Method draw_road_map

PythonAPI/examples/no_rendering_mode.py:503–858

Draws all the roads, including lane markings, arrows and traffic signs

(self, map_surface, carla_world, carla_map, world_to_pixel, world_to_pixel_width)

        self.surface = self.big_map_surface

    def draw_road_map(self, map_surface, carla_world, carla_map, world_to_pixel, world_to_pixel_width):
        """Draws all the roads, including lane markings, arrows and traffic signs"""
        map_surface.fill(COLOR_ALUMINIUM_4)
        precision = 0.05

        def lane_marking_color_to_tango(lane_marking_color):
            """Maps the lane marking color enum specified in PythonAPI to a Tango Color"""
            tango_color = COLOR_BLACK

            if lane_marking_color == carla.LaneMarkingColor.White:
                tango_color = COLOR_ALUMINIUM_2

            elif lane_marking_color == carla.LaneMarkingColor.Blue:
                tango_color = COLOR_SKY_BLUE_0

            elif lane_marking_color == carla.LaneMarkingColor.Green:
                tango_color = COLOR_CHAMELEON_0

            elif lane_marking_color == carla.LaneMarkingColor.Red:
                tango_color = COLOR_SCARLET_RED_0

            elif lane_marking_color == carla.LaneMarkingColor.Yellow:
                tango_color = COLOR_ORANGE_0

            return tango_color

        def draw_solid_line(surface, color, closed, points, width):
            """Draws solid lines in a surface given a set of points, width and color"""
            if len(points) >= 2:
                pygame.draw.lines(surface, color, closed, points, width)

        def draw_broken_line(surface, color, closed, points, width):
            """Draws broken lines in a surface given a set of points, width and color"""
            # Select which lines are going to be rendered from the set of lines
            broken_lines = [x for n, x in enumerate(zip(*(iter(points),) * 20)) if n % 3 == 0]

            # Draw selected lines
            for line in broken_lines:
                pygame.draw.lines(surface, color, closed, line, width)

        def get_lane_markings(lane_marking_type, lane_marking_color, waypoints, sign):
            """For multiple lane marking types (SolidSolid, BrokenSolid, SolidBroken and BrokenBroken), it converts them
             as a combination of Broken and Solid lines"""
            margin = 0.25
            marking_1 = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
            if lane_marking_type == carla.LaneMarkingType.Broken or (lane_marking_type == carla.LaneMarkingType.Solid):
                return [(lane_marking_type, lane_marking_color, marking_1)]
            else:
                marking_2 = [world_to_pixel(lateral_shift(w.transform,
                                                          sign * (w.lane_width * 0.5 + margin * 2))) for w in waypoints]
                if lane_marking_type == carla.LaneMarkingType.SolidBroken:
                    return [(carla.LaneMarkingType.Broken, lane_marking_color, marking_1),
                            (carla.LaneMarkingType.Solid, lane_marking_color, marking_2)]
                elif lane_marking_type == carla.LaneMarkingType.BrokenSolid:
                    return [(carla.LaneMarkingType.Solid, lane_marking_color, marking_1),
                            (carla.LaneMarkingType.Broken, lane_marking_color, marking_2)]
                elif lane_marking_type == carla.LaneMarkingType.BrokenBroken:
                    return [(carla.LaneMarkingType.Broken, lane_marking_color, marking_1),