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Merged
ktro2828 merged 1 commit into from
Jul 16, 2026
Merged

refactor(viewer): separate traffic light related code to another file #282

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189 changes: 4 additions & 185 deletions t4_devkit/viewer/lanelet.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
import numpy as np
import rerun as rr

from .traffic_light import traffic_light_kind, traffic_light_mesh

if TYPE_CHECKING:
from t4_devkit.lanelet import LaneletParser

Expand All @@ -30,189 +32,6 @@
}


def _cuboid_mesh(
center: np.ndarray,
size: tuple[float, float, float],
color: list[float],
) -> tuple[np.ndarray, np.ndarray, list[list[float]]]:
half_size = np.asarray(size, dtype=float) / 2.0
offsets = np.array(
[
[-1, -1, -1],
[1, -1, -1],
[1, 1, -1],
[-1, 1, -1],
[-1, -1, 1],
[1, -1, 1],
[1, 1, 1],
[-1, 1, 1],
],
dtype=float,
)
vertices = center + offsets * half_size
triangles = np.array(
[
[0, 1, 2],
[0, 2, 3],
[4, 6, 5],
[4, 7, 6],
[0, 4, 5],
[0, 5, 1],
[1, 5, 6],
[1, 6, 2],
[2, 6, 7],
[2, 7, 3],
[3, 7, 4],
[3, 4, 0],
],
dtype=np.uint32,
)
colors = [color] * len(vertices)
return vertices, triangles, colors


def _disc_mesh(
center: np.ndarray,
radius: float,
color: list[float],
*,
segments: int = 24,
) -> tuple[np.ndarray, np.ndarray, list[list[float]]]:
angles = np.linspace(0.0, 2.0 * np.pi, segments, endpoint=False)
vertices = np.vstack(
[
center,
np.column_stack(
[
center[0] + radius * np.cos(angles),
np.full(segments, center[1]),
center[2] + radius * np.sin(angles),
]
),
]
)
triangles = np.array(
[[0, i, 1 + (i % segments)] for i in range(1, segments + 1)],
dtype=np.uint32,
)
colors = [color] * len(vertices)
return vertices, triangles, colors


def _orient_vertices(
vertices: np.ndarray,
center: np.ndarray,
direction: np.ndarray | None,
) -> np.ndarray:
if direction is None:
return vertices + center

x_axis = np.array([direction[0], direction[1], 0.0], dtype=float)
norm = np.linalg.norm(x_axis)
if norm == 0.0:
return vertices + center

x_axis /= norm
z_axis = np.array([0.0, 0.0, 1.0])
y_axis = np.cross(z_axis, x_axis)
rotation = np.column_stack([x_axis, y_axis, z_axis])
return vertices @ rotation.T + center


def _traffic_light_kind(way_subtype: str) -> str:
# red_green -> pedestrian, other (red_yellow_green) -> vehicle
if way_subtype == "red_green":
return "pedestrian"
return "vehicle"


def _traffic_light_mesh(
center: np.ndarray,
direction: np.ndarray | None = None,
*,
kind: str = "vehicle",
) -> rr.Mesh3D:
if kind == "pedestrian":
return _pedestrian_traffic_light_mesh(center, direction)
return _vehicle_traffic_light_mesh(center, direction)


def _vehicle_traffic_light_mesh(
center: np.ndarray, direction: np.ndarray | None = None
) -> rr.Mesh3D:
body_color = [0.05, 0.05, 0.05, 1.0]
visor_color = [0.02, 0.02, 0.02, 1.0]
lens_colors = [
[0.1, 0.9, 0.2, 1.0],
[1.0, 0.8, 0.1, 1.0],
[1.0, 0.1, 0.1, 1.0],
]

parts = []
parts.append(_cuboid_mesh(np.array([0.0, 0.0, 1.0]), (1.8, 0.25, 0.6), body_color))
parts.append(_cuboid_mesh(np.array([0.0, 0.0, 0.55]), (0.12, 0.12, 0.3), body_color))
for x_offset, color in zip([-0.55, 0.0, 0.55], lens_colors, strict=True):
lens_center = np.array([x_offset, -0.13, 1.0])
parts.append(
_cuboid_mesh(lens_center + np.array([0.0, -0.02, 0.0]), (0.42, 0.05, 0.42), visor_color)
)
parts.append(_disc_mesh(lens_center + np.array([0.0, -0.055, 0.0]), 0.18, color))

vertices = []
triangles = []
colors = []
vertex_offset = 0
for part_vertices, part_triangles, part_colors in parts:
vertices.append(part_vertices)
triangles.append(part_triangles + vertex_offset)
colors.extend(part_colors)
vertex_offset += len(part_vertices)

return rr.Mesh3D(
vertex_positions=_orient_vertices(np.vstack(vertices), center, direction),
triangle_indices=np.vstack(triangles),
vertex_colors=colors,
)


def _pedestrian_traffic_light_mesh(
center: np.ndarray,
direction: np.ndarray | None = None,
) -> rr.Mesh3D:
body_color = [0.05, 0.05, 0.05, 1.0]
visor_color = [0.02, 0.02, 0.02, 1.0]
lens_colors = [
[1.0, 0.1, 0.1, 1.0],
[0.1, 0.9, 0.2, 1.0],
]

parts = []
parts.append(_cuboid_mesh(np.array([0.0, 0.0, 1.0]), (0.55, 0.22, 1.0), body_color))
parts.append(_cuboid_mesh(np.array([0.0, 0.0, 0.35]), (0.1, 0.1, 0.3), body_color))
for z_offset, color in zip([1.25, 0.75], lens_colors, strict=True):
lens_center = np.array([0.0, -0.12, z_offset])
parts.append(
_cuboid_mesh(lens_center + np.array([0.0, -0.02, 0.0]), (0.34, 0.05, 0.34), visor_color)
)
parts.append(_disc_mesh(lens_center + np.array([0.0, -0.055, 0.0]), 0.14, color))

vertices = []
triangles = []
colors = []
vertex_offset = 0
for part_vertices, part_triangles, part_colors in parts:
vertices.append(part_vertices)
triangles.append(part_triangles + vertex_offset)
colors.extend(part_colors)
vertex_offset += len(part_vertices)

return rr.Mesh3D(
vertex_positions=_orient_vertices(np.vstack(vertices), center, direction),
triangle_indices=np.vstack(triangles),
vertex_colors=colors,
)


def render_lanelets(parser: LaneletParser, root_entity: str) -> None:
"""Render lanelet polygons based on relations.

Expand Down Expand Up @@ -298,12 +117,12 @@ def render_traffic_elements(parser: LaneletParser, root_entity: str) -> None:
direction = (
np.asarray(coords[-1]) - np.asarray(coords[0]) if len(coords) >= 2 else None
)
kind = _traffic_light_kind(way.tags.get("subtype", ""))
kind = traffic_light_kind(way.tags.get("subtype", ""))
entity_path = (
f"{root_entity}/traffic_elements/{kind}_light/{relation.id}_{member.ref}"
)
rr.log(
entity_path, _traffic_light_mesh(center, direction, kind=kind), static=True
entity_path, traffic_light_mesh(center, direction, kind=kind), static=True
)
else:
for i, center in enumerate(coords):
Expand Down
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