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A package for rendering simple scenes primarily consisting of cars on roadways using Cairo.

AutoViz is undergoing significant changes. If you are looking for the version before these changes that is designed around AutomotiveDrivingModels.jl, please checkout the v0.6.0 tag.

AutoViz

Installation

In julia 1.1+, the preferred way is to add the SISL registry and install AutoViz as follows:

] registry add https://github.com/sisl/Registry
] add AutoViz

Usage

**Warning: This part of the documentation is not up to date, the documentation website will be updated soon, the notebook tutorial is up to date with AutoViz v0.8 **

AutoViz works by adding rendering instructions to a RenderModel, and finally applying those instructions to a canvas using the render function.

Basic Usage

In the simplest case, a roadway and a scene of types Roadway and Scene respectively can be rendered via

render([roadway, scene])

However, the rendering interface is much more flexible than that, supporting custom rendering and cameras.

Renderable Objects

In order for an object of type ObjectType to be "renderable", we need to provide a function with the signature

    add_renderable!(rendermodel::RenderModel, obj::ObjectType)

The basic example above works, because AutoViz implements the add_renderable! function for commonly used types such as Roadway, Entity or Scene. In general, the render(renderables) function can take any collection of renderable objects. AutoViz provides a series of convenient wrapper objects such as FancyCar, FancyPedestrian, EntityRectangle to make entities renderable.

Cameras

A Camera object specifies what portion of the scene should be rendered.

By default, render(renderables) uses a static camera. In order to use an adaptive camera, the camera object needs to be updated before rendering and passed in to the render function as a keyword argument.

update_camera!(scene, camera)
render([roadway, scene], camera=camera)

Full Example

# define roadway and vewhicle objects
roadway = gen_straight_roadway(3, 100.0)
lane = roadway[LaneTag(1,2)]
def = VehicleDef(length=5., width=2.)
ego = Entity(VehicleState(Frenet(lane, 50.,  0., 0.), roadway, 5rand()), def, :ego)
carA = Entity(VehicleState(Frenet(lane, 20.,  2., -.2), roadway, 5rand()), def, :carA)
carB = Entity(VehicleState(Frenet(lane, 40.,  -2., -.1), roadway, 5rand()), def, :carB)
carC = Entity(VehicleState(Frenet(lane, 60.,  0., .4), roadway, 5rand()), def, :carC)
carD = Entity(VehicleState(Frenet(lane, 80.,  3., .1), roadway, 5rand()), def, :carD)
scene = Scene([ego, carA, carB, carC, carD])

# define camera and adjust to scene
camera = TargetFollowCamera(:ego; y=0., zoom=12.)
update_camera!(camera, scene)

# render
renderables = [
    roadway,
    FancyCar(car=ego, color=colorant"blue"),
    FancyCar(car=carA, color=rand(RGB)),
    FancyCar(car=carB, color=rand(RGB)),
    EntityRectangle(entity=carC, color=rand(RGB)),
    EntityRectangle(entity=carD, color=rand(RGB)),
    TextOverlay(text=["AutoViz rocks!"], font_size=60, pos=VecE2(400, 100), color=colorant"green")
]
for veh in scene
    push!(renderables, VelocityArrow(entity=veh))
end
img = render(renderables, camera=camera)

In a jupyter notebook, an image will appear, otherwise see the Saving images section below. A short tutorial is located in notebooks/tutorial.ipynb.

Roadways and ArrowCars

The primary basic directly renderable types are Roadway (now from AutomotiveDrivingModels; soon from Roadways.jl) and ArrowCar.

ArrowCars are the pink cars with arrows that are in everyone's videos. You can construct one like this:

using Colors
using AutoViz

# x, y, angle and velocity are from your simulation

ArrowCar(x, y, angle; color=colorant"green", text="v: $velocity")

How to make types renderable

There are two ways to make renderable types.

  1. You can make your existing types renderable by conversion by defining convert(::Type{Renderable}, ::MyType) which should return a directly renderable object, e.g. an ArrowCar.
  2. You can make types directly renderable by defining render!(::RenderModel, ::MyType). To make things easier for the compiler, you can also define isrenderable(::Type{MyType}) = true. If you want to allow others to convert to this type to make their types renderable by conversion, make your type a subtype of Renderable.

Overlays

Overlays will function as in the previous version of AutoViz. They will be rendered last with render!(rendermodel, overlay, scene).

Additional keyword arguments for render()

The following additional keyword arguments will accepted by render():

Saving images

Png images can be saved with write_to_png(render(scene), "filename.png") or write_to_svg(render(scene), "filename.svg"). Gif animations may be created with e.g. Reel.jl.

RenderModels

The mid-level interface for this package (which is what you will use when you write render!() for your types or when you write an overlay) revolves around adding instructions to a RenderModel. Each instruction consists of a function and a tuple of arguments for the function. This is not documented in this readme, but it is fairly easy to figure out by reading rendermodels.jl, overlays.jl, and arrowcar.jl.

Customization

AutoViz.jl has two display mode: a "fancy" mode (default) that uses the svg representations in icons/ to display cars and pedestrian, and a more basic mode where cars are rendered as rounded rectangles. To turn-off the fancy mode you can run:

AutoViz.set_render_mode(:basic) # set to :fancy for fancy mode

In addition you can also change the color theme. Three color themes are provided: MONOKAY (default), OFFICETHEME, LIGHTTHEME. You can change the color theme by running:

using AutoViz
set_color_theme(LIGHTTHEME)

You can also define your own color theme using a dictionary. Look at the example in src/colorscheme.jl to have the correct key names.

Change Log

v0.8.x

Rendering

render!(rendermodel::RenderModel, renderables::AbstractVector; canvas_width::Int, canvas_height::Int, surface::CairoSurface))

All keyword arguments are optional. Objects of type Renderable now no longer have to implement the render! function (which is a misleading name). Instead one must implement the add_renderable! function which adds the rendering instructions to the RenderModel.

Overlays

Cameras

Visualization of Entities

1D Vehicles