def draw_svg(self, drawing, g):
texture = self.get_name_texture()
L, W = 0.2, 0.5
try:
from .map_loading import get_texture_file
fn = get_texture_file(texture)
except KeyError:
msg = 'Cannot find texture for %s' % texture
logger.warning(msg)
c = drawing.rect(
insert=(-L / 2, -W / 2),
fill="white",
size=(
L,
W,
),
stroke_width="0.01",
stroke="black",
)
g.add(c)
else:
texture = open(fn, 'rb').read()
from duckietown_world.world_duckietown.tile import data_encoded_for_src
href = data_encoded_for_src(texture, 'image/jpeg')
img = drawing.image(
href=href,
size=(L, W),
insert=(-L / 2, -W / 2),
style='transform: rotate(90deg) scaleX(-1) rotate(-90deg) ')
g.add(img)
def __init__(self, tag_id, family, size):
self.tag_id = tag_id
self.family = family
self.size = size
texture = 'tag%s_%05d.png' % (family.replace('h', '_'), tag_id)
try:
from duckietown_world.world_duckietown.map_loading import get_texture_file
self.fn = get_texture_file(texture)
except KeyError:
msg = 'Cannot find april tag image for %s' % texture
logger.warning(msg)
self.fn = None
def __init__(self, tag_id, family, size):
self.tag_id = tag_id
self.family = family
self.size = size
f = family.replace("h", "_")
texture = f"tag{f}_{tag_id:05d}.png"
try:
from duckietown_world.world_duckietown.map_loading import get_texture_file
self.fn = get_texture_file(texture)
except KeyError:
msg = f"Cannot find april tag image for {texture}"
logger.warning(msg)
self.fn = None
def __init__(self, kind, drivable, **kwargs):
PlacedObject.__init__(self, **kwargs)
self.kind = kind
self.drivable = drivable
from duckietown_world.world_duckietown.map_loading import get_texture_file
try:
self.fn = get_texture_file(kind)
except KeyError:
msg = 'Cannot find texture for %s' % kind
logger.warning(msg)
self.fn = None
def __init__(self, kind, drivable, **kwargs):
PlacedObject.__init__(self, **kwargs)
self.kind = kind
self.drivable = drivable
from duckietown_world.world_duckietown.map_loading import get_texture_file
try:
self.fn = get_texture_file(kind)
except KeyError:
msg = 'Cannot find texture for %s' % kind
logger.warning(msg)
self.fn = None
# if kind in ['asphalt']:
if not 'slots' in self.children:
slots = get_tile_slots()
self.set_object('slots',
slots,
ground_truth=SE2Transform.identity())
def draw_svg(self, drawing, g):
texture = self.get_name_texture()
# x = -0.2
CM = 0.01
PAPER_WIDTH, PAPER_HEIGHT = 8.5 * CM, 15.5 * CM
PAPER_THICK = 0.01
BASE_SIGN = 5 * CM
WIDTH_SIGN = 1.1 * CM
y = -1.5 * PAPER_HEIGHT # XXX not sure why this is negative
y = BASE_SIGN
x = -PAPER_WIDTH / 2
try:
from .map_loading import get_texture_file
fn = get_texture_file(texture)
except KeyError:
msg = 'Cannot find texture for %s' % texture
logger.warning(msg)
c = drawing.rect(
insert=(x, y),
fill="white",
size=(
PAPER_WIDTH,
PAPER_HEIGHT,
),
stroke_width="0.01",
stroke="black",
)
g.add(c)
else:
texture = open(fn, 'rb').read()
from duckietown_world.world_duckietown.tile import data_encoded_for_src
href = data_encoded_for_src(texture, mime_from_fn(fn))
img = drawing.image(
href=href,
size=(PAPER_WIDTH, PAPER_HEIGHT),
insert=(x, y),
stroke_width=0.001,
stroke='black',
style=
'transform: rotate(90deg) rotate(90deg) scaleX(-1) rotate(-90deg);'
'border: solid 1px black ')
img.attribs['class'] = 'sign-paper'
g.add(img)
c = drawing.rect(insert=(-BASE_SIGN / 2, -BASE_SIGN / 2),
fill="lightgreen",
stroke_width=0.001,
stroke='black',
size=(
BASE_SIGN,
BASE_SIGN,
))
g.add(c)
draw_axes(drawing, g)
alpha = 1.2
c = drawing.rect(insert=(-WIDTH_SIGN / 2, -BASE_SIGN / 2 * alpha),
fill="#FFCB9C",
stroke_width=0.001,
stroke='black',
size=(
WIDTH_SIGN,
BASE_SIGN * alpha,
))
g.add(c)
c = drawing.rect(insert=(+0.01 + -PAPER_THICK / 2, -PAPER_WIDTH / 2),
fill="white",
stroke_width=0.001,
stroke='black',
size=(
PAPER_THICK,
PAPER_WIDTH,
))
g.add(c)
