def optimized_rear_sensor(self, car, act_mask, display_obstacle_on_sensor=False):
"""
rear visual sensor
:param car:
:param object_mask:
:param act_mask:
:param display_obstacle_on_sensor:
:return:
"""
# act_mask is a separate image where you can only see what the sensor sees
position = self.global_cars_positions[car.car_tag]
center = Collision.calculate_center_for_car(car, position)
if car.car_tag == self.current_car:
center = Collision.center_rect(self.screen_width, self.screen_height)
mid_of_rear_axle = Collision.point_rotation(car, 65, 16, center)
arc_points = get_arc_points(mid_of_rear_axle, 150, radians(-90 + car.angle), radians(90 + car.angle),
self.sensor_size)
draw_center = Collision.center_rect(self.screen_width, self.screen_height)
draw_mid_rear_axle = Collision.point_rotation(car, 65, 16, draw_center)
draw_arc_points = get_arc_points(draw_mid_rear_axle, 150, radians(-90 + car.angle), radians(90 + car.angle),
self.sensor_size)
offroad_edge_points = []
draw_offroad_edge_points = []
for end_point, draw_end_point in zip(arc_points, draw_arc_points):
points_to_be_checked = list(get_equidistant_points(mid_of_rear_axle, end_point, 25))
draw_points_to_be_checked = list(get_equidistant_points(draw_mid_rear_axle, draw_end_point, 25))
check = False
for line_point, draw_line_point in zip(points_to_be_checked, draw_points_to_be_checked):
try:
if np.array_equal(self.object_mask.get_at((int(line_point[0]), int(line_point[1]))), self.bkd_color):
check = True
break
except:
check = True
break
if check is False:
offroad_edge_points.append(end_point)
draw_offroad_edge_points.append(draw_end_point)
else:
offroad_edge_points.append(line_point)
draw_offroad_edge_points.append(draw_line_point)
for index in range(0, len(arc_points)):
if offroad_edge_points[index] == arc_points[index]:
pygame.draw.line(self.screen, (0, 255, 0), mid_of_rear_axle, arc_points[index], True)
pygame.draw.line(act_mask, (0, 255, 0), draw_mid_rear_axle, draw_arc_points[index], True)
else:
pygame.draw.line(self.screen, (0, 255, 0), mid_of_rear_axle, offroad_edge_points[index], True)
pygame.draw.line(act_mask, (0, 255, 0), draw_mid_rear_axle, draw_offroad_edge_points[index], True)
if display_obstacle_on_sensor is True:
pygame.draw.line(self.screen, (255, 0, 0), offroad_edge_points[index], arc_points[index], True)
pygame.draw.line(act_mask, (255, 0, 0), draw_offroad_edge_points[index], draw_arc_points[index], True)
def optimized_front_sensor(self):
# act_mask is a separate image where you can only see what the sensor sees
center_rect = Collision.center_rect(self.screen_width,
self.screen_height)
mid_of_front_axle = Collision.point_rotation(self.car, -1, 16,
center_rect)
arc_points = get_arc_points(mid_of_front_axle, 150,
radians(90 + self.car.angle),
radians(270 + self.car.angle), 80)
offroad_edge_points = []
for end_point in arc_points:
points_to_be_checked = list(
get_equidistant_points(mid_of_front_axle, end_point, 25))
check = False
for line_point in points_to_be_checked:
if np.array_equal(
self.screen.get_at(
(int(line_point[0]), int(line_point[1]))),
self.obstacle_color):
check = True
break
if check is False:
offroad_edge_points.append(end_point)
else:
offroad_edge_points.append(line_point)
return mid_of_front_axle, arc_points, offroad_edge_points
def optimized_front_sensor(self,
act_mask,
display_obstacle_on_sensor=False):
"""
front visual sensor
:param act_mask:
:param display_obstacle_on_sensor:
:return:
"""
# act_mask is a separate image where you can only see what the sensor sees
center_rect = Collision.center_rect(self.screen_width,
self.screen_height)
mid_of_front_axle = Collision.point_rotation(self.car, -1, 16,
center_rect)
arc_points = get_arc_points(mid_of_front_axle, 150,
radians(90 + self.car.angle),
radians(270 + self.car.angle),
self.sensor_size)
offroad_edge_points = []
for end_point in arc_points:
points_to_be_checked = list(
get_equidistant_points(mid_of_front_axle, end_point, 25))
check = False
for line_point in points_to_be_checked:
if np.array_equal(
self.object_mask.get_at(
(int(line_point[0]), int(line_point[1]))),
self.bkd_color):
check = True
break
if check is False:
offroad_edge_points.append(end_point)
else:
offroad_edge_points.append(line_point)
for index in range(0, len(arc_points)):
if offroad_edge_points[index] == arc_points[index]:
pygame.draw.line(self.screen, (0, 255, 0), mid_of_front_axle,
arc_points[index], True)
pygame.draw.line(act_mask, (0, 255, 0), mid_of_front_axle,
arc_points[index], True)
else:
pygame.draw.line(self.screen, (0, 255, 0), mid_of_front_axle,
offroad_edge_points[index], True)
pygame.draw.line(act_mask, (0, 255, 0), mid_of_front_axle,
offroad_edge_points[index], True)
if display_obstacle_on_sensor is True:
pygame.draw.line(self.screen, (255, 0, 0),
offroad_edge_points[index],
arc_points[index], True)
pygame.draw.line(act_mask, (255, 0, 0),
offroad_edge_points[index],
arc_points[index], True)
def enable_sensor(self, car, draw_screen, rays_nr):
"""
distance sensor
:param car:
:param data_screen:
:param draw_screen:
:param rays_nr:
:return:
"""
center_rect = Collision.center_rect(self.screen_width,
self.screen_height)
mid_of_front_axle = Collision.point_rotation(car, 0, 16, center_rect)
distance = np.array([])
for angle_index in range(120, 240, int(round(120 / rays_nr))):
distance = np.append(
distance,
self.compute_sensor_distance(car, mid_of_front_axle, 200,
angle_index, self.object_mask,
draw_screen))
return distance
def enable_rear_sensor(self, car, draw_screen, rays_nr):
"""
rear distance sensor
:param car:
:param data_screen:
:param draw_screen:
:param rays_nr:
:return:
"""
position = self.global_cars_positions[car.car_tag]
center = Collision.calculate_center_for_car(car, position)
if car.car_tag == self.current_car:
center = Collision.center_rect(self.screen_width, self.screen_height)
mid_of_rear_axle = Collision.point_rotation(car, 65, 16, center)
distance = np.array([])
for angle_index in range(120, 240, int(round(120/rays_nr))):
distance = np.append(distance,
self.compute_sensor_distance(car, mid_of_rear_axle, 200, angle_index, self.object_mask,
draw_screen, side='rear'))
return distance