Renders the vehicles' bounding boxes
(self, surface, list_v, world_to_pixel)
| 1212 | pygame.draw.polygon(surface, color, corners) |
| 1213 | |
| 1214 | def _render_vehicles(self, surface, list_v, world_to_pixel): |
| 1215 | """Renders the vehicles' bounding boxes""" |
| 1216 | for v in list_v: |
| 1217 | color = COLOR_SKY_BLUE_0 |
| 1218 | if int(v[0].attributes['number_of_wheels']) == 2: |
| 1219 | color = COLOR_CHOCOLATE_1 |
| 1220 | if v[0].attributes['role_name'] == 'hero': |
| 1221 | color = COLOR_CHAMELEON_0 |
| 1222 | # Compute bounding box points |
| 1223 | bb = v[0].bounding_box.extent |
| 1224 | corners = [carla.Location(x=-bb.x, y=-bb.y), |
| 1225 | carla.Location(x=bb.x - 0.8, y=-bb.y), |
| 1226 | carla.Location(x=bb.x, y=0), |
| 1227 | carla.Location(x=bb.x - 0.8, y=bb.y), |
| 1228 | carla.Location(x=-bb.x, y=bb.y), |
| 1229 | carla.Location(x=-bb.x, y=-bb.y) |
| 1230 | ] |
| 1231 | v[1].transform(corners) |
| 1232 | corners = [world_to_pixel(p) for p in corners] |
| 1233 | pygame.draw.lines(surface, color, False, corners, int(math.ceil(4.0 * self.map_image.scale))) |
| 1234 | |
| 1235 | def render_actors(self, surface, vehicles, traffic_lights, speed_limits, walkers): |
| 1236 | """Renders all the actors""" |