def makeImg(images):
obstacles = []
background = Image.open("back.png")
# radius for checking if objects are inside circle and positioning center
radius = 180
# x from 0 to 310; y from 155 - sqrt(-(x-310)x) to 155 + sqrt(-(x-310)x)
x = np.random.normal(radius, (radius/goalVariance)/3)
yRadius = math.sqrt(-1 * x * (x - radius * 2))
y = np.random.normal(radius, (yRadius)/3)
for i in range(1, 5):
# selects objects in random order
j = random.randrange(0, len(images))
name = "obj" + str(images[j]) + ".png"
images.pop(j)
obj = Image.open(name)
objX = x
objY = y
# splits objects into four quadrants around point
if (i % 2 == 0):
objX -= w(obj)
if (i > 2):
objY -= h(obj)
z = Rectangle(objX, w(obj), objY, h(obj))
foundLoc = (not z.hasCollision(obstacles)) and z.insideCircle(radius, radius, radius)
if not foundLoc:
return None
else:
pasteOn(background, obj, objX, objY)
obstacles.append(z)
return background
def makeImg(images):
gripper = Rectangle(295, 125, 120, 125)
obstacles = [gripper]
# grip = Image.new('RGB', (125,125), color=400)
# white background
clusterBack = Image.open("scripts/objects/back.png")
# background of result
background = Image.open("scripts/objects/" + backName + ".png")
# radius for checking if objects are inside circle and positioning center
radius = 180 # 180
xCenter = 160
yRadius = 210
yCenter = 210
# x from 0 to 310; y from 155 - sqrt(-(x-310)x) to 155 + sqrt(-(x-310)x)
x = np.random.normal(xCenter, (radius*1.2))
# print (radius/2), yRadius/2
# field = Image.new('RGB', (int(radius*1.2),int(yRadius*1.2)), color=400)
# yRadius = math.sqrt(-1 * x * (x - radius * 2))
y = np.random.normal(yCenter, (yRadius*1.2))
center = (x,y)
order = []
for i in range(1, 5):
# selects objects in random order
j = random.randrange(0, len(images))
name = "scripts/objects/" + "obj" + str(images[j]) + ".png"
order.append(images[j])
images.pop(j)
obj = Image.open(name)
objX = x
objY = y
# splits objects into four quadrants around point
if (i % 2 == 0):
objX -= w(obj)
if (i > 2):
objY -= h(obj)
z = Rectangle(objX, w(obj), objY, h(obj))
# foundLoc = (not z.hasCollision(obstacles)) and z.insideCircle(radius, radius, radius)
foundLoc = (not z.hasCollision(obstacles) and z.insideRectangle((0, 2*yRadius), (2*radius,0)))
if not foundLoc:
# print "Failed: ", (x,y)
return None, None, order
else:
pasteOn(clusterBack, obj, objX, objY)
obstacles.append(z)
# Random angle from -30 to 30; noise
theta = (random.random() * 60) - 30
clusterBack = clusterBack.rotate(theta)
clusterBack = makeTransparent(clusterBack)
# pasteOn(background, field, xCenter - int(radius/2*1.2), yCenter- int(yRadius/2*1.2))
# pasteOn(background, field, 0, 0)
pasteOn(background, clusterBack, 0, 0)
return background, center, order
rotLimit = 40
rObj = obj.rotate(getRot(rotLimit), Image.NEAREST, True)
foundLoc = False
reRotate = False
# iterates to find valid placement for current object
while (not foundLoc):
# increases rotation of object if it did not fit
if (reRotate):
rotLimit += 20
rObj = obj.rotate(getRot(rotLimit), Image.NEAREST, True)
reRotate = False
# avoid infinite loops
if (rotLimit > 700):
foundLoc = True
hasSpace = True
radialD = w(goal)/2
# iterates distance from goal to find valid placement at current angle
while (not foundLoc and hasSpace):
objx = gObj.cenX + radialD * cosine(theta)
objy = gObj.cenY + radialD * sine(theta)
z = Rectangle(objx, w(rObj), objy, h(rObj))
foundLoc = not z.hasCollision(obstacles)
hasSpace = z.insideCircle(trueRadius, trueRadius, trueRadius)
foundLoc = foundLoc and hasSpace
radialD += 5
if (foundLoc):
pasteOn(background, rObj, objx, objy)
obstacles.append(z)
# change angle if no valid placement is available at current angle
elif (not hasSpace):
currentTheta += thetaShift
