コード例 #1
0
ファイル: world_geometry.py プロジェクト: ajaycharan/vehicles
def cairo_show_world_geometry(cr,
                              world_state,
                              plot_sources=False,
                              plot_textures=False,
                              extra_pad=0):
    bounds = world_state['bounds']
    primitives = world_state['primitives']

    with cairo_save(cr):
        xb = bounds[0]
        yb = bounds[1]
        xb = [xb[0] - extra_pad, xb[1] + extra_pad]
        yb = [yb[0] - extra_pad, yb[1] + extra_pad]

        cr.rectangle(xb[0], yb[0], xb[1] - xb[0], yb[1] - yb[0])
        cr.clip()

        # Draw it twice for special effects
        for i in range(2):
            for p in primitives:
                ptype = p['type']
                if ptype == VehiclesConstants.PRIMITIVE_POLYLINE:
                    points = np.array(p['points']).T
                    texture = instantiate_spec(p['texture'])
                    if not plot_textures:
                        texture = None
                    cairo_plot_polyline_primitive(cr,
                                                  points=points,
                                                  texture=texture)

                elif ptype == VehiclesConstants.PRIMITIVE_CIRCLE:
                    texture = instantiate_spec(p['texture'])
                    if not plot_textures:
                        texture = None
                    cairo_plot_circle_primitive(cr,
                                                center=p['center'],
                                                texture=texture,
                                                radius=p['radius'],
                                                solid=p['solid'],
                                                numpass=i)

                elif ptype == VehiclesConstants.PRIMITIVE_SOURCE:
                    if plot_sources:
                        cairo_plot_circle(cr,
                                          center=p['center'],
                                          radius=0.05,
                                          edgecolor=[0, 0, 0],
                                          facecolor=[1, 0, 0],
                                          width=0.01)
                    # TODO: parametrize
                else:
                    pass  # XXX
コード例 #2
0
ファイル: sensor_data.py プロジェクト: ajaycharan/vehicles
def plot_fieldsampler(cr, pose, positions, sensels, radius=None):
    # Scale in [0,1] for better contrast

    sensels = sensels - np.min(sensels)
    if np.max(sensels) > 0:
        sensels = sensels / np.max(sensels)

    # find radius if none given as the minimum distance of the first
    # sensels to the others
    if radius is None:
        radius = find_radius(positions)

    for i, value in enumerate(sensels.flat):
        value = 1 - value
        facecolor = [value, value, value]
        pw = SE2_act_R2(pose, positions[i, :])
        # alpha=0.6
        cairo_plot_circle(cr, center=pw, radius=radius, facecolor=facecolor,
                    edgecolor=None)
コード例 #3
0
def cairo_show_world_geometry(cr, world_state, plot_sources=False, plot_textures=False, extra_pad=0):
    bounds = world_state["bounds"]
    primitives = world_state["primitives"]

    with cairo_save(cr):
        xb = bounds[0]
        yb = bounds[1]
        xb = [xb[0] - extra_pad, xb[1] + extra_pad]
        yb = [yb[0] - extra_pad, yb[1] + extra_pad]

        cr.rectangle(xb[0], yb[0], xb[1] - xb[0], yb[1] - yb[0])
        cr.clip()

        # Draw it twice for special effects
        for i in range(2):
            for p in primitives:
                ptype = p["type"]
                if ptype == VehiclesConstants.PRIMITIVE_POLYLINE:
                    points = np.array(p["points"]).T
                    texture = instantiate_spec(p["texture"])
                    if not plot_textures:
                        texture = None
                    cairo_plot_polyline_primitive(cr, points=points, texture=texture)

                elif ptype == VehiclesConstants.PRIMITIVE_CIRCLE:
                    texture = instantiate_spec(p["texture"])
                    if not plot_textures:
                        texture = None
                    cairo_plot_circle_primitive(
                        cr, center=p["center"], texture=texture, radius=p["radius"], solid=p["solid"], numpass=i
                    )

                elif ptype == VehiclesConstants.PRIMITIVE_SOURCE:
                    if plot_sources:
                        cairo_plot_circle(
                            cr, center=p["center"], radius=0.05, edgecolor=[0, 0, 0], facecolor=[1, 0, 0], width=0.01
                        )
                    # TODO: parametrize
                else:
                    pass  # XXX
コード例 #4
0
ファイル: world_geometry.py プロジェクト: ajaycharan/vehicles
def cairo_plot_circle_primitive(cr, center, radius, solid, texture, numpass):
    facecolor = (CairoConstants.obstacle_fill_color if solid else None)
    if numpass == 0:
        cairo_plot_circle(cr,
                          center=center,
                          radius=radius,
                          edgecolor=CC.obstacle_border_color,
                          facecolor=facecolor,
                          width=CC.obstacle_border_width)

        if not solid:
            cairo_plot_circle(cr,
                              center=center,
                              radius=radius + CC.texture_width,
                              edgecolor=[0, 0, 0],
                              width=CC.obstacle_border_width)

        if texture is not None:
            if solid:
                width_outside = 0
                width_inside = CC.texture_width
            else:
                width_inside = 0
                width_outside = CC.texture_width

            cairo_plot_texture_circle(cr=cr,
                                      radius=radius,
                                      center=center,
                                      texture=texture,
                                      resolution=CC.texture_resolution,
                                      width_inside=width_inside,
                                      width_outside=width_outside)

    else:
        r1 = radius - CC.texture_width
        if r1 > 0:
            cairo_plot_circle(cr,
                              center=center,
                              radius=r1,
                              edgecolor=None,
                              facecolor=facecolor,
                              width=CC.obstacle_border_width)
コード例 #5
0
def cairo_plot_circle_primitive(cr, center, radius, solid, texture, numpass):
    facecolor = CairoConstants.obstacle_fill_color if solid else None
    if numpass == 0:
        cairo_plot_circle(
            cr,
            center=center,
            radius=radius,
            edgecolor=CC.obstacle_border_color,
            facecolor=facecolor,
            width=CC.obstacle_border_width,
        )

        if not solid:
            cairo_plot_circle(
                cr, center=center, radius=radius + CC.texture_width, edgecolor=[0, 0, 0], width=CC.obstacle_border_width
            )

        if texture is not None:
            if solid:
                width_outside = 0
                width_inside = CC.texture_width
            else:
                width_inside = 0
                width_outside = CC.texture_width

            cairo_plot_texture_circle(
                cr=cr,
                radius=radius,
                center=center,
                texture=texture,
                resolution=CC.texture_resolution,
                width_inside=width_inside,
                width_outside=width_outside,
            )

    else:
        r1 = radius - CC.texture_width
        if r1 > 0:
            cairo_plot_circle(
                cr, center=center, radius=r1, edgecolor=None, facecolor=facecolor, width=CC.obstacle_border_width
            )