コード例 #1
0
    def __init__(self,threadlock):
        self.x,self.y,self.img = load_circuit('circuit1.png')

        self.car = Car(128,400)

        self.camera = Camera()
        self.line = []

        self.distance = []
        self.distance.append(self.car.lineposition(self.x,self.y))

        self.pilot = CarControl()

        self.car.setspeed(10)

        self.steps = 30000
        self.step = 1.0/1000

        self.elapsed = 0

        self.camera_refresh_rate = 0.01
        self.last_camera_refresh = 0

        self.early_stop = False

        self.threadlock = threadlock

        self.t = threading.Thread(target=self.simulate)
        self.t.start()
コード例 #2
0
class CameraPlacement(object):
    def __init__(self,
                 id,
                 position,
                 pitch_deg,
                 yaw_deg,
                 model,
                 resolution,
                 fov,
                 positional_error_stddev=0.03 / 2.0,
                 orientation_error_stddev=0.5 / 2.0):
        self.id = id
        # this will encompass two Cameras
        # one true positioned
        # one with error

        offset_xyz = np.random.normal(loc=0.0,
                                      scale=positional_error_stddev,
                                      size=3)
        offset_rp = np.random.normal(loc=0.0,
                                     scale=orientation_error_stddev,
                                     size=2)

        # represents camera with errors
        self.real_camera = Camera(position=position + offset_xyz,
                                  orientation_pitch_deg=pitch_deg +
                                  offset_rp[0],
                                  orientation_yaw_deg=yaw_deg + offset_rp[1],
                                  verbose=False,
                                  model=model)
        # perfectly positioned camera
        self.ideal_camera = Camera(position, pitch_deg, yaw_deg, model=model)

        self.real_camera.set_resolution(*resolution)
        self.real_camera.set_fov(*fov)

        self.ideal_camera.set_resolution(*resolution)
        self.ideal_camera.set_fov(*fov)

    def get_catchment_corners(self):
        corners = np.array(self.real_camera.get_corners())
        corners[:, 2] = 0
        return corners

    def get_camera_height(self):
        return self.ideal_camera.position[2]

    def get_id(self):
        return self.id
コード例 #3
0
    def __init__(self,
                 id,
                 position,
                 pitch_deg,
                 yaw_deg,
                 model,
                 resolution,
                 fov,
                 positional_error_stddev=0.03 / 2.0,
                 orientation_error_stddev=0.5 / 2.0):
        self.id = id
        # this will encompass two Cameras
        # one true positioned
        # one with error

        offset_xyz = np.random.normal(loc=0.0,
                                      scale=positional_error_stddev,
                                      size=3)
        offset_rp = np.random.normal(loc=0.0,
                                     scale=orientation_error_stddev,
                                     size=2)

        # represents camera with errors
        self.real_camera = Camera(position=position + offset_xyz,
                                  orientation_pitch_deg=pitch_deg +
                                  offset_rp[0],
                                  orientation_yaw_deg=yaw_deg + offset_rp[1],
                                  verbose=False,
                                  model=model)
        # perfectly positioned camera
        self.ideal_camera = Camera(position, pitch_deg, yaw_deg, model=model)

        self.real_camera.set_resolution(*resolution)
        self.real_camera.set_fov(*fov)

        self.ideal_camera.set_resolution(*resolution)
        self.ideal_camera.set_fov(*fov)
コード例 #4
0
class Simulation:
    def __init__(self,threadlock):
        self.x,self.y,self.img = load_circuit('circuit1.png')

        self.car = Car(128,400)

        self.camera = Camera()
        self.line = []

        self.distance = []
        self.distance.append(self.car.lineposition(self.x,self.y))

        self.pilot = CarControl()

        self.car.setspeed(10)

        self.steps = 30000
        self.step = 1.0/1000

        self.elapsed = 0

        self.camera_refresh_rate = 0.01
        self.last_camera_refresh = 0

        self.early_stop = False

        self.threadlock = threadlock

        self.t = threading.Thread(target=self.simulate)
        self.t.start()

    def simulate(self):
        for i in range(self.steps):
            # Cancel simulation on early stop
            if self.early_stop:
                break

            percent = (i * 100.0) / self.steps
            if percent > 0:
                if percent % 10 == 0:
                    print("Simulated "+str(percent)+" %")

            self.threadlock.acquire()
            # Move simulator in time
            self.car.step(self.step)
            self.threadlock.release()

            # Camera reading
            if self.elapsed - self.last_camera_refresh > self.camera_refresh_rate:
                self.line = self.camera.get_line((self.car.camleftx[-1],self.car.camlefty[-1]),(self.car.camrightx[-1],self.car.camrighty[-1]),self.img)
                self.last_camera_refresh = self.elapsed
                self.threadlock.acquire()
                linepos = self.car.lineposition(self.x,self.y)
                self.threadlock.release()

                if linepos is np.NaN:
                    print("Line lost.")
                    self.early_stop = True

                # Ask user program new values for direction and speed
                direction,speed = self.pilot.mainloop(linepos)

                # Update car settings according to user values
                self.car.setspeed(speed)
                self.car.setdirection(direction)
                #car.setdirection(percent)

                # Register data for plotting
                self.distance.append(linepos)

            self.elapsed += self.step
        print("Simulation complete.")

    def stop(self):
        self.early_stop = True