锥桶自定义更新

2026-06-16 22:45:15 +08:00
parent 0b41844e72
commit cf94fc566b
6 changed files with 201 additions and 26 deletions
--- a/main.py
+++ b/main.py
@@ -3,6 +3,7 @@ import json
 import math
 import os
 import random
+import tempfile
 import threading
 from collections import deque
 from http.server import BaseHTTPRequestHandler, HTTPServer
@@ -151,7 +152,26 @@ def main():
    with RenderApp() as render:
        render.opt.set_left_panel_vis(True)

-        model = load_model("scene.xml")
+        # Load cone positions and inject into scene
+        with open("cones.json") as f:
+            cones = json.load(f)
+        cone_xml = ""
+        for i, c in enumerate(cones):
+            cone_xml += (
+                f'\n    <body name="cone_{i}" pos="{c["x"]} {c["y"]} 0.0">\n'
+                f'      <geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>\n'
+                f'      <geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>\n'
+                f'      <geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>\n'
+                f'    </body>'
+            )
+        with open("scene.xml") as f:
+            xml = f.read()
+        xml = xml.replace("<!-- CONES -->", cone_xml)
+        tmp = tempfile.NamedTemporaryFile(suffix=".xml", delete=False, dir=".", mode="w")
+        tmp.write(xml)
+        tmp.close()
+        model = load_model(tmp.name)
+        os.unlink(tmp.name)

        cameras = model.cameras
        front_cam = cameras[0]