.map_linewidth = params["Visualization"]["Map"]["XodrLanes"]["Boundaries"]["Linewidth", "Linewidth of linestrings", 1.0]
self.parameters = params
self.use_world_bounds = kwargs.pop("use_world_bounds", False)
self.follow_agent_id = kwargs.pop("follow_agent_id", None)
self.center = kwargs.pop("center", np.array([0, 0]))
self.world_x_range = kwargs.pop("x_range", np.array([-40, 40]))
self.world_y_range = kwargs.pop("y_range", np.array([-40, 40]))
self.enforce_x_length = kwargs.pop("enforce_x_length", True)
self.enforce_y_length = kwargs.pop("enforce_y_length", False)
self.x_length = kwargs.pop("x_length", np.sum(np.absolute(self.world_x_range)))
self.y_length = kwargs.pop("y_length", np.sum(np.absolute(self.world_y_range)))
self.dynamic_world_x_range = self.world_x_range.copy()
self.dynamic_world_y_range = self.world_y_range.copy()
def __init__(self, params=None, **kwargs):
if (params is None):
params = ParameterServer()
Viewer.__init__(self)
# color parameters
# agents
self.color_other_agents_line = params["Visualization"]["Agents"][
"Color"]["Other"]["Lines", "Color of other agents",
(0.1, 0.1, 0.1)]
self.color_other_agents_face = params["Visualization"]["Agents"][
"Color"]["Other"]["Face", "Color of other agents", (0.7, 0.7, 0.7)]
self.color_eval_agents_line = params["Visualization"]["Agents"][
"Color"]["Controlled"]["Lines",
"Color of controlled, evaluated agents",
(0.9, 0, 0)]
self.color_eval_agents_face = params["Visualization"]["Agents"][
"Color"]["Controlled"]["Face",
"Color of controlled, evaluated agents",
(0.9, 0, 0)]
self.use_colormap_for_other_agents = params["Visualization"]["Agents"][
"Color"]["UseColormapForOtherAgents",
"Flag to enable color map for other agents", True]
self.if_colormap_use_line_others = params["Visualization"]["Agents"][
"Color"][
"IfColormapUseLineColorOthers",
"Flag to enable that line color can be fixed for other agents while using colormap",
True]
self.alpha_eval_agent = params["Visualization"]["Agents"]["Alpha"][
"Controlled", "Alpha of evalagents", 0.8]
self.alpha_other_agents = params["Visualization"]["Agents"]["Alpha"][
"Other", "Alpha of other agents", 1]
self.route_color = params["Visualization"]["Agents"][
"ColorRoute", "Color of agents routes", (0.2, 0.2, 0.2)]
self.draw_route = params["Visualization"]["Agents"][
"DrawRoute", "Draw Route of each agent", False]
self.draw_agent_id = params["Visualization"]["Agents"][
"DrawAgentId", "Draw id of each agent", True]
self.draw_invalid_agents = params["Visualization"]["Agents"][
"DrawInvalidAgents", "Draw invalid agents with patch", False]
self.draw_orientation_arrow = params["Visualization"]["Agents"][
"DrawOrientationArrow", "Draw Orientation of Arrow", False]
self.draw_behavior_plan_eval_agent = params["Visualization"]["Agents"][
"DrawBehaviorPlanEvalAgent",
"Draw behavior plan of evalauted agent", False]
self.draw_eval_goals = params["Visualization"]["Agents"][
"DrawEvalGoals", "Draw Route of eval agent goals", True]
self.eval_goal_color = params["Visualization"]["Agents"][
"EvalGoalColor", "Color of eval agent goals", (.49, .63, .83)]
self.draw_history = params["Visualization"]["Agents"][
"DrawHistory", "Draw history with alpha trace for each agent",
False]
self.draw_history_draw_face = params["Visualization"]["Agents"][
"DrawHistoryDrawFace",
"Flag to specify if face is drawn in history mode", True]
# map
self.color_lane_boundaries = params["Visualization"]["Map"][
"XodrLanes"]["Boundaries"]["Color",
"Color of agents except ego vehicle",
(0.7, 0.7, 0.7)]
self.alpha_lane_boundaries = params["Visualization"]["Map"][
"XodrLanes"]["Boundaries"]["Alpha",
"Color of agents except ego vehicle",
1.0]
self.plane_color = params["Visualization"]["Map"]["Plane"][
"Color", "Color of the background plane", (1, 1, 1, 1)]
self.plane_alpha = params["Visualization"]["Map"]["Plane"][
"Alpha", "Alpha of the background plane", 1.0]
self.map_linewidth = params["Visualization"]["Map"]["XodrLanes"][
"Boundaries"]["Linewidth", "Linewidth of linestrings", 1.0]
self._draw_aerial_image = params["Visualization"]["Map"][
"DrawAerialImage", "Flag to draw aerial image behind map", False]
self.draw_ltl_debug_info = params["Visualization"]["Evaluation"][
"DrawLTLDebugInfo",
"Flag to specify if debug info to ltl evaluators shall be plotted",
False]
self.draw_rss_debug_info = params["Visualization"]["Evaluation"][
"DrawRssDebugInfo",
"Flag to specify if debug info to rss evaluators shall be plotted",
False]
self.draw_rss_safety_responses = params["Visualization"]["Evaluation"][
"DrawRssSafetyResponses",
"Flag to specify if visualizating rss safety responses.", False]
self._draw_ego_rss_safety_responses = params["Visualization"][
"Evaluation"][
"DrawEgoRSSSafetyResponses",
"Flag to specify if visualizating rss safety responses.",
False]
self._rss_min_braking_distances = params["Visualization"][
"Evaluation"][
"DrawMinRSSBrakingDistances",
"Flag whether the min. braking distances shall be plotted.",
False]
self.parameters = params
self.agent_color_map = {}
self.max_agents_color_map = 0
self.use_world_bounds = kwargs.pop("use_world_bounds", False)
self.follow_agent_id = kwargs.pop("follow_agent_id", None)
self.center = kwargs.pop("center", np.array([0, 0]))
self.world_x_range = kwargs.pop("x_range", np.array([-40, 40]))
self.world_y_range = kwargs.pop("y_range", np.array([-40, 40]))
self.enforce_x_length = kwargs.pop("enforce_x_length", True)
self.enforce_y_length = kwargs.pop("enforce_y_length", False)
self.x_length = kwargs.pop("x_length",
np.sum(np.absolute(self.world_x_range)))
self.y_length = kwargs.pop("y_length",
np.sum(np.absolute(self.world_y_range)))
self.dynamic_world_x_range = self.world_x_range.copy()
self.dynamic_world_y_range = self.world_y_range.copy()
def __init__(self, params=None, **kwargs):
if (params is None):
params = ParameterServer()
Viewer.__init__(self)
self.initialize_params(params, kwargs)