img = cv2.imread('Gascogne2.png',0) #Read the image of the Gascogne Golf in the gray color
retval, img_bin = cv2.threshold(img, 254, 1, cv2.THRESH_BINARY_INV) #Binarisation of the image
imgIntegral = cv2.integral(img_bin) #Calcul of the integral of the image
j_max,i_max=imgIntegral.shape #Dimension of the image
pdcGascogne = ImageToBoxes(imgIntegral,i0,j0,echellePixel) #Creation of an object of the class PavageGascogne
#Area of calcul / First box for SIVIA algorithm
X0=IntervalVector([[-i0*echellePixel, (-i0+i_max-1)*echellePixel], [(j0-j_max+1)*echellePixel, j0*echellePixel]])
imgOut=np.zeros((j_max, i_max),dtype="uint8")
#Definition of the draw window:
vibes.beginDrawing()
vibes.newFigure('Robotique')
vibes.setFigureProperties(dict(x=600, y=200, width=j_max, height=i_max))
vibes.axisLimits(X0[0].lb(),X0[0].ub(),X0[1].lb(),X0[1].ub())
#Loop
for i in range(100):
for r in range(nbsRobots):
m[r][0] = Interval(position[i][r][1]).inflate(PositionIncertitude) #x
m[r][1] = Interval(position[i][r][2]).inflate(PositionIncertitude) #y
t = m[i][0][0]
#SIVIA test for Robots secure area whith incertitude
pdcRobots = IncertitudeRobots(m,r**2)
# SIVIA test for Trail
sizeKernelErosion = enemySpeed*(t-t_old)/(1000*echellePixel)
print(sizeKernelErosion)
def newFigure(name):
vibes.newFigure(name)
vibes.setFigureProperties({'x':0, 'y':0, 'width':1024, 'height':500, 'viewbox':'equal'})
vibes.axisLimits(x_min-offset, x_max+offset, y_min-offset, y_max+offset)
vibes.drawBox(x_min-offset, x_max+offset, y_min-offset, y_max+offset, "white[white]")
import math as m
from pyIbex import *
from vibes import vibes
import time
from SaveLoadData import *
if __name__ == '__main__':
A=[1,1]
B=[0,-1]
C=[-1,0]
vibes.beginDrawing()
vibes.newFigure('TestCase1')
vibes.setFigureProperties({'x': 0, 'y': 0,'width': 500, 'height': 500})
vibes.axisLimits(-25, 25, -25, 25)
t,dt,Field,inc,dif,x,y,xmp,ymp,xm,ym = loadData("rot1.pckl")
t,dt,Field,inc,dif,x2,y2,xmp,ymp,xm,ym = loadData("rot2.pckl")
time.sleep(15)
for i in range(len(t)):
vibes.drawCircle(x[i], y[i], 1, 'black[green]')
vibes.drawCircle(x2[i], y2[i], 1, 'black[red]')
vibes.drawCircle(xm, ym, 0.4, 'black[blue]')
vibes.drawArrow([20, 15], [15, 15], 1, 'black[black]')
vibes.drawArrow([20, 10], [15, 10], 1, 'black[black]')
vibes.drawArrow([20, 5], [15, 5], 1, 'black[black]')
vibes.drawArrow([20, 0], [15, 0], 1, 'black[black]')
vibes.drawArrow([20, -5], [15, -5], 1, 'black[black]')
time.sleep(0.001)
vibes.clearFigure()
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4, 8, -4, 8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:, :, 3]
# normalize in order to have a binary image.
img = img / np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
# PixelMap2D constructor takes :
# - a binary image in uint64 format.
phi.set(interval, Interval(0, h / 2))
out.append(integrate_box(phi, v, theta, h / 2))
return union(out), out
if __name__ == "__main__":
h = 1 / 20
phi = Interval(-np.pi / 2, np.pi / 2)
alpha = 0.01
deltat = 300
vibes.beginDrawing()
vibes.newFigure("MagMap")
vibes.setFigureProperties({
"x": 200,
"y": 200,
"width": 600,
"height": 600
})
vibes.axisLimits(-h, deltat * h, -np.pi / 2, np.pi / 2)
for k in range(deltat):
v = Interval(1.0)
theta = Interval(0.4 * np.sin(k / 20))
I, out = integrate(phi, alpha, v, theta, h)
lb, ub = I.lb(), I.ub()
vibes.drawBox(k * h, (k + 1) * h, lb, ub, "darkCyan[darkCyan]")
phi = Interval(lb, ub)
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4,8,-4,8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:,:,3]
# normalize in order to have a binary image.
img = img/np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
