def from_file(cls, path, *args, **kwargs):
with open(path, "r") as f:
d = json.load(f)
points = d["points"]
points.append(points[0]) # Close the loop
points = interpolate_points(points, 1000)
return cls(points, *args, **kwargs)
def __init__(self, pts, nb_checkpoints=100, render_params=None):
l = LineString(pts).length
n = int(l / 3e-3) # Get number of points for 3 mm spacing
self.pts = interpolate_points(
np.array(pts), n) # interpolate points to get the right spacing
self.x = self.pts[:, 0]
self.y = self.pts[:, 1]
self.render_params = render_params
self.mpt = MultiPoint(self.pts)
self.string = LineString(self.pts)
# Find starting point and angle
self.start_xy = self.x[0], self.y[0]
self.start_angle = self.angle_at_index(0)
# Get length
self.length = self.string.length
# Progress tracking setup
self.progress = 0.
self.progress_idx = 0
self.nb_checkpoints = nb_checkpoints
self.checkpoints = [
i * (self.length / self.nb_checkpoints)
for i in range(1, self.nb_checkpoints + 1)
]
self.next_checkpoint_idx = 0
self.done = False
def _render(self,
w=3.,
h=2.,
ppm=1500,
line_thickness=0.015,
save=None,
line_color="black",
background="white",
line_opacity=0.8,
dashed=False):
"""
Render track using open-cv
:param w: canvas width in meters
:param h: canvas height in meters
:param ppm: pixel per meter
:param line_thickness: line thickness in meters
:param save: path to save
:param line_color: string or BGR tuple
options: [black, red, green, blue]
:param background: string or BGR tuple
options: [wood, wood_2, concrete, brick, checkerboard, white, gray]
:param line_opacity: opacity of line in range 0, 1 where 0 is fully transparent
:return: rendered track image array
"""
import cv2
w_res = int(round(w * ppm))
h_res = int(round(h * ppm))
t_res = int(round(line_thickness * ppm))
background_bgr = None
if isinstance(background, str):
background = background.lower()
if background == "wood":
bg = cv2.imread(
os.path.join(root_dir, "track_textures", "wood.jpg"))
elif background == "wood_2":
bg = cv2.imread(
os.path.join(root_dir, "track_textures", "wood_2.jpg"))
elif background == "concrete":
bg = cv2.imread(
os.path.join(root_dir, "track_textures", "concrete.jpg"))
elif background == "brick":
bg = cv2.imread(
os.path.join(root_dir, "track_textures", "brick.jpg"))
elif background == "checkerboard":
bg = cv2.imread(
os.path.join(root_dir, "track_textures",
"checkerboard.jpg"))
elif background == "white":
background_bgr = (255, 255, 255)
elif background == "gray":
background_bgr = (150, 150, 150)
else:
raise ValueError("Invalid background string.")
if background_bgr:
bg = np.ones((h_res, w_res, 3), dtype=np.uint8)
bg[:, :, 0] *= background_bgr[0]
bg[:, :, 1] *= background_bgr[1]
bg[:, :, 2] *= background_bgr[2]
else:
bg = cv2.resize(bg, (w_res, h_res),
interpolation=cv2.INTER_LINEAR)
elif isinstance(background, tuple):
bg = np.ones((h_res, w_res, 3), dtype=np.uint8)
bg[:, :, 0] *= background[0]
bg[:, :, 1] *= background[1]
bg[:, :, 2] *= background[2]
else:
raise ValueError("Invalid background.")
if isinstance(line_color, str):
line_color = line_color.lower()
if line_color == "black":
line_bgr = (0, 0, 0)
elif line_color == "red":
line_bgr = (0, 0, 255)
elif line_color == "green":
line_bgr = (0, 128, 0)
elif line_color == "blue":
line_bgr = (255, 0, 0)
else:
raise ValueError("Invalid color string.")
elif isinstance(line_color, tuple):
line_bgr = line_color
else:
raise ValueError("Invalid line_color.")
line = bg.copy()
if dashed:
pts = interpolate_points(self.pts, 1000)
n = self.length / dashed
chunks = np.array_split(pts, n)[::2]
for c in chunks:
for i in range(len(c) - 1):
x1, y1 = c[i]
x1_img = int(round((x1 + w / 2) * ppm, ndigits=0))
y1_img = int(round(h_res - (y1 + h / 2) * ppm, ndigits=0))
x2, y2 = c[i + 1]
x2_img = int(round((x2 + w / 2) * ppm, ndigits=0))
y2_img = int(round(h_res - (y2 + h / 2) * ppm, ndigits=0))
cv2.line(line, (x1_img, y1_img), (x2_img, y2_img),
color=line_bgr,
thickness=t_res,
lineType=cv2.LINE_AA)
else:
for i in range(len(self.pts) - 1):
x1, y1 = self.pts[i]
x1_img = int(round((x1 + w / 2) * ppm, ndigits=0))
y1_img = int(round(h_res - (y1 + h / 2) * ppm, ndigits=0))
x2, y2 = self.pts[i + 1]
x2_img = int(round((x2 + w / 2) * ppm, ndigits=0))
y2_img = int(round(h_res - (y2 + h / 2) * ppm, ndigits=0))
cv2.line(line, (x1_img, y1_img), (x2_img, y2_img),
color=line_bgr,
thickness=t_res,
lineType=cv2.LINE_AA)
alpha = line_opacity
out = cv2.addWeighted(line, alpha, bg, 1 - alpha, 0)
if save is not None:
cv2.imwrite(save, out)
return out