def get_new_grasp_points_position(points,foldLine):
mirrored_pts = []
for pt in points:
if(pt != None):
mirrored_pts.append(Vector2D.mirror_pt(pt,Vector2D.make_ln_from_pts(foldLine[0],foldLine[1])))
else:
show_message("Some of the grasp points wasn't set.", MsgTypes.exception)
""" Mirroring visualisation
cv.NamedWindow("Mirroring visualisation")
img = img = cv.CreateImage((800,600),8,3)
# axis
cv.PolyLine(img,[foldLine],1,cv.CV_RGB(0,255,0),1)
# source points
for pt in points:
intPt = (int(pt[0]),int(pt[1]))
cv.Circle(img,intPt,3,cv.CV_RGB(255,0,0),2)
# mirrored points
for pt in mirrored_pts:
intPt = (int(pt[0]),int(pt[1]))
cv.Circle(img,intPt,3,cv.CV_RGB(0,0,255),2)
cv.ShowImage("Mirroring visualisationn",img)
cv.WaitKey()
cv.DestroyWindow("Mirroring visualisation")
# Mirroring visualisation """
#show_message("Move grasped points to: " + str(mirrored_pts), MsgTypes.info)
return mirrored_pts
def foldDrawer(self,event,x,y,flags,param):
if event==cv.CV_EVENT_LBUTTONUP:
self.foldline_pts.append((x,y))
print "ADDED PT"
cv.Circle(self.background,(x,y),3,cv.CV_RGB(255,0,0),-1)
if len(self.foldline_pts) >= 2:
self.foldline = Vector2D.make_ln_from_pts(self.foldline_pts[0],self.foldline_pts[1])
ln_start = Vector2D.intercept(self.foldline,Vector2D.horiz_ln(y=0))
ln_end = Vector2D.intercept(self.foldline,Vector2D.horiz_ln(y=self.background.height))
cv.Line(self.background,(int(ln_start[0]),int(ln_start[1])),(int(ln_end[0]),int(ln_end[1])),cv.CV_RGB(0,0,0))
self.has_foldline = True
elif len(self.foldline_pts) > 0:
self.addTempCVShape(CVLineSegment(cv.CV_RGB(255,255,255),2,Geometry2D.LineSegment(Geometry2D.Point(self.foldline_pts[0][0],self.foldline_pts[0][1]),Geometry2D.Point(x,y))))
def get_folded_model(self,foldLine):
#do the fold line
# A function Vector2D.intercept doesnt work if x or y of pts are same. Therofre I put some noise if neded
noise = -1;
difX = (foldLine[0])[0] - (foldLine[1])[0]
difY = (foldLine[0])[1] - (foldLine[1])[1]
if ((difX == 0) and (difY == 0)):
self.foldline_pts.append( ((foldLine[0])[0]+noise,(foldLine[0])[1]+noise) )
elif(difX == 0):
self.foldline_pts.append( ((foldLine[0])[0]+noise,(foldLine[0])[1]) )
elif(difY == 0):
self.foldline_pts.append( ((foldLine[0])[0],(foldLine[0])[1]+noise) )
else:
self.foldline_pts.append(foldLine[0])
self.foldline_pts.append(foldLine[1])
self.foldline = Vector2D.make_ln_from_pts(self.foldline_pts[0],self.foldline_pts[1])
ln_start = Vector2D.intercept(self.foldline,Vector2D.horiz_ln(y=0))
ln_end = Vector2D.intercept(self.foldline,Vector2D.horiz_ln(y=self.background.height))
#visualisation
cv.Line(self.background,(int(ln_start[0]),int(ln_start[1])),(int(ln_end[0]),int(ln_end[1])),cv.CV_RGB(0,0,0))
cv.Circle(self.background,self.foldline_pts[0],4,cv.CV_RGB(0,255,0))
cv.Circle(self.background,self.foldline_pts[1],4,cv.CV_RGB(0,255,0))
cv.Circle(self.background,(int(ln_start[0]),int(ln_start[1])),4,cv.CV_RGB(255,0,0))
cv.Circle(self.background,(int(ln_end[0]),int(ln_end[1])),4,cv.CV_RGB(255,0,0))
cv.ShowImage("Fold visualisation",self.background )
cv.WaitKey()
cv.DestroyWindow("Fold visualisation")
model = Models.Point_Model_Folded(self.initial_model,self.foldline_pts[0],self.foldline_pts[1])
model.draw_to_image(self.background,cv.RGB(255,0,0))
if model.illegal() or model.structural_penalty() >= 1.0:
print "Model is illegal!"
return None
else:
return model
def draw_line(img,pt1,pt2):
line = Vector2D.make_ln_from_pts(pt1,pt2)
ln_start = Vector2D.intercept(line,Vector2D.horiz_ln(y=0))
ln_end = Vector2D.intercept(line,Vector2D.horiz_ln(y=img.height))
cv.Line(img,ln_start,ln_end,cv.CV_RGB(255,0,0),2)
def draw_line(img, pt1, pt2):
line = Vector2D.make_ln_from_pts(pt1, pt2)
ln_start = Vector2D.intercept(line, Vector2D.horiz_ln(y=0))
ln_end = Vector2D.intercept(line, Vector2D.horiz_ln(y=img.height))
cv.Line(img, ln_start, ln_end, cv.CV_RGB(255, 0, 0), 2)
