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)