def __get_vis(self):
poly = []
for p in self.path.to_polygons():
poly.append(vis.Polygon([vis.Point(*v) for v in p[:-1][::-1]]))
env = vis.Environment(poly)
vg = vis.Visibility_Graph(env, self.epsilon)
return env, vg
def __get_visibility_graph(self):
vg = vis.Visibility_Graph(self.env, self.eps)
nx_vg = nx.Graph()
tgt = [i for i in xrange(vg.n()) if self.__is_reflex(self.env(i))]
for i, j in itertools.combinations(tgt, 2):
if vg(i, j):
u = (self.env(i).x(), self.env(i).y())
v = (self.env(j).x(), self.env(j).y())
dist = np.linalg.norm(np.array(u) - np.array(v))
nx_vg.add_edge(u, v, weight=dist)
return nx_vg
def get_point_visibility_graph(self,points):
vis_points = points_to_vis_points(points)
graph = vis.Visibility_Graph(vis_points,self.environment,1e-12)
res = []
for pidx1 in range(len(points)):
adjlist = []
for pidx2 in range(len(points)):
if graph(pidx1,pidx2):
adjlist.append(pidx2)
res.append(adjlist)
return res
def vis_graph(poly):
P = poly_list(poly)
vis_polygons = []
for p in P:
vis_polygons.append(vis.Polygon([vis.Point(x, y) for x, y in p]))
env = vis.Environment(vis_polygons)
vg = vis.Visibility_Graph(env, 0.000001)
edges = []
for i, j in itertools.combinations(range(vg.n()), 2):
if vg(i, j):
edges.append([[env(i).x(), env(i).y()], [env(j).x(), env(j).y()]])
plt.gca().add_collection(mc.LineCollection(edges, color='g'))
print len(edges)
def environments(epsilon=0.0000001):
wall_choords = [(0, 0), (700, 0), (700, 900), (0, 900)]
wall = vis.Polygon([vis.Point(x, y) for x, y in wall_choords])
holes_choords = [[(100, 300), (100, 500), (150, 500), (150, 300)],
[(300, 300), (300, 500), (400, 550), (400, 300)],
[(90, 700), (250, 750), (220, 600), (150, 600)],
[(330, 700), (330, 800), (530, 850), (530, 790)],
[(230, 50), (250, 90), (390, 90), (390, 50)]]
holes = []
for hc in holes_choords:
holes.append(vis.Polygon([vis.Point(x, y) for x, y in hc]))
draw_env(wall_choords, holes_choords)
env = vis.Environment([wall] + holes)
return env, vis.Visibility_Graph(env, epsilon)
def vis_graph(poly):
P = poly_list(poly)
vis_polygons = []
for p in P:
vis_polygons.append(vis.Polygon([vis.Point(x, y) for x, y in p]))
env = vis.Environment(vis_polygons)
vg = vis.Visibility_Graph(env, 0.000001)
edges = []
G = nx.Graph()
for i, j in itertools.combinations(range(vg.n()), 2):
if vg(i, j):
edges.append([[env(i).x(), env(i).y()], [env(j).x(), env(j).y()]])
G.add_edge(i,
j,
weight=np.linalg.norm(
np.array(edges[-1][0]) - np.array(edges[-1][1])))
plt.gca().add_collection(mc.LineCollection(edges, color='g'))
s, t = get_st(env)
sp = [i for i in nx.shortest_path(G, s, t, 'weight')]
sp_edges = [[[env(i).x(), env(i).y()], [env(j).x(), env(j).y()]]
for i, j in zip(sp[:-1], sp[1:])]
plt.gca().add_collection(mc.LineCollection(sp_edges, color='r', lw=2))