def parse_way(self, way):
"""Parse a way element and create the corresponding object."""
osmId = way.attrib['id']
tags = self.get_tags(way)
refs = []
for ref in way.findall('nd'):
refs.append(ref.attrib['ref'])
self.wayRefList[
osmId] = refs # we need to store them because the can then be usefull when parsin 'relations'
# dont take into acount underground structure
if float(tags.get('layer', '0')) < 0:
return
if 'building' in tags or 'building:part' in tags:
Building.add_to_list(osmId, tags, refs)
elif 'highway' in tags:
Road.add_to_list(osmId, tags, refs)
elif tags.get('waterway') == 'river' or tags.get(
'waterway') == 'stream':
River.add_to_list(osmId, tags, refs)
elif tags.get('barrier') == 'fence' or tags.get('barrier') == 'wall':
Barrier.add_to_list(osmId, tags, refs)
elif 'natural' in tags:
Area.add_to_list(osmId, tags['natural'], tags, refs)
elif 'landuse' in tags:
Area.add_to_list(osmId, tags['landuse'], tags, refs)
elif 'waterway' in tags:
Area.add_to_list(osmId, tags['waterway'], tags, refs)
elif 'amenity' in tags and tags['amenity'] == 'parking':
Area.add_to_list(osmId, 'parking', tags, refs)
elif 'name' in tags and tags['name'] == 'parking line':
ParkingLines.add_to_list(osmId, tags, refs)
def export(cls, file):
"""Export all the trees from the trees list."""
for tree in Tree.list[:]:
if WebotsObject.removalRadius > 0.0:
# Check that the tree is inside the scope of a road,
# otherwise, remove it from the tree list.
if not Road.are_coords_close_to_some_road_waypoint(
[[tree.coord.x, tree.coord.z]], areOSMReferences=False):
Tree.list.remove(tree)
continue
file.write('SimpleTree {\n')
if tree.leafType == 'needleleaved':
file.write(' type "%s"\n' %
random.choice(Tree.needleLeavesTypes))
elif tree.leafType == 'broadleaved':
file.write(' type "%s"\n' %
random.choice(Tree.broadLeavesTypes))
else:
file.write(' type "random"\n')
file.write(' rotation 0 1 0 %.3f\n' %
(random.random() * 2 * math.pi))
file.write(' translation %.2f %.2f %.2f\n' %
(tree.coord.x, tree.coord.y, tree.coord.z))
file.write(' name "tree(%d)"\n' % Tree.nameIndex)
Tree.nameIndex += 1
file.write(' enableBoundingObject FALSE\n')
if tree.height is not None:
file.write(' height %.3f\n' % (tree.height))
if tree.radius is not None:
file.write(' radius %.3f\n' % (tree.radius))
elif tree.height is not None:
file.write(' radius %.3f\n' % (tree.height / 2.0))
file.write('}\n')
def export(cls, file):
"""Export all the parking lines from the parking lines list."""
for parkingLines in ParkingLines.list[:]:
if len(parkingLines.ref) != 2:
ParkingLines.list.remove(parkingLines)
continue
if WebotsObject.removalRadius > 0.0:
# Check that the parking lines is inside the scope of a road,
# otherwise, remove it from the parking lines list.
if not Road.are_coords_close_to_some_road_waypoint(parkingLines.ref):
ParkingLines.list.remove(parkingLines)
continue
# Coordinates extration
c0 = (OSMCoord.coordDictionnary[parkingLines.ref[0]].x, OSMCoord.coordDictionnary[parkingLines.ref[0]].y, OSMCoord.coordDictionnary[parkingLines.ref[0]].z)
c1 = (OSMCoord.coordDictionnary[parkingLines.ref[1]].x, OSMCoord.coordDictionnary[parkingLines.ref[1]].y, OSMCoord.coordDictionnary[parkingLines.ref[1]].z)
# Compute the length and the angle
v0 = Vector2D(c0[0], c0[2])
v1 = Vector2D(c1[0], c1[2])
deltaV = v0 - v1
length = deltaV.norm()
angle = - deltaV.angle() + math.pi
expectedCarParkWidth = 2.4
nCarParks = int((length + expectedCarParkWidth // 2) // expectedCarParkWidth) # cf. http://stackoverflow.com/questions/3950372/round-with-integer-division
carParkWidth = length / nCarParks
file.write("ParkingLines {\n")
file.write(" translation %.2lf %.2lf %.2lf\n" % (c0[0], c0[1] + 0.01, c0[2]))
file.write(" rotation 0 1 0 %.2lf\n" % (angle))
file.write(" numberOfCarParks %d\n" % (nCarParks))
file.write(" carParkWidth %f\n" % (carParkWidth))
file.write("}\n")
def export(cls, file):
"""Export all the rivers from the rivers list."""
for river in River.list[:]:
if not river.ref:
River.list.remove(river)
continue
if WebotsObject.removalRadius > 0.0:
# Check that the river is inside the scope of a road,
# otherwise, remove it from the river list.
if not Road.are_coords_close_to_some_road_waypoint(river.ref):
River.list.remove(river)
continue
if not river.name == "":
file.write("DEF " + protect_def_name(river.name) + " " +
"Transform {\n")
else:
file.write("Transform {\n")
file.write(" translation %.2lf %.2lf %.2lf\n" %
(OSMCoord.coordDictionnary[river.ref[0]].x,
OSMCoord.coordDictionnary[river.ref[0]].y,
OSMCoord.coordDictionnary[river.ref[0]].z))
file.write(" children [\n")
file.write(" Shape {\n")
file.write(" appearance PBRAppearance {\n")
file.write(" baseColor 0.3 0.5 0.8\n")
file.write(" roughness 0.3\n")
file.write(" metalness 0\n")
file.write(" }\n")
file.write(" geometry Extrusion {\n")
file.write(" crossSection [\n")
file.write(" %.2f 0\n" % (-river.width / 2))
file.write(" %.2f 0.5\n" % (-river.width / 2))
file.write(" %.2f 0.5\n" % (river.width / 2))
file.write(" %.2f 0\n" % (river.width / 2))
file.write(" %.2f 0\n" % (-river.width / 2))
file.write(" ]\n")
file.write(" spine [\n")
for ref in river.ref:
if ref in OSMCoord.coordDictionnary:
file.write(" %.2f %.2f %.2f,\n" %
(OSMCoord.coordDictionnary[ref].x -
OSMCoord.coordDictionnary[river.ref[0]].x,
OSMCoord.coordDictionnary[ref].y -
OSMCoord.coordDictionnary[river.ref[0]].y,
OSMCoord.coordDictionnary[ref].z -
OSMCoord.coordDictionnary[river.ref[0]].z))
else:
print("Warning: node " + str(ref) + " not referenced.")
file.write(" ]\n")
file.write(" splineSubdivision 0\n")
file.write(" }\n")
file.write(" castShadows FALSE\n")
file.write(" }\n")
file.write(" ]\n")
file.write("}\n")
def export(cls, file, noParkings):
"""Export all the areas from the areas list."""
for area in Area.list[:]:
if noParkings and area.type == 'parking':
Area.list.remove(area)
continue
if WebotsObject.removalRadius > 0.0:
# Check that the area is inside the scope of a road,
# otherwise, remove it from the area list.
if not Road.are_coords_close_to_some_road_waypoint(area.ref):
Area.list.remove(area)
continue
defName = ""
if not area.name == "":
defName = area.name
else:
defName = area.type
defName = protect_def_name(defName)
if area.type == 'forest' and not Area.noForests:
treesFile = area.generate_tree_file(os.path.dirname(os.path.abspath(file.name)))
if file is not None:
file.write("Forest {\n")
file.write(" shape [\n")
if Area.are_references_clockwise(area.ref) is False:
for ref in area.ref:
file.write(" %.2f %.2f, " % (OSMCoord.coordDictionnary[ref].x, OSMCoord.coordDictionnary[ref].z))
else:
for ref in reversed(area.ref):
file.write(" %.2f %.2f, " % (OSMCoord.coordDictionnary[ref].x, OSMCoord.coordDictionnary[ref].z))
file.write("\n]\n")
if area.leafType == "needleleaved":
file.write(' type "%s"\n' % random.choice(Tree.needleLeavesTypes))
elif area.leafType == "broadleaved":
file.write(' type "%s"\n' % random.choice(Tree.broadLeavesTypes))
else:
file.write(" type \"random\"\n")
file.write(" treesFiles [\n")
file.write(" " + "\"" + treesFile + "\"" + "\n")
file.write(" ]\n")
file.write("}\n")
else:
verticalOffset = -0.01 if area.type == 'parking' else 0.0
drawFlat = True if area.type == 'water' else False
Area.draw_area(file, area.ref, area.color[0], area.color[1], area.color[2], defName, area.transparency,
area.texture, verticalOffset=verticalOffset, drawFlat=drawFlat)
maxlat=maxlat,
maxlon=maxlon,
elevation=elevation)
print(" * Elevation data acquired")
else:
print_header(outputFile,
minlat=minlat,
minlon=minlon,
maxlat=maxlat,
maxlon=maxlon)
WebotsObject.elevation = elevation
# parse OSM file
parser = Parser()
parser.parse_file(options.inFile, options.disableMultipolygonBuildings)
Road.initialize_speed_limit(parser.country)
print(" * OSM filed parsed")
if options.enable3D and elevation is not None:
add_height_to_coordinates(
elevation) # important to do it before 'center_coordinates'
xOffset, zOffset = OSMCoord.center_coordinates(minlat=minlat,
minlon=minlon,
maxlat=maxlat,
maxlon=maxlon)
WebotsObject.xOffset = xOffset
WebotsObject.zOffset = zOffset
# From now we are in local coordinates system and not earth coordinates system anymore
def export(cls, file):
"""Export all the barriers from the barriers list."""
for barrier in Barrier.list[:]:
if not barrier.ref:
Barrier.list.remove(barrier)
continue
if WebotsObject.removalRadius > 0.0:
# Check that the barrier is inside the scope of a road,
# otherwise, remove it from the barrier list.
if not Road.are_coords_close_to_some_road_waypoint(
barrier.ref):
Barrier.list.remove(barrier)
continue
if barrier.type == 'fence':
file.write('Fence {\n')
file.write(' name "fence(%d)"\n' % Barrier.fenceNameIndex)
Barrier.fenceNameIndex += 1
file.write(' height %.2f\n' % barrier.height)
file.write(' path [\n')
for ref in barrier.ref:
if ref in OSMCoord.coordDictionnary:
file.write(' %.2f %.2f %.2f,\n' %
(OSMCoord.coordDictionnary[ref].x,
OSMCoord.coordDictionnary[ref].y,
OSMCoord.coordDictionnary[ref].z))
else:
print('Warning: node ' + str(ref) + ' not referenced.')
file.write(' ]\n')
file.write(' splineSubdivision 0\n')
file.write('}\n')
elif barrier.type == 'wall':
file.write('Solid {\n')
file.write(' translation 0 %.2f 0\n' % (barrier.height / 2))
file.write(' children [\n')
file.write(' DEF SHAPE Shape {\n')
file.write(' appearance PBRAppearance {\n')
file.write(' baseColorMap ImageTexture {\n')
file.write(' url [ "textures/red_brick_wall.jpg" ]\n')
file.write(' }\n')
file.write(' roughness 1\n')
file.write(' metalness 0\n')
file.write(' textureTransform TextureTransform {\n')
file.write(' scale %.1f %.1f\n' %
(barrier.length(), barrier.height))
file.write(' }\n')
file.write(' }\n')
file.write(' geometry Extrusion {\n')
file.write(' crossSection [\n')
file.write(' %.2f %.2f\n' % ((barrier.width / 2),
(barrier.height / 2)))
file.write(' %.2f %.2f\n' % ((barrier.width / 2),
(-barrier.height / 2)))
file.write(' %.2f %.2f\n' % ((-barrier.width / 2),
(-barrier.height / 2)))
file.write(' %.2f %.2f\n' % ((-barrier.width / 2),
(barrier.height / 2)))
file.write(' %.2f %.2f\n' % ((barrier.width / 2),
(barrier.height / 2)))
file.write(' ]\n')
file.write(' spine [\n')
for ref in barrier.ref:
if ref in OSMCoord.coordDictionnary:
file.write(' %.2f %.2f %.2f,\n' %
(OSMCoord.coordDictionnary[ref].x,
OSMCoord.coordDictionnary[ref].y,
OSMCoord.coordDictionnary[ref].z))
else:
print('Warning: node ' + str(ref) + ' not referenced.')
file.write(' ]\n')
file.write(' splineSubdivision 0\n')
file.write(' }\n')
file.write(' }\n')
file.write(' ]\n')
file.write(' name "wall(%d)"\n' % Barrier.wallNameIndex)
Barrier.wallNameIndex += 1
file.write(' boundingObject USE SHAPE\n')
file.write('}\n')
def export(cls, file):
"""Export all the buildings from the buildings list."""
for building in Building.list[:]:
settingsSection = Settings.get_section('building', building.type)
if settingsSection is None or len(building.ref) < 1:
Building.list.remove(building)
continue
if WebotsObject.removalRadius > 0.0:
# Check that the building is inside the scope of a road,
# otherwise, remove it from the building list.
if not Road.are_coords_close_to_some_road_waypoint(building.ref):
Building.list.remove(building)
continue
if building.height > 0 and building.levels < 0:
building.levels = int(building.height / 3.0)
file.write("SimpleBuilding {\n")
# set the height of the building to be the height of the minimum corner
if WebotsObject.enable3D:
height = float('inf')
for ref in building.ref:
if ref in OSMCoord.coordDictionnary and OSMCoord.coordDictionnary[ref].y < height:
height = OSMCoord.coordDictionnary[ref].y
if height == float('inf'):
height = 0
height = height + building.layer * WebotsObject.layerHeight
file.write(" translation %.2lf %.2lf %.2lf\n" % (OSMCoord.coordDictionnary[building.ref[0]].x, height, OSMCoord.coordDictionnary[building.ref[0]].z))
else:
file.write(" translation %.2lf %.2lf %.2lf\n" % (OSMCoord.coordDictionnary[building.ref[0]].x, building.layer * WebotsObject.layerHeight, OSMCoord.coordDictionnary[building.ref[0]].z))
name = building.name
if name != '' and building.number != '':
name += ' ' + building.number
if name == '':
name = "building(%d)" % Building.nameIndex
Building.nameIndex += 1
else:
newName = name
i = 1
while newName in Building.nameList:
newName = name + '(%d)' % i
i += 1
Building.nameList.append(newName)
name = newName
name = name.replace('"', '')
file.write(' name "%s"\n' % name)
file.write(" corners [\n")
for ref in building.ref:
if ref in OSMCoord.coordDictionnary:
file.write(" %.2f %.2f,\n" % (OSMCoord.coordDictionnary[ref].x - OSMCoord.coordDictionnary[building.ref[0]].x, OSMCoord.coordDictionnary[ref].z - OSMCoord.coordDictionnary[building.ref[0]].z))
else:
print("Warning: node " + str(ref) + " not referenced.")
file.write(" ]\n")
# Set the roofShape
if building.roofShape in building.importedRoofShapes:
file.write(' roofShape "%s"\n' % building.importedRoofShapes[building.roofShape])
elif Settings.has_option(settingsSection, 'roofShape'):
file.write(" roofShape " + Settings.get(settingsSection, 'roofShape') + "\n")
else:
if len(building.ref) <= 4:
file.write(" roofShape \"pyramidal roof\"\n")
else:
file.write(" roofShape \"flat roof\"\n")
# Set the wallType
if building.material in building.importedWallTypes and building.importedWallTypes[building.material] in building.coloredWallTypes and building.color != "":
file.write(" wallType \"%s\"\n" % building.importedWallTypes[building.material])
elif building.color != "":
file.write(' wallType "%s"\n' % random.choice(building.coloredWallTypes))
elif building.material in building.importedWallTypes:
file.write(" wallType \"%s\"\n" % building.importedWallTypes[building.material])
elif Settings.has_option(settingsSection, 'wallType'):
file.write(" wallType " + Settings.get(settingsSection, 'wallType') + "\n")
else:
file.write(" wallType \"random\"\n")
# Set the roofType
if building.roofMaterial in building.coloredRoofTypes and building.importedRoofTypes[building.roofMaterial] in building.coloredRoofTypes and building.roofColor != "":
file.write(' roofType "%s"\n' % building.importedRoofTypes[building.roofMaterial])
elif building.roofColor != "":
file.write(' roofType "%s"\n' % random.choice(building.coloredRoofTypes))
elif building.roofMaterial in building.importedRoofTypes:
file.write(' roofType "%s"\n' % building.importedRoofTypes[building.roofMaterial])
elif Settings.has_option(settingsSection, 'roofType'):
file.write(" roofType " + Settings.get(settingsSection, 'roofType') + "\n")
# Set the wallColor
if building.color != '':
file.write(" wallColor [ %.2f %.2f %.2f ]\n" % (building.red, building.green, building.blue))
# Set the roofColor
if building.roofColor != '':
file.write(" wallColor [ %.2f %.2f %.2f ]\n" % (building.roofRed, building.roofGreen, building.roofBlue))
# Set the roofHeight
if building.roofHeight > 0:
file.write(" roofHeight %.2f\n" % building.roofHeight)
elif Settings.has_option(settingsSection, 'roofHeight'):
file.write(" roofHeight " + Settings.getfloat(settingsSection, 'roofHeight') + "\n")
# Set the levels
if building.levels > 0:
file.write(" floorNumber " + str(building.levels) + "\n")
elif Settings.has_option(settingsSection, 'floorNumber'):
building.levels = Settings.getfloat(settingsSection, 'floorNumber')
file.write(" floorNumber " + Settings.get(settingsSection, 'floorNumber') + "\n")
# Set the startingFloor
if building.minHeight > 0 and building.levels > 0:
file.write(" startingFloor %d\n" % int(building.minHeight / building.height * building.levels))
file.write(" bottom TRUE\n")
elif building.minLevel is not None:
file.write(" startingFloor " + str(building.minLevel) + "\n")
file.write(" bottom TRUE\n")
elif building.layer > 0:
file.write(" bottom TRUE\n")
# Set the floorHeight
if building.height > 0:
if building.levels > 0:
file.write(" floorHeight %.2f\n" % (building.height / building.levels))
else:
file.write(" floorHeight %.2f\n" % (building.height / 3))
elif Settings.has_option(settingsSection, 'floorHeight'):
file.write(" floorHeight " + Settings.get(settingsSection, 'floorHeight') + "\n")
file.write("}\n")
