def draw_static(
root: PlacedObject,
output_dir: str,
pixel_size: Tuple[int, int] = (480, 480),
area=None,
images=None,
timeseries=None,
height_of_stored_images: Optional[int] = None,
main_robot_name: Optional[str] = None,
) -> Sequence[str]:
from duckietown_world.world_duckietown import get_sampling_points, ChooseTime
images = images or {}
timeseries = timeseries or {}
if not os.path.exists(output_dir):
os.makedirs(output_dir)
fn_svg = os.path.join(output_dir, "drawing.svg")
fn_html = os.path.join(output_dir, "drawing.html")
timestamps = get_sampling_points(root)
# logger.info(f'timestamps: {timestamps}')
if len(timestamps) == 0:
keyframes = SampledSequence[Timestamp]([0], [0])
else:
keyframes = SampledSequence[Timestamp](range(len(timestamps)),
timestamps)
# nkeyframes = len(keyframes)
if area is None:
areas = []
all_keyframes = keyframes.values
keyframes_for_extent = [all_keyframes[0], all_keyframes[-1]]
for t in keyframes_for_extent:
root_t = root.filter_all(ChooseTime(t))
# print(i, root_t)
rarea = get_extent_points(root_t)
areas.append(rarea)
area = reduce(RectangularArea.join, areas)
logger.info("area: %s" % area)
drawing, base = get_basic_upright2(fn_svg, area, pixel_size)
# drawing.add(drawing.defs())
gmg = drawing.g()
base.add(gmg)
static, dynamic = get_static_and_dynamic(root)
t0 = keyframes.values[0]
root_t0 = root.filter_all(ChooseTime(t0))
g_static = drawing.g()
g_static.attribs["class"] = "static"
draw_recursive(drawing, root_t0, g_static, draw_list=static)
base.add(g_static)
obs_div = Tag(name="div")
imagename2div = {}
for name in images:
imagename2div[name] = Tag(name="div")
obs_div.append(imagename2div[name])
# logger.debug('dynamic: %s' % dynamic)
for i, t in keyframes:
g_t = drawing.g()
g_t.attribs["class"] = "keyframe keyframe%d" % i
root_t = root.filter_all(ChooseTime(t))
draw_recursive(drawing, root_t, g_t, draw_list=dynamic)
base.add(g_t)
for name, sequence in images.items():
try:
obs = sequence.at(t)
updated = True
except UndefinedAtTime:
obs = sequence.at_or_previous(t)
updated = False
img = Tag(name="img")
if isinstance(obs, bytes):
data = obs
else:
data = obs.bytes_contents
if height_of_stored_images is not None:
data = get_resized_image(data, height_of_stored_images)
img.attrs["src"] = data_encoded_for_src(data, "image/jpeg")
# print('image %s %s: %.4fMB ' % (i, t, len(resized) / (1024 * 1024.0)))
img.attrs["class"] = "keyframe keyframe%d" % i
img.attrs["visualize"] = "hide"
img.attrs["updated"] = int(updated)
imagename2div[name].append(img)
other = ""
# language=html
visualize_controls = """\
<style>
*[visualize_parts=false] {
display: none;
}
</style>
<p>
<input id='checkbox-static' type="checkbox" onclick="hideshow(this);" checked>static data</input>
<input id='checkbox-textures' type="checkbox" onclick="hideshow(this);" checked>textures</input>
<input id='checkbox-axes' type="checkbox" onclick="hideshow(this);">axes</input>
<br/>
<input id='checkbox-lane_segments' type="checkbox" onclick="hideshow(this);">map lane
segments</input>
(<input id='checkbox-lane_segments-control_points' type="checkbox" onclick="hideshow(
this);">control
points</input>)</p>
</p>
<p>
<input id='checkbox-vehicles' type="checkbox" onclick="hideshow(this);" checked>vehicles</input>
<input id='checkbox-duckies' type="checkbox" onclick="hideshow(this);" checked>duckies</input>
<input id='checkbox-signs' type="checkbox" onclick="hideshow(this);" checked>signs</input>
<input id='checkbox-sign-papers' type="checkbox" onclick="hideshow(this);" checked>signs
textures</input>
<input id='checkbox-decorations' type="checkbox" onclick="hideshow(this);"
checked>decorations</input>
</p>
<p>
<input id='checkbox-current_lane' type="checkbox" onclick="hideshow(this);">current lane</input>
<input id='checkbox-anchors' type="checkbox" onclick="hideshow(this);">anchor point</input>
</p>
<script>
var checkboxValues = null;
name2selector = {
"checkbox-static": "g.static",
"checkbox-textures": "g.static .tile-textures",
"checkbox-axes": "g.axes",
"checkbox-lane_segments": "g.static .LaneSegment",
"checkbox-lane_segments-control_points": " .control-point",
"checkbox-current_lane": "g.keyframe .LaneSegment",
"checkbox-duckies": ".Duckie",
"checkbox-signs": ".Sign",
"checkbox-sign-papers": ".Sign .sign-paper",
"checkbox-vehicles": ".Vehicle",
"checkbox-decorations": ".Decoration",
'checkbox-anchors': '.Anchor',
};
function hideshow(element) {
console.log(element);
element_name = element.id;
console.log(element_name);
selector = name2selector[element_name];
checked = element.checked;
console.log(selector);
console.log(checked);
elements = document.querySelectorAll(selector);
elements.forEach(_ => _.setAttribute('visualize_parts', checked));
checkboxValues[element_name] = checked;
try {
localStorage.setItem("checkboxValues", JSON.stringify(checkboxValues));
} catch (error) {
console.log('cannot save preferences.');
console.log(error);
}
}
function init() {
for(var name in name2selector) {
console.log(name);
element = document.getElementById(name);
if(name in checkboxValues) {
element.checked = checkboxValues[name];
}
hideshow(element);
}
}
document.addEventListener("DOMContentLoaded", function(event) {
init();
});
try {
checkboxValues = JSON.parse(localStorage.getItem('checkboxValues')) || {};
} catch (error) {
console.log('cannot load preferences.');
console.log(error);
checkboxValues = {}
}
init();
console.log(checkboxValues);
</script>
"""
div_timeseries = str(make_tabs(timeseries))
obs_div = str(obs_div)
html = make_html_slider(
drawing,
keyframes,
obs_div=obs_div,
other=other,
div_timeseries=div_timeseries,
visualize_controls=visualize_controls,
)
with open(fn_html, "w") as f:
f.write(html)
# language=css
style = """
.sign-paper {
display: none;
}
g.axes, .LaneSegment {
display: none;
}
"""
drawing.defs.add(drawing.style(style))
drawing.save(pretty=True)
logger.info("Written SVG to %s" % fn_svg)
logger.info("Written HTML to %s" % fn_html)
return [fn_svg, fn_html]
def draw_static(root,
output_dir,
pixel_size=(480, 480),
area=None,
images=None,
timeseries=None):
from duckietown_world.world_duckietown import get_sampling_points, ChooseTime
images = images or {}
timeseries = timeseries or {}
if not os.path.exists(output_dir):
os.makedirs(output_dir)
fn_svg = os.path.join(output_dir, 'drawing.svg')
fn_html = os.path.join(output_dir, 'drawing.html')
timestamps = get_sampling_points(root)
if len(timestamps) == 0:
keyframes = SampledSequence([0], [0])
else:
keyframes = SampledSequence(range(len(timestamps)), timestamps)
# nkeyframes = len(keyframes)
if area is None:
areas = []
for i, t in keyframes:
root_t = root.filter_all(ChooseTime(t))
rarea = get_extent_points(root_t)
areas.append(rarea)
area = reduce(RectangularArea.join, areas)
logger.info('area: %s' % area)
drawing, base = get_basic_upright2(fn_svg, area, pixel_size)
gmg = drawing.g()
base.add(gmg)
static, dynamic = get_static_and_dynamic(root)
t0 = keyframes.values[0]
root_t0 = root.filter_all(ChooseTime(t0))
g_static = drawing.g()
g_static.attribs['class'] = 'static'
draw_recursive(drawing, root_t0, g_static, draw_list=static)
base.add(g_static)
obs_div = Tag(name='div')
imagename2div = {}
for name in images:
imagename2div[name] = Tag(name='div')
obs_div.append(imagename2div[name])
# logger.debug('dynamic: %s' % dynamic)
for i, t in keyframes:
g_t = drawing.g()
g_t.attribs['class'] = 'keyframe keyframe%d' % i
root_t = root.filter_all(ChooseTime(t))
draw_recursive(drawing, root_t, g_t, draw_list=dynamic)
base.add(g_t)
for name, sequence in images.items():
try:
obs = sequence.at(t)
except UndefinedAtTime:
pass
else:
img = Tag(name='img')
resized = get_resized_image(obs.bytes_contents, 200)
img.attrs['src'] = data_encoded_for_src(resized, 'image/jpeg')
# print('image %s %s: %.4fMB ' % (i, t, len(resized) / (1024 * 1024.0)))
img.attrs['class'] = 'keyframe keyframe%d' % i
img.attrs['visualize'] = 'hide'
imagename2div[name].append(img)
other = ""
# language=html
visualize_controls = """\
<style>
*[visualize_parts=false] {
display: none;
}
</style>
<p>
<input id='checkbox-static' type="checkbox" onclick="hideshow(this);" checked>static data</input>
<input id='checkbox-textures' type="checkbox" onclick="hideshow(this);" checked>textures</input>
<input id='checkbox-axes' type="checkbox" onclick="hideshow(this);">axes</input>
<br/>
<input id='checkbox-lane_segments' type="checkbox" onclick="hideshow(this);">map lane segments</input>
(<input id='checkbox-lane_segments-control_points' type="checkbox" onclick="hideshow(this);">control points</input>)</p>
</p>
<p>
<input id='checkbox-vehicles' type="checkbox" onclick="hideshow(this);" checked>vehicles</input>
<input id='checkbox-duckies' type="checkbox" onclick="hideshow(this);" checked>duckies</input>
<input id='checkbox-signs' type="checkbox" onclick="hideshow(this);" checked>signs</input>
<input id='checkbox-sign-papers' type="checkbox" onclick="hideshow(this);" checked>signs textures</input>
<input id='checkbox-decorations' type="checkbox" onclick="hideshow(this);" checked>decorations</input>
</p>
<p>
<input id='checkbox-current_lane' type="checkbox" onclick="hideshow(this);">current lane</input>
<input id='checkbox-anchors' type="checkbox" onclick="hideshow(this);">anchor point</input>
</p>
<script>
var checkboxValues = JSON.parse(localStorage.getItem('checkboxValues')) || {};
console.log(checkboxValues);
name2selector = {
"checkbox-static": "g.static",
"checkbox-textures": "g.static .tile-textures",
"checkbox-axes": "g.axes",
"checkbox-lane_segments": "g.static .LaneSegment",
"checkbox-lane_segments-control_points": " .control-point",
"checkbox-current_lane": "g.keyframe .LaneSegment",
"checkbox-duckies": ".Duckie",
"checkbox-signs": ".Sign",
"checkbox-sign-papers": ".Sign .sign-paper",
"checkbox-vehicles": ".Vehicle",
"checkbox-decorations": ".Decoration",
'checkbox-anchors': '.Anchor',
};
function hideshow(element) {
console.log(element);
element_name = element.id;
console.log(element_name);
selector = name2selector[element_name];
checked = element.checked;
console.log(selector);
console.log(checked);
elements = document.querySelectorAll(selector);
elements.forEach(_ => _.setAttribute('visualize_parts', checked));
checkboxValues[element_name] = checked;
localStorage.setItem("checkboxValues", JSON.stringify(checkboxValues));
}
document.addEventListener("DOMContentLoaded", function(event) {
for(var name in name2selector) {
console.log(name);
element = document.getElementById(name);
if(name in checkboxValues) {
element.checked = checkboxValues[name];
}
hideshow(element);
}
});
</script>
"""
div_timeseries = str(make_tabs(timeseries))
obs_div = str(obs_div)
html = make_html_slider(drawing,
keyframes,
obs_div=obs_div,
other=other,
div_timeseries=div_timeseries,
visualize_controls=visualize_controls)
with open(fn_html, 'w') as f:
f.write(html)
# language=css
style = """
.sign-paper {
display: none;
}
g.axes, .LaneSegment {
display: none;
}
"""
drawing.defs.add(drawing.style(style))
drawing.save(pretty=True)
logger.info('Written SVG to %s' % fn_svg)
logger.info('Written HTML to %s' % fn_html)
return [fn_svg, fn_html]