diff --git a/flatland/utils/graphics_pil.py b/flatland/utils/graphics_pil.py
index 97e3e5622ff633a35159f1d1fe1b2249e1803463..b72216a0a85b54714b0a10503e077b06c6a019ac 100644
--- a/flatland/utils/graphics_pil.py
+++ b/flatland/utils/graphics_pil.py
@@ -37,6 +37,19 @@ class PILGL(GraphicsLayer):
# https://stackoverflow.com/questions/26097811/image-pyimage2-doesnt-exist
window = tk.Tk()
+ RAIL_LAYER = 0
+ AGENT_LAYER = 1
+ PREDICTION_PATH_LAYER = 2
+ SELECTED_AGENT_LAYER = 3
+ SELECTED_TARGET_LAYER = 4
+
+ def create_layers(self, clear=True):
+ self.create_layer(PILGL.RAIL_LAYER, clear=clear) # rail / background (scene)
+ self.create_layer(PILGL.AGENT_LAYER, clear=clear) # agents
+ self.create_layer(PILGL.PREDICTION_PATH_LAYER, clear=clear) # drawing layer for agent's prediction path
+ self.create_layer(PILGL.SELECTED_AGENT_LAYER, clear=clear) # drawing layer for selected agent
+ self.create_layer(PILGL.SELECTED_TARGET_LAYER, clear=clear) # drawing layer for selected agent's target
+
def __init__(self, width, height, jupyter=False):
self.yxBase = (0, 0)
self.linewidth = 4
@@ -129,7 +142,7 @@ class PILGL(GraphicsLayer):
def get_agent_color(self, iAgent):
return self.agent_colors[iAgent % self.n_agent_colors]
- def plot(self, gX, gY, color=None, linewidth=3, layer=0, opacity=255, **kwargs):
+ def plot(self, gX, gY, color=None, linewidth=3, layer=RAIL_LAYER, opacity=255, **kwargs):
color = self.adapt_color(color)
if len(color) == 3:
color += (opacity,)
@@ -139,14 +152,14 @@ class PILGL(GraphicsLayer):
gPoints = list(gPoints.ravel())
self.draws[layer].line(gPoints, fill=color, width=self.linewidth)
- def scatter(self, gX, gY, color=None, marker="o", s=50, layer=0, opacity=255, *args, **kwargs):
+ def scatter(self, gX, gY, color=None, marker="o", s=50, layer=RAIL_LAYER, opacity=255, *args, **kwargs):
color = self.adapt_color(color)
r = np.sqrt(s)
gPoints = np.stack([np.atleast_1d(gX), -np.atleast_1d(gY)]).T * self.nPixCell
for x, y in gPoints:
self.draws[layer].rectangle([(x - r, y - r), (x + r, y + r)], fill=color, outline=color)
- def draw_image_xy(self, pil_img, xyPixLeftTop, layer=0):
+ def draw_image_xy(self, pil_img, xyPixLeftTop, layer=RAIL_LAYER, ):
if (pil_img.mode == "RGBA"):
pil_mask = pil_img
else:
@@ -154,7 +167,7 @@ class PILGL(GraphicsLayer):
self.layers[layer].paste(pil_img, xyPixLeftTop, pil_mask)
- def draw_image_row_col(self, pil_img, rcTopLeft, layer=0):
+ def draw_image_row_col(self, pil_img, rcTopLeft, layer=RAIL_LAYER, ):
xyPixLeftTop = tuple((array(rcTopLeft) * self.nPixCell)[[1, 0]])
self.draw_image_xy(pil_img, xyPixLeftTop, layer=layer)
@@ -180,7 +193,7 @@ class PILGL(GraphicsLayer):
def begin_frame(self):
# Create a new agent layer
- self.create_layer(iLayer=1, clear=True)
+ self.create_layer(iLayer=PILGL.AGENT_LAYER, clear=True)
def show(self, block=False):
img = self.alpha_composite_layers()
@@ -254,11 +267,6 @@ class PILGL(GraphicsLayer):
if clear:
self.clear_layer(iLayer)
- def create_layers(self, clear=True):
- self.create_layer(0, clear=clear) # rail / background (scene)
- self.create_layer(1, clear=clear) # agents
- self.create_layer(2, clear=clear) # drawing layer for selected agent
- self.create_layer(3, clear=clear) # drawing layer for selected agent's target
class PILSVG(PILGL):
@@ -485,23 +493,21 @@ class PILSVG(PILGL):
return pil
- def set_rail_at(self, row, col, binary_trans, target=None, is_selected=False, rail_grid=None,
- agent_rail_color=None, blend_factor=0.5):
+
+ def clear_set_predicion_path_layer(self):
+ self.clear_layer(PILGL.PREDICTION_PATH_LAYER,0)
+
+ def set_predicion_path_at(self, row, col, binary_trans, agent_rail_color):
+ colored_rail = self.recolor_image(self.pil_rail_org[binary_trans],
+ [61, 61, 61], [agent_rail_color],
+ False)[0]
+ # pil_track = Image.blend(pil_track,colored_rail,blend_factor)
+ # pil_track = colored_rail#Image.alpha_composite(pil_track, colored_rail)
+ self.draw_image_row_col(colored_rail, (row, col), layer=PILGL.PREDICTION_PATH_LAYER)
+
+ def set_rail_at(self, row, col, binary_trans, target=None, is_selected=False, rail_grid=None):
if binary_trans in self.pil_rail:
pil_track = self.pil_rail[binary_trans]
- if agent_rail_color is not None:
- colored_rail = self.recolor_image(self.pil_rail_org[binary_trans],
- [61, 61, 61], [agent_rail_color],
- False)[0]
- rcTopLeft1 = (row, col)
- rcTopLeft2 = (row + 1, col + 1)
- rcTopLeft1 = tuple((array(rcTopLeft1) * self.nPixCell)[[1, 0]])
- rcTopLeft2 = tuple((array(rcTopLeft2) * self.nPixCell)[[1, 0]])
- pil_track = Image.blend(
- self.layers[0].crop((rcTopLeft1[0], rcTopLeft1[1], rcTopLeft2[0], rcTopLeft2[1])),
- colored_rail,
- blend_factor)
-
if target is not None:
pil_track = Image.alpha_composite(pil_track, self.station_colors[target % len(self.station_colors)])
@@ -522,15 +528,15 @@ class PILSVG(PILGL):
a = a2
pil_track = self.scenery[a % len(self.scenery)]
- self.draw_image_row_col(pil_track, (row, col))
+ self.draw_image_row_col(pil_track, (row, col), layer=PILGL.RAIL_LAYER)
else:
print("Illegal rail:", row, col, format(binary_trans, "#018b")[2:], binary_trans)
if target is not None:
if is_selected:
svgBG = self.pil_from_svg_file("svg", "Selected_Target.svg")
- self.clear_layer(3, 0)
- self.draw_image_row_col(svgBG, (row, col), layer=3)
+ self.clear_layer(PILGL.SELECTED_TARGET_LAYER, 0)
+ self.draw_image_row_col(svgBG, (row, col), layer=PILGL.SELECTED_TARGET_LAYER)
def recolor_image(self, pil, a3BaseColor, ltColors, invert=False):
rgbaImg = array(pil)
@@ -591,12 +597,12 @@ class PILSVG(PILGL):
if delta_dir == 2:
in_direction = out_direction
pil_zug = self.pil_zug[(in_direction % 4, out_direction % 4, color_idx)]
- self.draw_image_row_col(pil_zug, (row, col), layer=1)
+ self.draw_image_row_col(pil_zug, (row, col), layer=PILGL.AGENT_LAYER)
if is_selected:
bg_svg = self.pil_from_svg_file("svg", "Selected_Agent.svg")
- self.clear_layer(2, 0)
- self.draw_image_row_col(bg_svg, (row, col), layer=2)
+ self.clear_layer(PILGL.SELECTED_AGENT_LAYER, 0)
+ self.draw_image_row_col(bg_svg, (row, col), layer=PILGL.SELECTED_AGENT_LAYER)
def set_cell_occupied(self, agent_idx, row, col):
occupied_im = self.cell_occupied[agent_idx % len(self.cell_occupied)]
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 9f1b59e10aa36987e06e89d5b1e8145e55bfead1..14c49add9fe03ba90f2691b9f00de32cb0863330 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -292,19 +292,21 @@ class RenderTool(object):
"""
rt = self.__class__
+ if type(self.gl) is PILSVG:
+ self.gl.clear_set_predicion_path_layer()
+
for agent in agent_handles:
color = self.gl.get_agent_color(agent)
for visited_cell in prediction_dict[agent]:
cell_coord = array(visited_cell[:2])
- cell_coord_trans = np.matmul(cell_coord, rt.row_col_to_xy) + rt.x_y_half
if type(self.gl) is PILSVG:
# TODO : Track highlighting (Adrian)
r = cell_coord[0]
c = cell_coord[1]
transitions = self.env.rail.grid[r, c]
- self.gl.set_rail_at(r, c, transitions, target=None, is_selected=False, rail_grid=self.env.rail.grid,
- agent_rail_color=color)
+ self.gl.set_predicion_path_at(r, c, transitions, agent_rail_color=color)
else:
+ cell_coord_trans = np.matmul(cell_coord, rt.row_col_to_xy) + rt.x_y_half
self._draw_square(cell_coord_trans, 1 / (agent + 1.1), color, layer=1, opacity=100)
def render_rail(self, spacing=False, rail_color="gray", curves=True, arrows=False):
diff --git a/notebooks/Simple_Rendering_Demo.ipynb b/notebooks/Simple_Rendering_Demo.ipynb
index ad76f054cd3d83a2cf1c239a6656c8d95f9a2720..2084ee46cbb7de2839ec71bce98c7a5bc46c2469 100644
--- a/notebooks/Simple_Rendering_Demo.ipynb
+++ b/notebooks/Simple_Rendering_Demo.ipynb
@@ -9,18 +9,9 @@
},
{
"cell_type": "code",
- "execution_count": 21,
+ "execution_count": null,
"metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "The autoreload extension is already loaded. To reload it, use:\n",
- " %reload_ext autoreload\n"
- ]
- }
- ],
+ "outputs": [],
"source": [
"%load_ext autoreload\n",
"%autoreload 2"
@@ -28,7 +19,7 @@
},
{
"cell_type": "code",
- "execution_count": 22,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -40,7 +31,7 @@
},
{
"cell_type": "code",
- "execution_count": 23,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -50,34 +41,22 @@
},
{
"cell_type": "code",
- "execution_count": 24,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import flatland.core.env\n",
"import flatland.utils.rendertools as rt\n",
"from flatland.envs.rail_env import RailEnv, random_rail_generator\n",
- "from flatland.envs.observations import TreeObsForRailEnv"
+ "from flatland.envs.observations import TreeObsForRailEnv\n",
+ "from flatland.envs.predictions import ShortestPathPredictorForRailEnv"
]
},
{
"cell_type": "code",
- "execution_count": 25,
+ "execution_count": null,
"metadata": {},
- "outputs": [
- {
- "data": {
- "text/html": [
- "<style>.container { width:90% !important; }</style>"
- ],
- "text/plain": [
- "<IPython.core.display.HTML object>"
- ]
- },
- "metadata": {},
- "output_type": "display_data"
- }
- ],
+ "outputs": [],
"source": [
"from IPython.core.display import display, HTML\n",
"display(HTML(\"<style>.container { width:90% !important; }</style>\"))"
@@ -92,7 +71,7 @@
},
{
"cell_type": "code",
- "execution_count": 26,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -102,7 +81,7 @@
" height=10,\n",
" rail_generator=fnMethod,\n",
" number_of_agents=nAgents,\n",
- " obs_builder_object=TreeObsForRailEnv(max_depth=2))"
+ " obs_builder_object=TreeObsForRailEnv(max_depth=3, predictor=ShortestPathPredictorForRailEnv()))"
]
},
{
@@ -114,71 +93,40 @@
},
{
"cell_type": "code",
- "execution_count": 31,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"oRT = rt.RenderTool(env,gl=\"PILSVG\")\n",
- "env.dev_pred_dict = env.dev_obs_dict\n",
"oRT.render_env(show_observations=False,show_predictions=True)\n",
"img = oRT.get_image()"
]
},
{
"cell_type": "code",
- "execution_count": 32,
+ "execution_count": null,
"metadata": {},
- "outputs": [
- {
- "data": {
- "application/vnd.jupyter.widget-view+json": {
- "model_id": "6a9401eacf31417d97119674cf249bc7",
- "version_major": 2,
- "version_minor": 0
- },
- "text/plain": [
- "Canvas()"
- ]
- },
- "metadata": {},
- "output_type": "display_data"
- }
- ],
+ "outputs": [],
"source": [
"jpy_canvas.Canvas(img)"
]
},
{
"cell_type": "code",
- "execution_count": 29,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"oRT = rt.RenderTool(env,gl=\"PIL\")\n",
- "oRT.render_env()\n",
+ "oRT.render_env(show_observations=False,show_predictions=True)\n",
"img = oRT.get_image()"
]
},
{
"cell_type": "code",
- "execution_count": 30,
+ "execution_count": null,
"metadata": {},
- "outputs": [
- {
- "data": {
- "application/vnd.jupyter.widget-view+json": {
- "model_id": "cedca754ea334df9b4678c1a29a4788e",
- "version_major": 2,
- "version_minor": 0
- },
- "text/plain": [
- "Canvas()"
- ]
- },
- "metadata": {},
- "output_type": "display_data"
- }
- ],
+ "outputs": [],
"source": [
"jpy_canvas.Canvas(img)"
]