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Add a flag to allow center at map in BEV rendering #838

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Merged
pengzhenghao merged 1 commit into from
Apr 28, 2025
Merged

Add a flag to allow center at map in BEV rendering #838

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13 changes: 11 additions & 2 deletions metadrive/engine/top_down_renderer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,7 @@ def __init__(
draw_contour=True,
window=True,
screen_record=False,
center_on_map=False,
):
"""
Launch a top-down renderer for current episode. Usually, it is launched by env.render(mode="topdown") and will
Expand Down Expand Up @@ -235,6 +236,9 @@ def __init__(

screen_record: Whether to record the episode. The recorded result can be accessed by
env.top_down_renderer.screen_frames or env.top_down_renderer.generate_gif(file_name, fps)

center_on_map: Whether to center the camera on the map. If set to True, the camera will not move with the
ego car, and the camera position will be fixed at the center of the map.
"""
# doc-end
# LQY: do not delete the above line !!!!!
Expand All @@ -251,6 +255,7 @@ def __init__(
target_agent_heading_up = target_vehicle_heading_up

self.position = camera_position
self.center_on_map = center_on_map
self.target_agent_heading_up = target_agent_heading_up
self.show_agent_name = show_agent_name
self.draw_target_vehicle_trajectory = draw_target_vehicle_trajectory
Expand Down Expand Up @@ -525,8 +530,12 @@ def _draw(self, *args, **kwargs):
field = self._screen_canvas.get_size()
if not self.target_agent_heading_up:
if self.position is not None or v is not None:
cam_pos = (self.position or v.position)
position = self._frame_canvas.pos2pix(*cam_pos)
if self.center_on_map:
frame_canvas_size = self._frame_canvas.get_size()
position = (frame_canvas_size[0] / 2, frame_canvas_size[1] / 2)
else:
cam_pos = (self.position or v.position)
position = self._frame_canvas.pos2pix(*cam_pos)
else:
position = (field[0] / 2, field[1] / 2)
off = (position[0] - field[0] / 2, position[1] - field[1] / 2)
Expand Down
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