def _DistributedHouse__setupFloorMat(self):
if self.floorMat:
self.floorMat.removeNode()
del self.floorMat
self.floorMat = None
mat = self.house.find('**/mat')
mat.setColor(0.40000000000000002, 0.35699999999999998,
0.25900000000000001, 1.0)
color = HouseGlobals.houseColors[self.housePosInd]
matText = TextNode('matText')
matText.setTextColor(color[0], color[1], color[2], 1)
matText.setAlign(matText.ACenter)
matText.setFont(ToontownGlobals.getSignFont())
xScale = 1.0
numLines = 0
if self.name == '':
houseName = ''
else:
(prettyName, numLines,
xScale) = self._DistributedHouse__getPrettyName(9)
houseName = Localizer.AvatarsHouse % Localizer.GetPossesive(
prettyName)
matText.setText(houseName)
self.matText = matText
mat_origin = self.house.find('**/mat_origin')
pos = mat_origin.getPos()
mat_origin.setPosHpr(pos[0] - 0.14999999999999999 * numLines, pos[1],
pos[2], 90, -90, 0)
self.floorMat = mat_origin.attachNewNode(self.matText)
self.floorMat.setPos(0, -0.025000000000000001, 0)
self.floorMat.setScale(0.5 * xScale)
def _DistributedHouse__setupNamePlate(self):
self.notify.debug('__setupNamePlate')
if self.namePlate:
self.namePlate.removeNode()
del self.namePlate
self.namePlate = None
nameText = TextNode('nameText')
r = self.randomGenerator.random()
g = self.randomGenerator.random()
b = self.randomGenerator.random()
nameText.setTextColor(r, g, b, 1)
nameText.setAlign(nameText.ACenter)
nameText.setFont(ToontownGlobals.getSignFont())
xScale = 1.0
numLines = 0
if self.name == '':
houseName = ''
else:
(prettyName, numLines,
xScale) = self._DistributedHouse__getPrettyName(16)
houseName = Localizer.AvatarsHouse % Localizer.GetPossesive(
prettyName)
nameText.setText(houseName)
self.nameText = nameText
sign_origin = self.house.find('**/sign_origin')
pos = sign_origin.getPos()
sign_origin.setPosHpr(pos[0], pos[1],
pos[2] + 0.14999999999999999 * numLines, 90, 0,
0)
self.namePlate = sign_origin.attachNewNode(self.nameText)
self.namePlate.setPos(0, -0.050000000000000003, 0)
self.namePlate.setScale(xScale)
def calc_truth_weights_terrain(map_file,
camera_path,
weights_file,
truth_file,
frames=10):
'''
Test observation and measurement model by calculating particle weights of ground truth
observations.
Args:
map_file: path to file of the global map to use
camera_path: path to camera images from the flight
weights_file: file with weights for the learning model
truth_file: file with ground truth trajectory
frames: plot this many observations
'''
localizer = Localizer(map_file,
camera_path,
weights_file,
frames,
num_particles=1)
processor = localizer.get_processor()
truth = processor.read_truth(truth_file, all_dims=True)
brief_weights = []
for i in range(frames):
x, y, z, angle = truth[i, 0], truth[i, 1], truth[i, 2], truth[i, 3]
frame = processor.get_camera_image(i + 2)
frame = processor.resize_to_scale(frame, z)
frame_pred = processor.construct_prediction(frame)
particle_pred = processor.get_particle_area(x,
y,
angle,
w=frame_pred.shape[1],
h=frame_pred.shape[0])
brief_weight = calc_weight_brief(frame_pred, particle_pred)
brief_weights.append(brief_weight)
brief_weights = np.array(brief_weights)
return brief_weights
def __setupNametag(self):
if self.nametag:
self.clearNametag()
if self.name == '':
houseName = ''
else:
houseName = Localizer.AvatarsHouse % Localizer.GetPossesive(
self.name)
self.nametag = NametagGroup()
self.nametag.setFont(ToontownGlobals.getSignFont())
self.nametag.setContents(Nametag.CName)
self.nametag.setColorCode(NametagGroup.CCHouseBuilding)
self.nametag.setActive(0)
self.nametag.setAvatar(self.house)
self.nametag.setObjectCode(self.doId)
self.nametag.setName(houseName)
self.nametag.manage(toonbase.marginManager)
import Localizer
localizer = Localizer.Localizer()
quit = False
while quit == False:
print("hello, it is the console")
print("(1) Initilization")
print("(2) Calibration")
print("(3) Display data")
print("(4) Get status")
print("(5) Get position")
print("(0) Quit")
print("(10) Debug")
input_key = input("please press one key \n")
if input_key == "1":
localizer.magneto.set_config()
elif input_key == "2":
localizer.magneto.calibration()
elif input_key == "3":
localizer.magneto.disp_data()
elif input_key == "4":
localizer.magneto.get_status()
elif input_key == "5":
localizer.get_distance()
elif input_key == "10":
localizer.get_debug()
elif input_key == "0":
quit = True
def enter(self):
ShtikerPage.ShtikerPage.enter(self)
try:
zone = toonbase.tcr.playGame.getPlace().getZoneId()
except:
zone = 0
if zone and ZoneUtil.isPlayground(zone) or self.book.safeMode:
self.safeZoneButton.hide()
else:
self.safeZoneButton.show()
if toonbase.localToon.estate != None and toonbase.tcr.playGame.estateLoader.atMyEstate(
) or self.book.safeMode:
self.goHomeButton.hide()
elif toonbase.housingEnabled:
self.goHomeButton.show()
if toonbase.tcr.playGame.hood == None and toonbase.tcr.playGame.estateLoader != None:
if toonbase.tcr.playGame.estateLoader.atMyEstate():
self.hoodLabel['text'] = Localizer.MapPageYouAreAtHome
self.hoodLabel.show()
else:
avatar = toonbase.tcr.identifyAvatar(
toonbase.tcr.playGame.estateLoader.estateOwnerId)
if avatar:
avName = avatar.getName()
self.hoodLabel[
'text'] = Localizer.MapPageYouAreAtSomeonesHome % Localizer.GetPossesive(
avName)
self.hoodLabel.show()
elif zone:
hoodName = ToontownGlobals.hoodNameMap.get(
ZoneUtil.getHoodId(zone), ('', ''))[1]
streetName = ToontownGlobals.StreetNames.get(
ZoneUtil.getBranchZone(zone), ('', ''))[1]
if hoodName:
self.hoodLabel['text'] = Localizer.MapPageYouAreHere % (
hoodName, streetName)
self.hoodLabel.show()
else:
self.hoodLabel.hide()
else:
self.hoodLabel.hide()
if toonbase.localToon.teleportCheat:
safeZonesVisited = ToontownGlobals.Hoods
else:
safeZonesVisited = toonbase.localToon.safeZonesVisited
hoodsAvailable = toonbase.tcr.hoodMgr.getAvailableZones()
hoodVisibleList = PythonUtil.intersection(safeZonesVisited,
hoodsAvailable)
if toonbase.localToon.teleportCheat:
hoodTeleportList = hoodVisibleList
else:
hoodTeleportList = toonbase.localToon.getTeleportAccess()
for hood in self.allZones:
label = self.labels[self.allZones.index(hood)]
clouds = self.clouds[self.allZones.index(hood)]
if not (self.book.safeMode) and hood in hoodVisibleList:
label.show()
for cloud in clouds:
cloud.hide()
fullname = toonbase.tcr.hoodMgr.getFullnameFromId(hood)
if hood in hoodTeleportList:
text = Localizer.MapPageGoTo % fullname
label['text'] = ('', text, text)
else:
label['text'] = ('', fullname, fullname)
else:
label.hide()
for cloud in clouds:
cloud.show()
return None
def Sense():
cap = cv2.VideoCapture(-1)
turn_offset = 1 #LaneDetection.detectLane(cap)
in_intersection = Localizer.detect(cap)
return turn_offset, in_intersection