def canvas_from_map(environment_map):
canvas = np.zeros(
[environment_map.data.shape[0], environment_map.data.shape[1], 3],
dtype=np.uint8,
)
obstacle_space_mask = environment_map.data == MapConstants.OBSTACLE
# Paint the entire canvas as empty space first.
paint_canvas(canvas, MAP_CONSTANTS_TO_CANVAS_COLORS[MapConstants.EMPTY])
# Paint obstacles.
# TODO: Modify this accordingly when Map has obstacle passes.
paint_canvas(
canvas,
MAP_CONSTANTS_TO_CANVAS_COLORS[MapConstants.OBSTACLE],
obstacle_space_mask,
)
return canvas
def test_paint_canvas(empty_canvas):
# Test painting the entire canvas.
paint_canvas(empty_canvas, (1, 2, 3))
assert np.allclose(empty_canvas[..., 0], np.ones(empty_canvas.shape[:2]))
assert np.allclose(empty_canvas[..., 1], 2 * np.ones(empty_canvas.shape[:2]))
assert np.allclose(empty_canvas[..., 2], 3 * np.ones(empty_canvas.shape[:2]))
# Test painting a mask.
mask = np.zeros(empty_canvas.shape[:2], dtype=np.bool)
mask[:, :250] = True
paint_canvas(empty_canvas, (0, 0, 0), mask)
# The left half of the image must be colored with (0, 0, 0)
assert np.allclose(empty_canvas[:, :250, 0], np.zeros([500, 250]))
assert np.allclose(empty_canvas[:, :250, 1], np.zeros([500, 250]))
assert np.allclose(empty_canvas[:, :250, 2], np.zeros([500, 250]))
# The right half must be unchanged.
assert np.allclose(empty_canvas[:, 250:, 0], np.ones([500, 250]))
assert np.allclose(empty_canvas[:, 250:, 1], 2 * np.ones([500, 250]))
assert np.allclose(empty_canvas[:, 250:, 2], 3 * np.ones([500, 250]))
def _invalid_drawing_kernel(canvas, robot):
paint_canvas(canvas, (0, 0, 0))
def _drawing_kernel(canvas, robot, resolution):
paint_canvas(canvas, (1, 1, 1))
