def export_sign(gltf: GLTF, name: str, sign: Sign) -> int:
texture = sign.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
fn = get_texture_file(texture)
material_index = make_material(gltf, doubleSided=False, baseColorFactor=[1, 1, 1, 1.0], fn=fn)
mi = get_square()
mesh_index = add_polygon(
gltf,
name + "-mesh",
vertices=mi.vertices,
texture=mi.textures,
colors=mi.color,
normals=mi.normals,
material=material_index,
)
sign_node = Node(mesh=mesh_index)
sign_node_index = add_node(gltf, sign_node)
fn = get_texture_file("wood")
material_index_white = make_material(gltf, doubleSided=False, baseColorFactor=[0.5, 0.5, 0.5, 1], fn=fn)
back_mesh_index = add_polygon(
gltf,
name + "-mesh",
vertices=mi.vertices,
texture=mi.textures,
colors=mi.color,
normals=mi.normals,
material=material_index_white,
)
back_rot = SE3_from_rotation_translation(roty(np.pi), np.array([0, 0, 0]))
back_node = Node(matrix=gm(back_rot), mesh=back_mesh_index)
back_node_index = add_node(gltf, back_node)
scale = np.diag([PAPER_WIDTH, PAPER_HEIGHT, PAPER_WIDTH, 1])
rot = SE3_from_rotation_translation(
rotz(np.pi / 2) @ rotx(np.pi / 2) @ rotz(np.pi), np.array([0, 0, 0.8 * PAPER_HEIGHT])
)
M = rot @ scale
node = Node(matrix=gm(M), children=[sign_node_index, back_node_index])
return add_node(gltf, node)
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):
# noinspection PyArgumentList
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 as e:
msg = f"Cannot find texture for tile of type {kind}"
logger.warning(msg, e=e)
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 __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())
