def setUp(self):
self.num_timestamps = 10
self.fov = math.pi / 2
self.image_width = 1000
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((1,1)).\
set_fov_rad(self.fov).\
set_num_timestamps(self.num_timestamps).\
set_range(50000)
for timestamp in range(self.camera.get_num_timestamps()):
self.camera.set_state_of_pan_motor_angle_at_timestamp_rad(
math.pi / 4, timestamp)
self.cv = ComputerVision()
self.image_generator = ImageGenerator(image_width=self.image_width)
self.camera.set_computer_vision(self.cv).\
set_image_generator(self.image_generator)
self.viewable_objects = [
StationaryObject((2, 1 + math.tan(math.pi / 8))),
StationaryObject((1 + math.tan(math.pi / 8), 2)),
StationaryObject((10000, 1.1)),
StationaryObject((1.1, 10000)),
]
self.object_universe.add_viewable_objects(self.viewable_objects)
self.object_universe.add_camera(self.camera)
self.d = self.image_width / (2 * math.tan(self.fov / 2))
self.theta = math.pi / 8
def setUp(self):
self.initial_num_timestamps = 100
self.boundary = Boundary([(0, 0), (100, 0), (100, 100), (0, 100)])
self.moving_object = RandomlyMovingObject(
self.boundary, num_timestamps=self.initial_num_timestamps)
self.stationary_object = StationaryObject(
(100, 100), num_timestamps=self.initial_num_timestamps)
self.viewable_objects = [self.moving_object, self.stationary_object]
self.object_universe = ObjectUniverse()
def setUp(self):
self.num_timestamps = 7
self.fov_deg = 92
self.fov_rad = math.radians(self.fov_deg)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_fov_deg(self.fov_deg).set_actual_position((0, 0))
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.viewable_object = ViewableObject()
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_object)
self.angles = [
-math.pi / 4,
-math.pi / 8,
math.pi / 8,
math.pi / 4,
]
self.image_width = self.camera.get_image_generator().get_image_width()
self.d = self.image_width / 2 / math.tan(self.fov_rad / 2)
self.x_s = [self.d * math.tan(a) for a in self.angles]
self.positions = [(self.d, x) for x in self.x_s]
self.sequence = [0, 1, 0, 2, 3, 2, 1]
for timestamp, s in enumerate(self.sequence):
self.viewable_object.set_position_at_timestamp(
self.positions[s], timestamp)
self.subtended_angles = [
math.pi / 8,
-math.pi / 8,
3 * math.pi / 8,
math.pi / 8,
-math.pi / 8,
-math.pi / 4,
]
self.image_analyzer = ImageAnalyzer(self.camera)
self.image_analyzer.set_images(self.camera.get_image_generator(
).get_x_for_all_inview_objects_for_all_camera_time())
def setUp(self):
self.num_timestamps = 6
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.object_universe.add_camera(self.camera)
for timestamp, _ in enumerate(self.camera.get_state_history()):
self.camera.set_pan_angle_deg(0, timestamp)
self.out_pos = (1,2)
self.in_pos = (1,0)
self.out_obj = ViewableObject()
self.in_obj = ViewableObject()
self.in_out_in_obj = ViewableObject()
self.out_in_out_obj = ViewableObject()
self.viewable_objects = [
self.out_obj,
self.in_obj,
self.in_out_in_obj,
self.out_in_out_obj,
]
self.object_universe.add_viewable_objects(self.viewable_objects)
for timestamp, _ in enumerate(self.out_obj.position_history):
self.in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [0,1]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [2,3]:
self.in_out_in_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.in_pos, timestamp)
for timestamp in [4,5]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.cv.set_cv_ids_for_all_camera_time()
def setUp(self):
self.num_timestamps = 100
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.in_view_positions = [(1,0), (2,1), (2,-1)]
self.out_view_positions = [(-1,0), (1,2), (1,-2)]
self.in_view_objects = list(map(
lambda pos: StationaryObject(pos, name='in_view'),
self.in_view_positions)
)
self.out_view_objects = list(map(
lambda pos: StationaryObject(pos, name='out_view'),
self.out_view_positions)
)
self.object_universe.clear_viewable_objects().add_viewable_objects(self.in_view_objects + self.out_view_objects)
self.object_universe.add_camera(self.camera)
def setUp(self, num_randomly_moving_objects=10):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 60
self.tag_gps_angle_threshold = math.radians(7)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2)
self.boundary = Boundary([(220, 300), (420, 100), (420, 700),
(220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.object_motion_analyzer = ObjectMotionAnalyzer(
self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.frames = self.object_motion_analyzer.get_complete_frames()
return self
def __init__(self):
# Setup physical environment
self.num_timestamps = 100
self.camera = Camera()
self.camera.set_actual_position((100,300)).\
set_gps_position((100,290)).\
set_gps_max_error(10).\
set_fov_deg(70)
for timestamp in range(self.num_timestamps):
self.camera.set_pan_angle_deg(0, timestamp)
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.boundary = Boundary([(150, 100), (150, 550), (300, 550),
(300, 100)])
self.viewable_objects = []
for _ in range(20):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.cv.set_cv_ids_for_all_camera_time()
# Rendering
renderable_objects = [
self.boundary,
self.object_universe,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
def setUp(self, num_randomly_moving_objects=0):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 100
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_fov_rad(math.pi / 2).\
set_actual_position((100,400)).\
set_gps_position((100,410)).\
set_gps_max_error(12).\
set_num_timestamps(self.num_timestamps)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.viewable_objects = []
for y in range(100, 800, 50):
self.viewable_objects.append(StationaryObject((301, y)))
self.boundary = Boundary([(200, 200), (400, 200), (400, 600),
(200, 600)])
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.viewable_objects.append(RandomlyMovingTag(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.image_renderer = ImageRenderer(self.camera.get_image_generator())
self.image_renderer.set_computer_vision(
self.camera.get_computer_vision())
return self
def setUp(self):
self.num_timestamps = 2
self.fov = math.pi / 2
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_fov_rad(math.pi / 2).\
set_actual_position((100,400)).\
set_gps_position((100,410)).\
set_gps_max_error(12).\
set_num_timestamps(self.num_timestamps)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.viewable_objects = [
StationaryObject((300, 599)),
StationaryObject((300, 201)),
]
self.object_universe.add_viewable_objects(self.viewable_objects)
self.object_universe.add_camera(self.camera)
def setUp(self, tag_gps_angle_threshold=6, compass_err_deg=3.7):
self.tag_gps_angle_threshold = tag_gps_angle_threshold
self.compass_err_deg = compass_err_deg
self.num_timestamps = 50
self.tag_gps_angle_threshold = math.radians(self.tag_gps_angle_threshold)
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2).\
set_compass_error_rad(math.radians(self.compass_err_deg))
self.boundary = Boundary([(220,300), (420,100), (420,700), (220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.base_position_calibrator = BasePositionCalibrator(self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.base_angle_calibrator = BaseAngleCalibrator(self.base_position_calibrator)
return self
def test_stationary_object_updates_its_num_timestamps_to_match_object_universe_it_gets_added_to(self):
ou = ObjectUniverse(num_timestamps=200)
ou.add_viewable_objects(self.so)
self.assertEqual(self.so.get_position_history_len(), 200)
for timestamp in range(0, 200):
self.assertEqual(self.so.get_position_at_timestamp(timestamp), self.pos)