def __init__(self, max, figureName=None):
SetVisitor.__init__(self)
self.frame = IntervalVector(2, max*Interval(-1, 1))
self.figureName = figureName
if figureName != None:
vibes.newFigure(figureName)
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
def export_data(Y, T):
vibes.newFigure('Data')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 1000, 'height': 1000})
print("#" * 50)
print("Data to use")
for i, (y, t) in enumerate(zip(Y[::-1], T[::-1])):
# print(" %d & %s & %s \\\\ \\hline"%(i+1,t,y))
print("\\draw[boxColor] (%f, %f) rectangle (%f, %f);" %
(t[0], y[0], t[1], y[1]))
# vibes.drawBox(t[0], t[1], y[0], y[1], 'k[lightGray]')
print("#" * 50)
def __init__(self, max, figureName=None):
SetVisitor.__init__(self)
self.frame = IntervalVector(2, max * Interval(-1, 1))
self.figureName = figureName
if figureName != None:
vibes.newFigure(figureName)
vibes.setFigureProperties({
'x': 0,
'y': 0,
'width': 500,
'height': 500
})
# SIVIA test for Gascogne Golf
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)
p1=math.pi
p2=0
p3=math.pi/2
# commande
u1=[1,0]
u2=[1,0]
u3=[1,0]
# simulation
h=0.7
vibes.beginDrawing()
vibes.newFigure('Zone de non detection')
vibes.setFigureProperties({'x':500, 'y':100, 'width':800, 'height':800})
# # test unitaire
# m= [[cx1 , cy1 ],[cx2, cy2],[cx3, cy3]]
# pdc = test3(m)
# #vibes.clearFigure()
# SIVIA(X0, pdc, 0.5)
#
# for m_ in m:
# vibes.drawCircle(m_[0].mid(), m_[1].mid(), 0.2, '[k]')
# vibes.drawArrow([-15, -15], [-15, -10], 1, 'w[w]')
# vibes.drawArrow([-15, -15], [-10, -15], 1, 'w[w]')
for t in range(10):
time1 = time.time()
vibes.drawPie([0,0], [3,4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0,0], [5,9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5,2], [1,2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0,0], [1,2], [160, 220]) #, 'g[y]')
# exit()
vibes.newFigure("test2")
vibes.setFigureProperties({'x':0, 'y':0, 'width':600, 'height':600})
# vibes.axisLimits(10,20,10,20)
vibes.axisLabels("titi", "toto")
# vibes.drawBox(-1,0,-4,-6,color='[r]', figure='test2')
# vibes.selectFigure("test")
# vibes.clearFigure()
# vibes.selectFigure("test2")
# vibes.saveImage('./test.svg', "test")
# vibes.closeFigure("test2")
vibes.drawBoxDiff([11, 13, 11, 24], [12,12.5, 11, 13], 'b[r]')
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]")
vibes.drawPie([0, 0], [3, 4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0, 0], [5, 9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5, 2], [1, 2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0, 0], [1, 2], [160, 220]) #, 'g[y]')
# exit()
vibes.newFigure("test2")
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 600, 'height': 600})
# vibes.axisLimits(10,20,10,20)
vibes.axisLabels("titi", "toto")
# vibes.drawBox(-1,0,-4,-6,color='[r]', figure='test2')
# vibes.selectFigure("test")
# vibes.clearFigure()
# vibes.selectFigure("test2")
# vibes.saveImage('./test.svg', "test")
# vibes.closeFigure("test2")
vibes.drawBoxDiff([11, 13, 11, 24], [12, 12.5, 11, 13], 'b[r]')
vibes.drawArrow([9, 9], [9, 10], 0.3, '[r]')
vibes.drawArrow([9, 9], [10, 9], 0.3, '[r]')
(x, y) = yield vibes.drawCircle(x, y, 1, "g[m]")
(x, y) = yield vibes.drawEllipse(x, y, 2, 1, 45, color="r[darkCyan]")
(x, y) = yield vibes.drawLine([[x - 0.5, y - 1], [x + 1, y + 0.5]], "k")
(x, y) = yield vibes.drawPie((x - 2, y - 2), (1, 2.5), [20, 70], "y[cyan]")
(x,
y) = yield vibes.drawPolygon([[x - 1, y - 1], [x, y + 1], [x + 1, y - 1]],
"k[orange]")
(x, y) = yield vibes.drawRing(x, y, 1, 2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x, y) = yield vibes.drawVehicle(x, y, 20, 1, "[darkBlue]")
(x, y) = yield vibes.drawPoint(x, y, 1, "[k]")
(x, y) = yield vibes.drawText(x, y, "Text", 1)
vibes.beginDrawing()
vibes.newFigure("example")
vibes.setFigureProperties({"x": 100, "y": 100, "width": 500, "height": 500})
dd = shapeGen()
dd.send(None)
# dd.next()
for x in range(0, 14, 4):
for y in range(0, 14, 4):
try:
dd.send((y, -x))
except StopIteration:
# print("stop iter")
break
vibes.axisEqual()
from vibes import vibes
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 :
(x,y) = yield vibes.drawAUV(x,y,45,2, 'k[y]')
(x,y) = yield vibes.drawBox(x-1,x+1,y-2,y+2, "[b]")
(x,y) = yield vibes.drawBoxesUnion([[x-1,x,y-2,y], [x-0.5,x+1,y-0.5,y+2]], "[r]")
(x,y) = yield vibes.drawCircle(x,y,1, "g[m]")
(x,y) = yield vibes.drawEllipse(x,y,2,1,45, color="r[darkCyan]")
(x,y) = yield vibes.drawLine([[x-0.5, y-1], [x+1, y+0.5]], "k")
(x,y) = yield vibes.drawPie( (x-2, y-2), (1,2.5), [20,70] , "y[cyan]")
(x,y) = yield vibes.drawPolygon([[x-1,y-1], [x, y+1], [ x+1, y-1]], "k[orange]")
(x,y) = yield vibes.drawRing(x,y, 1,2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x,y) = yield vibes.drawVehicle( x, y, 20, 1, "[darkBlue]")
(x,y) = yield vibes.drawPoint( x,y, 1, "[k]")
(x,y) = yield vibes.drawText( x,y, "Text", 1)
vibes.beginDrawing()
vibes.newFigure("example")
vibes.setFigureProperties( { "x": 100,"y": 100,"width": 500,"height": 500} )
dd =shapeGen()
dd.send(None)
# dd.next()
for x in range(0,14,4):
for y in range(0,14,4):
try:
dd.send((y,-x))
except StopIteration:
# print("stop iter")
break
vibes.axisEqual()
