def setup_positions():
radius = 20
spacing = 2
d0 = Vec(0, radius)
result = []
d = d0
theta = 2 * math.atan2(spacing, (2 * radius))
theta *= 180 / math.pi
for i in range(8):
phi = (3.5 - i) * theta
p = Mat.rotz(phi) * d - d0
print(p)
result.append((p, phi - 90))
d -= Vec(0, 2 * spacing)
theta = 2 * math.atan2(2 * spacing, (2 * radius))
theta *= 180 / math.pi
for i in range(2):
phi = (.5 - i) * theta
p = Mat.rotz(phi) * d - d0
print(p)
result.append((p, -90))
d -= Vec(0, 1.5 * spacing)
for i in range(1):
phi = 0
p = Mat.rotz(phi) * d - d0
print(p)
result.append((p, -90))
return result
def trace_grid(self, camera_name: str, p0: Vec, p1: Vec):
step_size = min(self.get_pixel_size()) / 4.0
epsilon = step_size / 2.0 # to avoid array out of bounds
p0 = p0.clamp(self.xmin, self.ymin, self.xmax - epsilon,
self.ymax - epsilon)
p1 = p1.clamp(self.xmin, self.ymin, self.xmax - epsilon,
self.ymax - epsilon)
to = p1 - p0
length = to.abs()
if length < step_size:
return
dx = to.x / length * step_size
dy = to.y / length * step_size
pos_x, pos_y = p0.x, p0.y
steps = int(length / step_size)
g = self.get_grid(camera_name)
self._trace_steps(g, pos_x, pos_y, dx, dy, steps)
def circumcenter_centroid_lerp(ratio: float, triangle: List[Tuple]) -> Tuple:
p0 = Vec(*circumcenter(triangle))
p1 = Vec(*centroid(triangle))
u = p1 - p0
result = p0 + u.scale(ratio)
return result.point2
def square_points(center: Vec, d: float, theta: float) -> List[Vec]:
m = Mat.rotz(theta)
i = m * Vec(1, 0)
j = m * Vec(0, 1)
result = list(reversed([
center + d * i - d * j,
center + d * i + d * j,
center - d * i + d * j,
center - d * i - d * j,
]))
return result
def main():
random.seed(46)
grid = Grid(-10, -10, 10, 10, (400, 400), installation=None, spawner=False)
g1 = grid.get_grid("camera-01")
ct = g1.ctypes
print("\n".join(a for a in dir(ct) if not a.startswith("_")))
print(list(ct.strides))
for i in range(1000):
grid.trace_grid("camera-01", Vec(rand(), rand()), Vec(rand(), rand()))
print(np.sum(g1))
def poly_line_intersection(svg: svgwrite.Drawing, poly, line: Line2D) -> Vec:
# note: this assumes an intersection will take place
poly = [Vec(*p) for p in poly]
results = []
for p0, p1 in doubles(poly):
segment = Line2D.from_points(p0, p1)
d = (p1 - p0).abs()
try:
s = segment.intersect_distance(line)
except NoIntersection:
continue
if 0 <= s < d:
t = line.intersect_distance(segment)
if t > 0:
# svg.add(svg.line(p0.point2, p1.point2, stroke="green", stroke_width=0.5))
# svg.add(svg.circle(p1.point2, 0.5, fill="magenta"))
q = segment.p + s * segment.u
# svg.add(svg.circle(q.point2, 0.5, fill="yellow"))
# svg.save()
results.append((q.abs(), q))
return min(results)[1]
def line(self, p0: Vec, p1: Vec, stroke='black'):
if p0.point2 == p1.point2:
return
self.svg.debug(
self.svg.svg.line(
(p0 + Vec(5.0, 5.0)).point2,
(p1 + Vec(5.0, 5.0)).point2,
stroke=stroke,
stroke_width=0.5,
))
self.svg.debug(self.svg.svg.circle(p1.point2, 0.25, fill='magenta'))
if len(self._current_shape) == 0:
self._current_shape.append(p0)
self._current_shape.append(p1)
def build_wall(p0, p1, depth):
v0, v1 = Vec(*p0), Vec(*p1)
to = v1 - v0
n = to.cross(Vec(0.0, 0.0, 1.0)).unit().point3
a = [*v0.point2, 0.0]
b = [*v1.point2, 0.0]
c = [*v1.point2, depth]
t0 = [*n, *a, *b, *c]
a = [*v0.point2, 0.0]
b = [*v1.point2, depth]
c = [*v0.point2, depth]
t1 = [*n, *a, *b, *c]
return t0, t1
def motion_detected(self, camera_name: str, position: Vec):
# perhaps not the best place for this function to live
cam = self.inst.cameras.get(camera_name)
if cam is None:
log.error("Unknown camera", camera=camera_name)
return
p0 = Vec(0, 0)
p1 = Mat.rotz(position) * Vec(10, 0)
p0 = cam.stand.m * cam.m * p0
p1 = cam.stand.m * cam.m * p1
self.broadcast("motion-line", p0=[p0.x, p0.y], p1=[p1.x, p1.y])
self.grid.trace(camera_name, p0, p1)
# sync focal points
grid_fps = {fp.id: fp for fp in self.grid.focal_points}
grid_ids = set(grid_fps.keys())
my_ids = set(self._focal_points.keys())
new = grid_ids - my_ids
removed = my_ids - grid_ids
existing = grid_ids & my_ids
for name in new:
fp = grid_fps[name]
self._add_focal_point(fp.id, fp.pos)
for name in removed:
self._remove_focal_point(name)
for name in existing:
grid_fp = grid_fps[name]
mine = self._focal_points[name]
mine.pos = grid_fp.pos
mine.ttl = 5.0
self._publish_focal_points()
def star_points(center, scale, theta_0) -> List[Vec]:
# http://mathworld.wolfram.com/Pentagram.html
R = 0.200811
rho = 0.525731
pi = math.pi
R *= scale
rho *= scale
incr = -2 * pi / 5
theta = pi / 2 - incr + theta_0
outer = []
for i in range(5):
print(theta * 180 / pi)
x = rho * cos(theta)
y = rho * sin(theta)
outer.append((x, y))
theta += incr
theta = - pi / 2 - 3 * incr + theta_0
inner = []
for i in range(5):
print(theta * 180 / pi)
x = R * cos(theta)
y = R * sin(theta)
inner.append((x, y))
theta += incr
print(outer)
print(inner)
result = []
for i in range(5):
result.append(Vec(*outer[i]) + center)
result.append(Vec(*inner[i]) + center)
return result
def handle_kinect_motion(self, msg: Dict):
data = msg['data']
simplified_bodies: List = data['simplifiedBodies']
for body in simplified_bodies:
if not body['tracked']:
continue
joints = body.get('joints', [])
for joint in joints:
x = joint.get('globalX')
y = joint.get('globalY')
if x is not None and y is not None:
name = joint.get('name')
self._add_focal_point(name, Vec(x, y))
def mitchell(cfg, seed: int):
wall = Wall(f"mitchell-{seed}", cfg)
output = subprocess.check_output(["mitchell/mitchell", str(seed)])
circles = json.loads(output)
for circle in circles:
center = Vec(circle['x'], circle['y'])
r = circle['r']
points = circle_points(center, r, 20)
poly = Polygon.Polygon([p.point2 for p in points]) & wall.window
wall.result = wall.result + poly
wall.result = wall.wall - wall.result
wall.make_stl()
def interpolate_poly_circle(svg: svgwrite.Drawing, poly, center, radius, t):
center = Vec(*center)
points = circle_points(center, radius, 40)
result = []
for p in points:
# svg.add(svg.circle(p.point2, 0.3, fill="magenta"))
line = Line2D.from_points(center, p)
q = poly_line_intersection(svg, poly, line)
w = t * q + (1 - t) * p
result.append(w)
svg.add(svg.circle(q.point2, 0.3, fill="blue"))
# svg.add(svg.line(center.point2, q.point2, stroke="grey", stroke_width=0.3))
return result
def fun_circles(cfg, seed: int):
random.seed(seed)
wall = Wall(f"fun-circles-{seed}", cfg)
points = poisson_disc_samples(width=cfg.width * 3,
height=cfg.height * 3,
r=cfg.r * 0.80)
radii = {}
for i in range(len(points)):
radii[i] = min(
distance(points[i], points[j])
for j in range(len(points)) if i != j) / 2
for i, point in enumerate(points):
r = radii[i] * 0.95
center = Vec(*point)
points = circle_points(center, r, 20)
poly = Polygon.Polygon([p.point2 for p in points]) & wall.window
wall.result = wall.result + poly
wall.result = wall.wall - wall.result
wall.make_stl()
def process_cmd(self, cmd, *args):
print(cmd, " ".join(str(a) for a in args))
if cmd in 'Mm':
p1 = Vec(*args)
self.set_pos(p1)
elif cmd == 'c':
dx1, dy1, dx2, dy2, dx, dy = args
p0 = self.pos
p1 = p0 + Vec(dx1, dy1)
p2 = p0 + Vec(dx2, dy2)
p3 = p0 + Vec(dx, dy)
STEPS = 10
p_bgn = p0
for i in range(1, STEPS + 1):
t = i / STEPS
p_new = cubic_bezier(p0, p1, p2, p3, t)
self.line(p_bgn, p_new, stroke=self._color)
p_bgn = p_new
self.set_pos(p_new)
elif cmd == 'C':
x1, y1, x2, y2, x, y = args
p0 = self.pos
p1 = Vec(x1, y1)
p2 = Vec(x2, y2)
p3 = Vec(x, y)
STEPS = 10
p_bgn = p0
for i in range(1, STEPS + 1):
t = i / STEPS
p_new = cubic_bezier(p0, p1, p2, p3, t)
self.line(p_bgn, p_new, stroke=self._color)
p_bgn = p_new
self.set_pos(p_new)
elif cmd == 's':
dx2, dy2, dx, dy = args
p0 = self.pos
p1 = p0 + Vec(dx, dy)
self.line(p0, p1)
self.set_pos(p1)
elif cmd in 'Zz':
p0 = self.pos
p1 = self._first
self.line(p0, p1)
self.finish_shape()
elif cmd in 'h':
dx = args[0]
p0 = self.pos
p1 = p0 + Vec(dx, 0)
self.line(p0, p1)
self.set_pos(p1)
elif cmd in 'H':
x = args[0]
p0 = self.pos
p1 = Vec(x, p0.y)
self.line(p0, p1)
self.set_pos(p1)
elif cmd in 'L':
x, y = args
p0 = self.pos
p1 = Vec(x, y)
self.line(p0, p1)
self.set_pos(p1)
elif cmd in 'S':
_, _, x, y = args
p0 = self.pos
p1 = Vec(x, y)
self.line(p0, p1)
self.set_pos(p1)
elif cmd in 'A':
rx, ry, x_rot, lrg, sweep, x, y = args
assert rx == ry
assert x_rot == 0
assert lrg == 0
assert sweep == 0
print("A:", args)
assert 0
else:
assert 0, f"unknown command {cmd}"
def manual_focal_point(self, name: str, x: float, y: float):
self._add_focal_point(name, Vec(x, y), ttl=60.0)
def circle(center: Vec, radius: float, t: float) -> Vec:
return (
center
+ radius * cos(2 * pi * t) * Vec(1.0, 0)
+ radius * sin(2 * pi * t) * Vec(0, 1.0)
)
def focus(self) -> Tuple[Vec, float]:
g = self.combined()
m = np.argmax(g, axis=None)
idx = np.unravel_index(m, g.shape)
value = g[idx]
return Vec(*self.idx_to_xy(idx)), value
def make_wall(cfg, points, name, debug_svg, x_offset, total_x):
wall = Wall(name, cfg, x_offset=x_offset, y_offset=25)
radii = {}
for i in range(len(points)):
radii[i] = min(
distance(points[i], points[j])
for j in range(len(points)) if i != j) / 2
cut = Polygon.Polygon()
def map_angle(x_in: float, y_in: float) -> float:
a0 = 30 * math.pi / 180
f0 = 0.009
c = total_x
phi = x_in / c * 2 * math.pi
r = c / (2 * math.pi)
x = r * math.cos(phi)
y = r * math.cos(phi)
z = y_in
return a0 * noise.snoise3(
f0 * x,
f0 * y,
f0 * z,
) + 0.25 * a0 * noise.snoise3(
2 * f0 * x + 1000,
2 * f0 * y + 1000,
2 * f0 * z + 1000,
) + 0.0 * a0 * (random.random() - 0.5)
for i, point in enumerate(points):
r = radii[i] * 2.5
center = Vec(*point)
theta = map_angle(center.x, center.y)
points: List[Vec] = star_points(center, r, theta)
debug_svg.add(
debug_svg.polygon([p.point2 for p in points],
fill_opacity=0,
stroke="black",
stroke_width=0.25))
poly = Polygon.Polygon([p.point2 for p in points])
cut |= poly
mask = wall.window & cut
wall.result = wall.wall - mask
wall.make_stl()
debug_svg.add(
debug_svg.polygon(wall.window.contour(0),
fill_opacity=0,
stroke="black",
stroke_width=0.25))
debug_svg.add(
debug_svg.polygon(wall.wall.contour(0),
fill_opacity=0,
stroke="black",
stroke_width=0.25))
def make(self, prod_svg, debug_svg):
x0, y0 = self.x0, self.y0
x1, y1 = self.x1, self.y1
b0 = (x1 - x0) / 2 - (6.125 + 7.5)
block = Polygon.Polygon([
(x0 + b0, y0 + 0),
(x1 - b0, y0 + 0),
(x1 - b0, y0 + 14.25 + 7.5),
(x0 + b0, y0 + 14.25 + 7.5),
])
b1 = (x1 - x0) / 2 - 6.125
tunnel = Polygon.Polygon([
(x0 + b1, y0 + -10),
(x1 - b1, y0 + -10),
(x1 - b1, y0 + 14.25),
(x0 + b1, y0 + 14.25),
])
width = (x1 - x0) + 150
height = (y1 - y0) + 150
points = poisson_disc_samples(width=width, height=height, r=self.cfg.r)
points = [(p[0] + x0 - 75, y1 - p[1] + 75) for p in points]
# for p in points:
# prod_svg.add(prod_svg.circle(p, 0.5, fill="green"))
dely = DelaunayTri(points)
cells = spooky_cells(dely)
wx0 = min(p[0] for p in self.window[0])
wx1 = max(p[0] for p in self.window[0])
wy0 = min(p[1] for p in self.window[0])
wy1 = max(p[1] for p in self.window[0])
g0 = Graph(prod_svg, (wx0, wx1), (10, 10 + 30), (0.0, 1.0), "darkblue")
g1 = Graph(prod_svg, (wx0, wx1), (10 + 30 + 5, 10 + 30 + 5 + 30), (0.0, 1.0), "darkgreen")
for i, cell in sorted(cells.items()):
inbounds = all(x0 - 50 < x < x1 + 50 and y0 - 50 < y < y1 + 50 for (x, y) in cell)
if not inbounds:
continue
fixed = make_convex(cell)
cx, cy = centroid(fixed)
t = cx / (wx1 - wx0)
s = cy / (wy1 - wy0)
v = 0.73 * (
0.5
+ noise.snoise2(0.5 * s, 0.25 * t)
+ 0.5 * noise.snoise2(1 * s, 0.5 * t + 100)
+ 0.25 * noise.snoise2(2 * s, 1 * t + 200)
)
v = geom.clamp(0, v, 1)
g0.plot(cx, v)
boost = inset_boost(v)
g1.plot(cx, boost)
inset_amount = self.cfg.line_width / 2.0 + boost
p = inset(fixed, inset_amount)
if p is None:
continue
cell = Polygon.Polygon(p)
if len(cell & self.wall) == 0:
continue
c = centroid(cell.contour(0))
a = cell.area(0)
r = (a / pi) ** 0.5
circle = Polygon.Polygon([p.point2 for p in circle_points(Vec(*c), r, 20)])
debug_svg.add(debug_svg.polygon(cell.contour(0), fill_opacity=0, stroke="black", stroke_width=0.25))
debug_svg.add(debug_svg.circle(c, r, fill_opacity=0, stroke="black", stroke_width=0.25))
# svg.save()
new = geom.interpolate_poly_circle(debug_svg, cell.contour(0), c, r, 1 - v)
new = Polygon.Polygon([p.point2 for p in new])
debug_svg.add(debug_svg.polygon(new.contour(0), fill_opacity=0, stroke="orange", stroke_width=0.25))
cell &= self.window
circle &= self.window
new &= self.window
self.result += new
debug_svg.add(debug_svg.polygon(self.window.contour(0), fill_opacity=0, stroke="black", stroke_width=0.25))
debug_svg.add(debug_svg.polygon(self.wall.contour(0), fill_opacity=0, stroke="black", stroke_width=0.25))
self.result = self.wall - self.result
