def make_remaining_list_shapes(self, data):
shapes_on_image = []
list = data.get(VIZ_KEY_BALL_POSSIBLE_LIST, [])
rectangle_width = 100
left = self.image_width - rectangle_width
number = 0
texts = []
for ball in list:
distance = ball.distance
u = ball.u
v = ball.v
rating = ball.rating
radius = ball.radius
rating_text = "rat: %.0f" % rating
distance_text = "Dist: %.0f" % distance
u_text = "u: %.0f " % u
v_text = "v: %.0f" % v
y_start = number * 60 + 10
start_text = "Ball " + str(number)
x, y, radius = transform_relative_to_pixel(ball.x, ball.y, radius, self.image_width, self.image_height)
# make white number
shapes_on_image.extend(white_text(x, y, str(number)))
# text for the legend
legend_string = [start_text, rating_text, distance_text, u_text, v_text]
texts.extend(legend_string)
number += 1
return shapes_on_image, texts
def make_chosen_ball_shape(self, data):
shapes = []
if data[DATA_KEY_BALL_FOUND]:
ball = data[DATA_KEY_BALL_INFO]
x, y, radius = transform_relative_to_pixel(ball.x, ball.y, ball.radius, self.image_width, self.image_height)
shapes.extend(yellow_ball(x, y, radius))
return shapes
def make_rated_out_shapes(self, data):
shapes = []
for info in data[VIZ_KEY_BALL_RATING_OUT]:
x, y, radius, rating = info
x, y, radius = transform_relative_to_pixel(x, y, radius, self.image_width, self.image_height)
shapes.extend(red_ball(x, y, radius))
shapes.extend(red_text(x, y, "R: %.0f" % rating))
return shapes
def make_small_out_shapes(self, data):
shapes = []
for info in data[VIZ_KEY_BALL_SMALL_OUT]:
x, y, radius, radius_to_be_pic = info
x, y, radius = transform_relative_to_pixel(x, y, self.image_width, self.image_height)
relation = radius / radius_to_be_pic
shapes.extend(red_ball(x, y, radius))
shapes.extend(green_text(x, y, "S: %.2f" % relation))
return shapes
def make_body_out_shapes(self, data):
shapes = []
for info in data[VIZ_KEY_BALL_BODY_OUT]:
x, y, radius, dist = info
x, y, radius = transform_relative_to_pixel(x, y, radius, self.image_width, self.image_height)
relation = dist / self.max_distance_to_motor
shapes.extend(red_ball(x, y, radius))
shapes.extend(yellow_text(x, y, "B: %.2f" % relation))
return shapes
def make_far_out_shapes(self, data):
shapes = []
for info in data[VIZ_KEY_BALL_FAR_OUT]:
x, y, radius, dist = info
x, y, radius = transform_relative_to_pixel(x, y, radius, self.image_width, self.image_height)
relation = dist / self.max_ball_distance
shapes.extend(red_ball(x, y, radius))
shapes.extend(white_text(x, y, "F: %.0f" % relation))
return shapes
def make_candidate_shapes(self, data):
raw_ball = data.get(DATA_KEY_RAW_BALL, None)
if raw_ball is None:
return []
shapes = []
for ball in raw_ball:
rating, (x, y, radius) = ball
y += radius # directly delivered footpoint from vision
x, y, radius = transform_relative_to_pixel(x, y, radius, self.image_width, self.image_height)
shapes.extend(white_ball(x, y, radius))
return shapes
def make_piped_orange_ball_shape(self, data):
raw_ball = data.get(DATA_KEY_RAW_BALL, None)
if raw_ball is None:
return []
shapes = []
print raw_ball
for ball in raw_ball:
rating, (x, y, radius) = ball
if rating == -2 and self.activate_orange_ball_hack:
y += radius # directly delivered footpoint from vision
x, y, radius = transform_relative_to_pixel(x, y, radius, self.image_width, self.image_height)
shapes.extend(violet_ball(x, y, radius))
return shapes
