def draw_crossing_lines(ctx, frame: Polygon):
"""Draw a crossing area for pedestrian, which is only marked by dashed lines, in the
given frame.
The dashed lines are perpendicular to the road.
Args:
frame: Frame of the crossing area.
**Points of the frame must be given in the right order!**
first point : start on left line
second point: end on left line
third point : end on right line
fourth point: start on right line
"""
points = frame.get_points()
dash_length = 0.04
utils.draw_line(
ctx,
MarkedLine(
[points[0], points[3]],
style=RoadSection.DASHED_LINE_MARKING,
),
dash_length=dash_length,
)
utils.draw_line(
ctx,
MarkedLine(
[points[1], points[2]],
style=RoadSection.DASHED_LINE_MARKING,
),
dash_length=dash_length,
)
def draw_start_lane(ctx, frame: Polygon):
"""Draw the checkerboard pattern to mark the beginning of a parking area in the given
frame.
Args:
frame: Frame of the start lane.
**Points of the frame must be given in the right order!**
first point : start on left line
second point: end on left line
third point : end on right line
fourth point: start on right line
"""
TILE_LENGTH = 0.02
points = frame.get_points()
left = Line([points[0], points[1]])
right = Line([points[3], points[2]])
for i in range(3):
utils.draw_line(
ctx,
MarkedLine(
[
left.interpolate(TILE_LENGTH * (i + 0.5)),
right.interpolate(TILE_LENGTH * (i + 0.5)),
],
style=RoadSection.DASHED_LINE_MARKING,
prev_length=(i % 2 + 0.5) * TILE_LENGTH,
),
dash_length=TILE_LENGTH,
)
def render_to_file(self, roads_path: str):
"""Render an image of the tile and save it to a file.
Args:
roads_path: Directory in which all roads are located.
"""
surface = cairo.ImageSurface(cairo.FORMAT_RGB24,
int(self.resolution.x),
int(self.resolution.y))
ctx = cairo.Context(surface)
# Adjust scale
ctx.scale(self.resolution.x / self.size.x,
self.resolution.y / self.size.y)
# Inverse y-axis
ctx.translate(0, self.size.y / 2)
ctx.scale(1, -1)
ctx.translate(0, -self.size.y / 2)
# Move to center of the tile
ctx.translate(self.size.x / 2, self.size.y / 2)
# Create black background
ctx.set_source_rgb(0, 0, 0)
ctx.rectangle(0, 0, self.size.x, self.size.y)
ctx.fill()
# Invert the render transform
ctx.translate(-self.transform.translation.x,
-self.transform.translation.y)
# Draw lines for all sections
for sec in self.sections.values():
for line in sec.lines:
utils.draw_line(ctx, line)
for marking in sec.surface_markings:
render_surface_markings.draw(ctx, marking)
sha_256 = hashlib.sha256()
sha_256.update(surface.get_data())
hash = sha_256.hexdigest()
self.id = f"tile-{hash}"
dir = os.path.join(roads_path, self.road_folder_name, self.id)
if not os.path.exists(dir):
try:
os.makedirs(dir)
except OSError as exc: # Guard against race condition
if exc.errno != errno.EEXIST:
raise
surface.write_to_png(os.path.join(dir, self.id + ".png"))
with open(os.path.join(dir, self.id + ".material"), "w+") as file:
file.write(self.get_material_string())
def draw_parking_spot_x(ctx, frame: Polygon):
points = frame.get_points()
utils.draw_line(
ctx,
MarkedLine([points[0], points[2]],
style=RoadSection.SOLID_LINE_MARKING))
utils.draw_line(
ctx,
MarkedLine([points[1], points[3]],
style=RoadSection.SOLID_LINE_MARKING))
def draw(ctx, surface_marking: SurfaceMarking):
ctx.save()
if (surface_marking.kind == SurfaceMarking.LEFT_TURN_MARKING
or surface_marking.kind == SurfaceMarking.RIGHT_TURN_MARKING):
ctx.translate(surface_marking.center.x, surface_marking.center.y)
ctx.rotate(surface_marking.orientation)
image_file = os.path.join(
os.environ.get("KITCAR_REPO_PATH"),
"kitcar-gazebo-simulation",
"simulation",
"models",
"meshes",
f"Fahrbahnmarkierung_Pfeil_" + (
"L" if surface_marking.kind !=
SurfaceMarking.LEFT_TURN_MARKING # Weird
else "R") + ".svg",
)
svg = Rsvg.Handle().new_from_file(image_file)
ctx.scale(0.001, 0.001)
svg.render_cairo(ctx)
if (surface_marking.kind == SurfaceMarking.GIVE_WAY_LINE
or surface_marking.kind == SurfaceMarking.STOP_LINE):
ctx.translate(surface_marking.center.x, surface_marking.center.y)
ctx.rotate(surface_marking.orientation)
v = 0.5 * Vector(surface_marking.width, 0)
line = MarkedLine(
[-1 * v, v],
style=(RoadSection.DASHED_LINE_MARKING
if surface_marking.kind == SurfaceMarking.GIVE_WAY_LINE else
RoadSection.SOLID_LINE_MARKING),
)
utils.draw_line(
ctx,
line,
line_width=0.04,
dash_length=0.08,
dash_gap=0.06,
)
if surface_marking.kind == SurfaceMarking.START_LINE:
draw_start_lane(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.ZEBRA_CROSSING:
draw_zebra_crossing(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.PARKING_SPOT_X:
draw_parking_spot_x(ctx, surface_marking.frame)
ctx.restore()
def draw_start_lane(ctx, frame: Polygon):
TILE_LENGTH = 0.02
points = frame.get_points()
left = Line([points[0], points[1]])
right = Line([points[3], points[2]])
for i in range(3):
utils.draw_line(
ctx,
MarkedLine(
[
left.interpolate(TILE_LENGTH * (i + 0.5)),
right.interpolate(TILE_LENGTH * (i + 0.5)),
],
style=RoadSection.DASHED_LINE_MARKING,
prev_length=(i % 2 + 0.5) * TILE_LENGTH,
),
dash_length=TILE_LENGTH,
)
def draw_parking_spot_x(ctx, frame: Polygon):
"""Draw two crossing lines (X) in the given frame to represent a blocked spot.
Args:
frame: Frame of the parking spot.
**Points of the frame must be given in the right order!**
first point : left lower corner of parking spot
second point: left upper corner
third point : right upper corner
fourth point: right lower corner
"""
points = frame.get_points()
utils.draw_line(
ctx,
MarkedLine([points[0], points[2]],
style=RoadSection.SOLID_LINE_MARKING))
utils.draw_line(
ctx,
MarkedLine([points[1], points[3]],
style=RoadSection.SOLID_LINE_MARKING))
def draw(ctx, surface_marking: SurfaceMarking):
ctx.save()
if (surface_marking.kind == SurfaceMarking.LEFT_TURN_MARKING
or surface_marking.kind == SurfaceMarking.RIGHT_TURN_MARKING):
ctx.translate(surface_marking.center.x, surface_marking.center.y)
ctx.rotate(surface_marking.orientation)
# Translate to left upper corner of png
ctx.translate(
surface_marking.depth / 2,
-surface_marking.width / 2,
)
# Then rotate by 90 degrees to align png properly!
ctx.rotate(math.pi / 2)
image_file = os.path.join(
os.environ.get("KITCAR_REPO_PATH"),
"kitcar-gazebo-simulation",
"simulation",
"models",
"meshes",
"surface_marking_turn_" +
("left" if surface_marking.kind != SurfaceMarking.LEFT_TURN_MARKING
else "right") + ".png",
)
img = cairo.ImageSurface.create_from_png(image_file)
ctx.scale(0.001, 0.001)
ctx.set_source_surface(img, 0, 0)
ctx.paint()
if (surface_marking.kind == SurfaceMarking.GIVE_WAY_LINE
or surface_marking.kind == SurfaceMarking.STOP_LINE):
ctx.translate(surface_marking.center.x, surface_marking.center.y)
ctx.rotate(surface_marking.orientation)
v = 0.5 * Vector(0, surface_marking.width)
line = MarkedLine(
[-1 * v, v],
style=(RoadSection.DASHED_LINE_MARKING
if surface_marking.kind == SurfaceMarking.GIVE_WAY_LINE else
RoadSection.SOLID_LINE_MARKING),
)
utils.draw_line(
ctx,
line,
line_width=0.04,
dash_length=0.08,
dash_gap=0.06,
)
if surface_marking.kind == SurfaceMarking.START_LINE:
draw_start_lane(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.ZEBRA_CROSSING:
draw_zebra_crossing(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.PARKING_SPOT_X:
draw_parking_spot_x(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.BLOCKED_AREA:
draw_blocked_area(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.ZEBRA_LINES:
draw_crossing_lines(ctx, surface_marking.frame)
if surface_marking.kind == SurfaceMarking.TRAFFIC_ISLAND_BLOCKED:
draw_traffic_island_blocked(ctx, surface_marking.frame)
if surface_marking.kind[1].startswith("ZONE_"):
_, limit, type = surface_marking.kind[1].split("_")
draw_speed_limit(ctx, surface_marking, limit, type.lower() == "start")
ctx.restore()
