Method draw_traffic_signs

PythonAPI/examples/no_rendering_mode.py:663–689

Draw stop traffic signs and its bounding box if enabled

(surface, font_surface, actor, color=COLOR_ALUMINIUM_2, trigger_color=COLOR_PLUM_0)

            pygame.draw.lines(surface, color, False, [world_to_pixel(x) for x in [left, start, right]], 4)

        def draw_traffic_signs(surface, font_surface, actor, color=COLOR_ALUMINIUM_2, trigger_color=COLOR_PLUM_0):
            """Draw stop traffic signs and its bounding box if enabled"""
            transform = actor.get_transform()
            waypoint = carla_map.get_waypoint(transform.location)

            angle = -waypoint.transform.rotation.yaw - 90.0
            font_surface = pygame.transform.rotate(font_surface, angle)
            pixel_pos = world_to_pixel(waypoint.transform.location)
            offset = font_surface.get_rect(center=(pixel_pos[0], pixel_pos[1]))
            surface.blit(font_surface, offset)

            # Draw line in front of stop
            forward_vector = carla.Location(waypoint.transform.get_forward_vector())
            left_vector = carla.Location(-forward_vector.y, forward_vector.x,
                                         forward_vector.z) * waypoint.lane_width / 2 * 0.7

            line = [(waypoint.transform.location + (forward_vector * 1.5) + (left_vector)),
                    (waypoint.transform.location + (forward_vector * 1.5) - (left_vector))]

            line_pixel = [world_to_pixel(p) for p in line]
            pygame.draw.lines(surface, color, True, line_pixel, 2)

            # Draw bounding box of the stop trigger
            if self.show_triggers:
                corners = Util.get_bounding_box(actor)
                corners = [world_to_pixel(p) for p in corners]
                pygame.draw.lines(surface, trigger_color, True, corners, 2)

        # def draw_crosswalk(surface, transform=None, color=COLOR_ALUMINIUM_2):
        #     """Given two points A and B, draw white parallel lines from A to B"""