def __init__(self, width, height):
assert numeric_real(width)
assert width > 0
assert numeric_real(height)
assert height > 0
self._initialized = False
self._cameras = []
self._targets = []
self._geometries = []
self._walls = []
self._cur_time = 0
self._observation = {}
self._rect = Rectangle(Point2D(0, 0), 0.0, width, height)
if not self._rect.area():
print ("warning, environment has zero area")
return
self._figure = None
self._initialized = True
class Environment:
def __init__(self, width, height):
assert numeric_real(width)
assert width > 0
assert numeric_real(height)
assert height > 0
self._initialized = False
self._cameras = []
self._targets = []
self._geometries = []
self._walls = []
self._cur_time = 0
self._observation = {}
self._rect = Rectangle(Point2D(0, 0), 0.0, width, height)
if not self._rect.area():
print ("warning, environment has zero area")
return
self._figure = None
self._initialized = True
def _contains_point(self, p):
return self._rect.contains_point(p)
def _contains_line(self, line):
return self._rect.contains_line(line)
def _update_walls(self):
self._walls = []
for geom in self._geometries:
for line in geom.border():
if line in self._walls:
continue
if not self._contains_line(line):
print "warning, discarding wall with both points outside the environment ", line
continue
self._walls.append(line)
def add_geometry(self, geom):
assert isinstance(geom, Geometry)
assert geom not in self._geometries
self._geometries.append(geom)
self._update_walls()
def add_camera(self, camera):
assert isinstance(camera, Camera)
assert camera not in self._cameras
o = camera.origin()
if not self._contains_point(o):
print 'warning, camera with id "%" has origin outside the environment ', o
self._cameras.append(camera)
def add_cameras(self, cameras):
for cam in cameras:
self.add_camera(cam)
def add_target(self, target):
assert isinstance(target, Target)
assert target not in self._targets
self._targets.append(target)
def add_targets(self, targets):
for target in targets:
self.add_target(target)
def time(self):
return self._cur_time
def step(self, dt):
assert numeric_real(dt)
assert dt > 0
cur_time = self._cur_time
# update target positions
for target in self._targets:
target.step(cur_time, dt, self._walls)
# detect targets in each camera coverage area
data = []
for cam in self._cameras:
# step ptz cameras
cam.step(cur_time, dt)
for target in self._targets:
cam.detect(target, self._walls)
data.extend(cam.detection_data())
observ = {}
for entry in data:
# print entry
_id = entry.id
if _id in observ.keys():
observ[_id].append(entry.area_id)
else:
observ[_id] = [entry.area_id]
# for key in sorted(observ.keys()):
# print " observ for target \"%s\": nr. %d, %s" % (key, len(observ[key]), observ[key])
self._observation = {}
for targetid, val in observ.iteritems():
if val == []:
val = "0"
else:
val = "-".join(sorted(val))
self._observation[targetid] = val
# open the building passage
# if self._cur_time == 30:
# self._geometries[0].set_passage_open(1)
# self._update_walls()
self._cur_time += dt
def get_observation(self):
return self._observation
def get_observation_for_target(self, targetid):
assert targetid
try:
entry = self._observation[targetid]
except:
entry = "0"
return entry
def plot(self, savepath=None):
if not self._figure:
# self._figure = plt.figure(figsize=(6.5,4.5))
self._figure = plt.figure(figsize=(9, 6))
plt.ion()
plt.show()
fig = self._figure
plt.figure(fig.number)
# setup figure for this iteration
fig.clf()
fig.patch.set_facecolor((1, 1, 1))
# setup axis, limits, grid
gs = matplotlib.gridspec.GridSpec(1, 1, left=0.05, right=0.95, top=0.95, bottom=0.05, wspace=0, hspace=0)
axis = plt.subplot(gs[0, 0], aspect="equal")
plt.axis("off")
if 0:
plt.axis("on")
# plt.grid('on')
xmin, xmax = self._rect.xlim()
plt.xlim(xmin - 0.25, xmax) # +0.5)
ymin, ymax = self._rect.ylim()
plt.ylim(ymin - 0.25, ymax + 0.25)
# plot cameras
for cam in self._cameras:
cam.plot(axis)
# plot occlusion geometries
for geom in self._geometries:
geom.plot(axis)
# plot targets
for target in self._targets:
target.plot(axis)
# plot some stats
# axis.text(0.1, 5, str(self._cur_time), verticalalignment='center',
# horizontalalignment='center', family='sans-serif',
# color='black', fontsize=15)
fig.canvas.draw()
if savepath:
plt.savefig(savepath)
