def draw(self, painter, color):
coord = self.rotate()
x0 = round(self.robot.posX + coord[0] * self.relDist)
y0 = round(self.robot.posY + coord[1] * self.relDist)
dx = coord[0] * RangeSensor.MAX_DISTANCE
dy = coord[1] * RangeSensor.MAX_DISTANCE
x1 = round(x0 + dx)
y1 = round(y0 + dy)
#color = QtGui.QColor(0xFF0000)
painter.fillRect(x0, y0, 1, 1, color)
dx = abs(x1 - x0)
dy = abs(y1 - y0)
if x0 < x1:
sx = 1
else:
sx = -1
if y0 < y1:
sy = 1
else:
sy = -1
err = dx - dy
while True:
#print('range_sensor.RangeSensor.draw x0: ' + str(x0) + ' y0: ' + str(y0) + ' x1: ' + str(x1) + ' y1: ' + str(y1))
if x0 < 0 or y0 < 0 or x0 >= ImageMap.width() or y0 >= ImageMap.height():
return
if ImageMap.pixel(x0, y0) != 0xFFFFFFFF:
return
painter.fillRect(x0, y0, 1, 1, color)
if x0 == x1 and y0 == y1:
return
e2 = 2 * err
if e2 > -dy:
err = err - dy
x0 = x0 + sx
if x0 == x1 and y0 == y1:
painter.fillRect(x0, y0, 1, 1, color)
self.distance = RangeSensor.MAX_DISTANCE
return
if e2 < dx:
err = err + dx
y0 = y0 + sy
def rendered_events(event_filter=None, ics_uri=None):
start_time = time.time()
event_filter = request.args.get('filter')
ics_uri = request.args.get('input')
image_map_path = request.args.get('images') or DEFAULT_IMAGE_MAP_PATH
refresh = request.args.get('refresh')
look_ahead_days = request.args.get('look_ahead_days') or MAX_LOOKAHEAD_DAYS
if refresh is not None:
try:
refresh = int(refresh)
except ValueError:
pass
template = Template(path=DEFAULT_TEMPLATE_PATH).get_template()
if any([arg is None for arg in [event_filter, ics_uri]]):
return template.render(error="Parameters missing")
cal = Cal(ics_uri)
today, today_events = cal.filter_events_today(event_filter)
next_day, next_day_events = cal.filter_events_next_occurrence(
event_filter, look_ahead_days)
image_map = ImageMap(image_map_path)
today_events = image_map.add_images(today_events)
duration = time.time() - start_time
return template.render(today_events=today_events,
today=today.strftime("%A, %-d %b %Y"),
next_day_events=next_day_events,
next_day=next_day.strftime("%A, %-d %b %Y"),
refresh=refresh,
filter_expr=event_filter,
last_updated=datetime.now().strftime("%A, %-d %b %Y %H:%M:%S"),
duration="{0:.3f}".format(duration))
def save_map(self):
name = self.Name.toPlainText()
# Map prepared must have a name
if not name:
info_box = qt.QMessageBox(self)
info_box.setIcon(qt.QMessageBox.Critical)
info_box.setText("Name can't be empty!")
return info_box.exec()
# Computes keypoints and descriptors of the image map
sift = cv2.xfeatures2d.SIFT_create()
image_hist_eq = utils.histogram_equalization(self.img)
kp, des = sift.detectAndCompute(image_hist_eq, None)
# Because pickling cv2.KeyPoint causes PicklingError, we need to create a new abstraction for it
keypoints = utils.keypoints_to_kpdict(kp)
interestPoints = [
a.getInterestPoint() for a in self.editor_scene.augments
]
try:
scale = int(self.Name_2.toPlainText())
# TODO
except:
info_box = qt.QMessageBox(self)
info_box.setIcon(qt.QMessageBox.Critical)
info_box.setText("Please insert a valid number as scale!")
return info_box.exec()
# Creates a new ImageMap with the data from the manipulated image
imageMap = ImageMap(name, scale, self.editor_scene.entry['img'],
keypoints, des, interestPoints)
self._database.add_map(imageMap)
info_box = qt.QMessageBox(self)
info_box.setIcon(qt.QMessageBox.Information)
info_box.setText("Saved successfully as '%s'" % imageMap.name)
info_box.exec()
self.entry_saved.emit(imageMap)
def getDistance(self):
coord = self.rotate()
x0 = round(self.robot.posX + coord[0] * self.relDist)
y0 = round(self.robot.posY + coord[1] * self.relDist)
sX0 = x0
sY0 = y0
dx = coord[0] * RangeSensor.MAX_DISTANCE
dy = coord[1] * RangeSensor.MAX_DISTANCE
x1 = round(x0 + dx)
y1 = round(y0 + dy)
#color = QtGui.QColor(0xFF0000)
dx = abs(x1 - x0)
dy = abs(y1 - y0)
if x0 < x1:
sx = 1
else:
sx = -1
if y0 < y1:
sy = 1
else:
sy = -1
err = dx - dy
px = x0
py = y0
while True:
#TODO cleanup
#print('range_sensor.RangeSensor.draw x0: ' + str(x0) + ' y0: ' + str(y0) + ' x1: ' + str(x1) + ' y1: ' + str(y1))
#print('%08X' % (ImageMap.image.pixel(x0, y0),))
#print('%d - %d' % (x0, y0))
if x0 < 0 or y0 < 0 or x0 >= ImageMap.width() or y0 >= ImageMap.height():
d = math.sqrt(math.pow(sX0 - px, 2.0) + math.pow(sY0 - py, 2.0))
if d < 0 or d > 1000:
print('A: %d - %d # %f' % (px, py, d))
return d
if ImageMap.pixel(x0, y0) != 0xFFFFFFFF:
d = math.sqrt(math.pow(sX0 - x0, 2.0) + math.pow(sY0 - y0, 2.0))
if d < 0 or d > 1000:
print('B: %d - %d # %f' % (px, py, d))
return d
if x0 == x1 and y0 == y1:
return RangeSensor.MAX_DISTANCE
e2 = 2 * err
if e2 > -dy:
err = err - dy
px = x0
x0 = x0 + sx
if x0 == x1 and y0 == y1:
return RangeSensor.MAX_DISTANCE
if e2 < dx:
err = err + dx
py = y0
y0 = y0 + sy
