def make_open_conic(P0, T0, P2, T2, P):
''' Construct an arbitrary open conic arc in three-dimensional
space. The resulting NURBS curve consists of either one, two, or
four segments connected with C1 continuity.
Source: The NURBS Book (2nd Ed.), Pg. 317.
'''
P0, T0 = [np.asfarray(V) for V in P0, T0]
P2, T2 = [np.asfarray(V) for V in P2, T2]
P = np.asfarray(P)
P1, w1 = make_one_arc(P0, T0, P2, T2, P)
if w1 <= -1.0:
raise ParabolaOrHyperbolaOutsideConvexHull(w1)
if w1 >= 1.0: # hyperbola or parabola
nsegs = 1
else: # ellipse
if w1 > 0.0 and util.angle(P0, P1, P2) > 60.0:
nsegs = 1
elif w1 < 0.0 and util.angle(P0, P1, P2) > 90.0:
nsegs = 4
else:
nsegs = 2
n = 2 * nsegs
Pw = np.zeros((n + 1, 4))
U = np.zeros(n + 4)
j = 2 * nsegs + 1
U[j:] = 1.0
Pw[0] = np.hstack((P0, 1.0))
Pw[n] = np.hstack((P2, 1.0))
if nsegs == 1:
Pw[1] = np.hstack((w1 * P1, w1))
cpol = curve.ControlPolygon(Pw=Pw)
return curve.Curve(cpol, (2, ), (U, ))
Q1, S, R1, wqr = split_arc(P0, P1, w1, P2)
if nsegs == 2:
Pw[2] = np.hstack((S, 1.0))
Pw[1] = np.hstack((wqr * Q1, wqr))
Pw[3] = np.hstack((wqr * R1, wqr))
U[3] = U[4] = 0.5
cpol = curve.ControlPolygon(Pw=Pw)
return curve.Curve(cpol, (2, ), (U, ))
Pw[4] = np.hstack((S, 1.0))
w1 = wqr
HQ1, HS, HR1, wqr = split_arc(P0, Q1, w1, S)
Pw[2] = np.hstack((HS, 1.0))
Pw[1] = np.hstack((wqr * HQ1, wqr))
Pw[3] = np.hstack((wqr * HR1, wqr))
HQ1, HS, HR1, wqr = split_arc(S, R1, w1, P2)
Pw[6] = np.hstack((HS, 1.0))
Pw[5] = np.hstack((wqr * HQ1, wqr))
Pw[7] = np.hstack((wqr * HR1, wqr))
for i in xrange(2):
U[i + 3] = 0.25
U[i + 5] = 0.5
U[i + 7] = 0.75
cpol = curve.ControlPolygon(Pw=Pw)
return curve.Curve(cpol, (2, ), (U, ))
def do_move_action(self, game, action):
# if action[0] == 1 and self.shoot_status['cd'] <= 0:
# self.shoot_status['fire'] = False
# self.shoot_status['angle'] = action[1]
# existence = (self.status['bullet_penetration'] - 1) * 5 + 20
# bullet = Bullet(self.position['x'], self.position['y'], existence, self.status['bullet_damage'], {
# 'x': math.cos(action[1]) * (10 + self.status['bullet_speed']),
# 'y': math.sin(action[1]) * (10 + self.status['bullet_speed'])
# }, self.id)
# game.map_info['bullets'].append(bullet)
# self.shoot_status['cd'] = 50 * math.log(self.status['bullet_reload'] + 1, 10)
# else:
# self.shoot_status['fire'] = False
self.move_direction = {
'up': False,
'down': False,
'left': False,
'right': False
}
type_num = np.argwhere(action == 1)
if type_num == 1:
self.move_direction['up'] = True
elif type_num == 2:
self.move_direction['down'] = True
elif type_num == 3:
self.move_direction['left'] = True
elif type_num == 4:
self.move_direction['right'] = True
elif type_num == 5:
self.move_direction['up'] = True
self.move_direction['left'] = True
elif type_num == 6:
self.move_direction['up'] = True
self.move_direction['right'] = True
elif type_num == 7:
self.move_direction['down'] = True
self.move_direction['left'] = True
elif type_num == 8:
self.move_direction['down'] = True
self.move_direction['right'] = True
target = None
angle = -1
# find the closest stuff and shoot
for stuff in game.map_info['stuffs']:
dist = util.distance(self.position, stuff.position)
if target:
if dist < 200 and util.distance(self.position,
target.position) > dist:
angle = util.angle(self.position, stuff.position)
target = stuff
else:
if dist < 200:
angle = util.angle(self.position, stuff.position)
target = stuff
if target:
self.do_shoot_action(game, [1, angle])
def get_slit_tilt(mid1, mid2):
points = [mid1, mid2]
points.sort(cmp=compare_y_coordinate)
bottom, top = points
slitvec = top - bottom
up = np.array([0, 1])
return angle(up, slitvec)
def agent_move(self):
final_action = np.zeros(8)
old_state = self.agent.get_state(self)
prediction = self.agent.model.predict(old_state.reshape(1, 20))
final_action = to_categorical(np.argmax(prediction[0]), num_classes=9)
self.player_agent.do_move_action(self, final_action)
new_state = self.agent.get_state(self)
reward = self.agent.set_reward(self, self.player_agent.attr['hp'] <= 0,
self.player_agent.hit)
self.agent.train_short_memory(old_state, final_action, reward,
new_state,
self.player_agent.attr['hp'] <= 0,
self.player_agent.hit)
self.agent.remember(old_state, final_action, reward, new_state,
self.player_agent.attr['hp'] <= 0,
self.player_agent.hit)
target = None
angle = -1
# find the closest stuff and shoot
for stuff in self.map_info['stuffs']:
dist = util.distance(self.player_agent.position, stuff.position)
if target:
if dist < 200 and util.distance(self.player_agent.position,
target.position) > dist:
angle = util.angle(self.player_agent.position,
stuff.position)
target = stuff
else:
if dist < 200:
angle = util.angle(self.player_agent.position,
stuff.position)
target = stuff
if util.distance(self.player_agent.position,
self.player_user.position) < 200:
angle = util.angle(self.player_agent.position,
self.player_user.position)
target = self.player_user
if target:
self.player_agent.do_shoot_action(self, [1, angle])
def valid(line):
"""Return True if a line is valid: if it is within the angle threshold
(see above) and it is not too close to an axis (see above).
"""
x1, y1, x2, y2 = line
if util.angle(line, axes[0]) > thresh_angl:
return False
else:
for axis in axes:
if util.distance(line, axis) < thresh_dist:
return False
return True
def update_control(self, dt):
'''Updates the control'''
self.force = self.potential_field(dt)
# Update speed, depending on status
if self.idle():
self.set_speed(self.max_speed)
else:
self.set_speed(norm(self.force))
# Update steering angle
if norm(self.force) != 0:
self.set_steering(angle(self.orientation_vec(), self.force))
# Update heading, if out of bounds
super(Robot, self).update_control(dt)
def seek_food(self):
food_in_reach = [f for rho,f in self.visible_food if rho <= self.reach + util.epsilon]
if food_in_reach:
best_option = max(food_in_reach, key=lambda f: self._food_eval(f))
return Decisions.EAT, best_option
else:
food_options = [(r, self._rel_phi(f), self._food_eval(f))
for r,f in self.visible_food]
predators = [(r, self._rel_phi(p), self._threat_eval(p))
for r,p in self.visible_critters if self._is_predator(p)]
competitors = [(util.dist2(self.loc, c.loc), self._rel_phi(c), self._food_competition_eval(c))
for _,c in self.visible_critters if self._food_competitor(c)]
desire = {}
for dist, heading, _ in food_options:
desire[(dist, heading)] = 0
# summing value of food in this direction
for rho, phi, value in food_options:
ang = util.angle(heading, phi)
desire[(dist, heading)] += value/( (ang/self.nav_angleoffset_food) + (rho/self.nav_distance_food) )
# subtracting value of competitors in this direction
for comp_dist, phi, competition in competitors:
ang = util.angle(heading, phi)
desire[(dist, heading)] -= competition/( (ang/self.nav_angleoffset_competitor) + (comp_dist/self.nav_distance_competitor) )
# subtracting value of predators in this direction
for rho, phi, threat in predators:
ang = util.angle(heading, phi)
desire[(dist, heading)] -= threat/( (ang/self.nav_angleoffset_predator) + (rho/self.nav_distance_pred) )
if any(value > 0 for value in desire.values()):
dist, heading = max(desire, key=lambda k: desire[k])
dist = dist - self.reach
return Decisions.SEEK_FOOD, (dist, heading)
else:
return None, None
def get_state(self, game):
self.stopping = True
if game.player.shoot_status['fire']:
self.stopping = False
self.stopping_step = 0
if self.stopping:
self.stopping_step += 1
state = [
game.map_info['stuffs'][0].position['x'] / game.game_width,
game.map_info['stuffs'][0].position['y'] / game.game_height,
game.player.position['x'] / game.game_width,
game.player.position['y'] / game.game_height,
util.angle(game.player.position,
game.map_info['stuffs'][0].position) / (math.pi * 2)
]
return np.asarray(state)
def getPathDuration(self, linSpeed, angSpeed):
""" linSpeed : float, angSpeed : float
returns : float
sums the duration of each segment and each rotation
"""
lastPoint = None
lastSegment = None
duration = 0
for x, y in self.path:
if lastPoint != None:
duration += util.dist(lastPoint, (x, y)) / linSpeed
dX = x - lastPoint[0]
dY = y - lastPoint[1]
if lastSegment != None:
a = (180 / math.pi) * util.angle(lastSegment, (dX, dY))
a = abs(a)
if a > 90:
a = 180 - a
duration += a / angSpeed
lastSegment = (dX, dY)
lastPoint = (x, y)
return duration
def getPathDuration(self, linSpeed, angSpeed) :
""" linSpeed : float, angSpeed : float
returns : float
sums the duration of each segment and each rotation
"""
lastPoint = None
lastSegment = None
duration = 0
for x,y in self.path :
if lastPoint != None :
duration += util.dist(lastPoint, (x,y)) / linSpeed
dX = x - lastPoint[0]
dY = y - lastPoint[1]
if lastSegment != None :
a = (180/math.pi) * util.angle(lastSegment, (dX,dY))
a = abs(a)
if a > 90 :
a = 180 - a
duration += a / angSpeed
lastSegment = (dX,dY)
lastPoint = (x,y)
return duration
def flee(self):
predators = [p for p in self.visible_critters if self._is_predator(p)]
if not predators:
return None, None
danger_arcs = []
biggest_arc = 0
for rho, pred in predators:
phi = self._rel_phi(pred)
arc = self._threat_eval(pred) / (rho ** (3.0/2))
danger_arcs.append(phi, arc)
biggest_arc = max(biggest_arc, arc)
if biggest_arc >= pi:
scale = pi/biggest_arc - util.epsilon # scale down largest interval to at most 2pi-2ep
else:
scale = 1
safe_intervals = []
while not safe_intervals:
intervals = [(phi-desperation*arc, phi+desperation*arc) for phi,arc in danger_arcs]
safe_intervals = util.subtract_intervals(intervals)
scale *= 0.8
right, left = max(safe_intervals, key=lambda i: i[1]-i[0])
heading = right + util.angle(right, left)/2
return Decisions.FLEE, (self.max_speed, heading)
def seek_mate(self):
mate_in_reach = [m for rho,m in self.visible_critters if self._valid_mate(m) and rho <= self.reach + util.epsilon]
if mate_in_reach:
best_option = max(mate_in_reach, key=lambda m: self._mate_eval(m))
return Decisions.BREED_SEX, best_option
else:
predators = [(r, self._rel_phi(p), self._threat_eval(p))
for r,p in self.visible_critters if self._is_predator(p)]
desire = {}
for dist, mate_option in [(r,m) for r,m in self.visible_critters if self._valid_mate(m)]:
heading = self._rel_phi(mate_option)
desire[(dist, heading)] = self._mate_eval(mate_option)/(dist/self.nav_distance_mate)
# subtracting value of predators in this direction
for rho, phi, threat in predators:
ang = util.angle(heading, phi)
desire[(dist, heading)] -= threat/( (ang/self.nav_angleoffset_predator) + (rho/self.nav_distance_pred) )
if any(value > 0 for value in desire.values()):
dist, heading = max(desire, key=lambda k: desire[k])
dist = dist - self.reach
return Decisions.SEEK_MATE, (dist, heading)
else:
return None, None
u.intersection(le[0], se[1]),
u.intersection(le[1], se[0]),
u.intersection(le[1], se[1]))
# Show the raw vertices without epsilon
if SHOW:
plt.scatter(np.array(v)[:,0], np.array(v)[:,1])
# Calculate the diagonal lines of the bounding box
diags = (u.line(v[0], v[3]), u.line(v[1], v[2]))
# Calculate the center, width, height, and angle of the bounding box
c = u.intersection(diags[0], diags[1]) # Find the center by looking at the intersection
w = u.length(v[0], v[1]) + EPSILON # Find the width
h = u.length(v[0], v[2]) + EPSILON # Find the height
a = u.angle(v[3], v[2]) # Find the angle
wBucket = u.bucketCount(wBucket, w, 10)
hBucket = u.bucketCount(hBucket, h, 10)
aBucket = u.bucketCount(aBucket, a, 10)
if SHOW:
plt.scatter(c[0], c[1])
plt.annotate(a, (c[0], c[1]))
line = str(c[0]) + " " + str(c[1]) + " " + str(w) + " " + str(h) + " " + str(label) + " " + str(a) + "\n"
rboxLines.append(line)
if PRINT:
print(line)
def heading_in_bounds(self):
'''Returns if the agent is heading back in bounds'''
return abs(angle(self.position(), self.orientation_vec())) > pi/2
def get_state(self, game):
self.stopping = True
# record previous position
if not round(game.player_agent.position['x'], 1) == round(
self.prev_pos['x'], 1):
self.prev_pos['x'] = game.player_agent.position['x']
self.stopping = False
self.stopping_step = 0
if not round(game.player_agent.position['y'], 1) == round(
self.prev_pos['y'], 1):
self.prev_pos['y'] = game.player_agent.position['y']
self.stopping = False
self.stopping_step = 0
if self.stopping:
self.stopping_step += 1
# screen = pygame.surfarray.array2d(game.game_display)
# return screen.reshape(screen.shape[0], screen.shape[1], 1)
target_pos = util.dense_position(game, 5)
state = [
round(game.player_agent.position['x'] / game.game_width,
2), # x position
round(game.player_agent.position['y'] / game.game_height,
2), # y position
round(
game.player_agent.velocity['x'] /
math.sqrt(game.player_agent.status['move_speed'] + 5),
2), # x movement
round(
game.player_agent.velocity['y'] /
math.sqrt(game.player_agent.status['move_speed'] + 5),
2), # y movement
round(game.player_agent.acceleration['up'] / 10,
2), # up acceleration volumn
round(game.player_agent.acceleration['down'] / 10,
2), # down acceleration volumn
round(game.player_agent.acceleration['left'] / 10,
2), # left acceleration volumn
round(game.player_agent.acceleration['right'] / 10,
2), # right acceleration volumn
round(
abs(game.player_agent.position['x'] -
(game.game_width / 2)) / (game.game_width / 2),
2), # player_agent x distance ratio to center
round(
abs(game.player_agent.position['y'] -
(game.game_width / 2)) / (game.game_height / 2),
2), # player_agent y distance ratio to center
round(
abs(game.player_agent.position['x'] - target_pos['x']) /
game.game_width, 2), # target position x
round(
abs(game.player_agent.position['y'] - target_pos['y']) /
game.game_height, 2), # target position y
0,
0,
0,
0,
0,
0,
0,
0
]
# compute the grid-cell value
v_x = 0 #max(game.player_agent.position['x'] - game.field['width'] / 2, 0)
v_y = 0 #max(game.player_agent.position['y'] - game.field['height'] / 2, 0)
player_x = game.player_agent.position['x']
player_y = game.player_agent.position['y']
weight = 0
for stuff in game.map_info['stuffs']:
if not util.distance(game.player_agent.position, stuff.position):
continue
weight += 1 / util.distance(game.player_agent.position,
stuff.position)
angle = util.angle(game.player_agent.position, stuff.position)
angle += 2 * math.pi if angle < 0 else 0
if 0 < angle <= math.pi / 4:
state[12] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 4 < angle <= math.pi / 2:
state[13] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 2 < angle <= math.pi / 4 * 3:
state[14] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 4 * 3 < angle <= math.pi:
state[15] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi < angle <= math.pi / 4 * 5:
state[16] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 4 * 5 < angle <= math.pi / 2 * 3:
state[17] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 2 * 3 < angle <= math.pi / 4 * 7:
state[18] += 1 / util.distance(game.player_agent.position,
stuff.position)
if math.pi / 4 * 7 < angle <= math.pi * 2:
state[19] += 1 / util.distance(game.player_agent.position,
stuff.position)
if weight > 0:
state[12] = round(state[12] / weight, 2)
state[13] = round(state[13] / weight, 2)
state[14] = round(state[14] / weight, 2)
state[15] = round(state[15] / weight, 2)
state[16] = round(state[16] / weight, 2)
state[17] = round(state[17] / weight, 2)
state[18] = round(state[18] / weight, 2)
state[19] = round(state[19] / weight, 2)
return np.asarray(state)
def find_page(img):
"""This function uses a Hough line transform to detect the four sides of a
piece of paper in the image, applies an inverse warp transformation to
correct for perspective distortion, returning the corrected image.
"""
rows, cols = img.shape[:2]
img2 = cv2.GaussianBlur(img, (params.BLUR_RADIUS, params.BLUR_RADIUS), 0)
"""
util.show('Blurred', img2)
"""
# use Canny edge deduction to obtain an edge map
edge_map_bw = cv2.Canny(img2, params.CANNY_THRESHOLD_LOW,
params.CANNY_THRESHOLD_HIGH)
"""
util.show('Edges', edge_map_bw)
"""
# use the probablistic Hough transform
lines = cv2.HoughLinesP(edge_map_bw,
params.HOUGH_DISTANCE_RESOLUTION,
params.HOUGH_ANGLE_RESOLUTION,
params.HOUGH_THRESHOLD,
minLineLength=params.HOUGH_MIN_LINE_LENGTH,
maxLineGap=params.HOUGH_MAX_LINE_GAP)
if lines is None:
util.debug('detected no image outlines')
return
else:
lines = lines[0].tolist()
util.debug('detected %d image outlines: %s' % (len(lines), str(lines)))
edge_map_color = cv2.cvtColor(edge_map_bw, cv2.COLOR_GRAY2BGR)
while True:
for a in lines:
"""
util.debug('current line: %s' % str(a))
"""
too_similar = False
for b in lines:
if a == b:
continue
t = util.angle(a, b)
d = util.distance(a, b)
"""
util.debug('other line: %s (angle: %f)' % (str(b), t))
"""
if d < params.DISTANCE_THRESHOLD and t < params.ANGLE_THRESHOLD:
too_similar = True
break
if too_similar:
"""
util.debug('removing %s' % str(a))
"""
lines.remove(a)
break
if not too_similar:
break
util.debug('kept %d image outlines: %s' % (len(lines), str(lines)))
for x1, y1, x2, y2 in lines:
cv2.line(edge_map_color, (x1, y1), (x2, y2), util.RED,
params.LINE_THICKNESS)
"""
util.show('Lines', edge_map_color)
"""
if len(lines) != 4:
return None
corners = set()
for a in lines:
for b in lines:
if a == b:
continue
i = util.intersection(a, b)
if i[0] >= 0 and i[0] < cols and i[1] >= 0 and i[1] < cols:
corners.add(i)
# take the most extreme four corners to be the corners of the page
asc_by_x = lambda seq: sorted(seq, cmp=lambda a, b: int(a[0] - b[0]))
asc_by_y = lambda seq: sorted(seq, cmp=lambda a, b: int(a[1] - b[1]))
dsc_by_x = lambda seq: sorted(seq, cmp=lambda a, b: int(b[0] - a[0]))
dsc_by_y = lambda seq: sorted(seq, cmp=lambda a, b: int(b[1] - a[1]))
ul = asc_by_y(asc_by_x(corners))[0]
corners.remove(ul)
ur = asc_by_y(dsc_by_x(corners))[0]
corners.remove(ur)
ll = dsc_by_y(asc_by_x(corners))[0]
corners.remove(ll)
lr = dsc_by_y(dsc_by_x(corners))[0]
corners.remove(lr)
for x, y in [ul, ur, ll, lr]:
cv2.circle(edge_map_color, (x, y), 3, util.GREEN, -1)
"""
util.show('Lines & corners', edge_map_color)
"""
# use these four corners to construct a transformation matrix
# for the height/width of the new image, we use a bounding box
rows2 = max(ll[1], lr[1]) - min(ul[1], ur[1])
cols2 = max(ur[0], lr[0]) - min(ul[0], ll[0])
"""
print("source: ", numpy.array([ul, ur, ll, lr]).astype('float32'))
print("dest: ", numpy.array(
[
[0, 0],
[cols2 - 1, 0],
[cols2 - 1, rows2 - 1],
[0, rows2 - 1]
]
).astype('float32'))
"""
m = cv2.getPerspectiveTransform(
numpy.array([ul, ur, ll, lr]).astype('float32'),
numpy.array([[0, 0], [cols2 - 1, 0], [cols2 - 1, rows2 - 1],
[0, rows2 - 1]]).astype('float32'))
corrected = cv2.warpPerspective(img, m, (cols2, rows2))
"""
util.show('Corrected', corrected)
"""
return corrected
import util, math from shapely.geometry import Point print util.angle(Point(0,-1), Point(0,0), Point(0,1)) print util.find_angle_from_x_axis(Point(0, 0), Point(-1, 1))
def get_state(self, game):
self.stopping = True
# record previous position
if not round(game.player.position['x'], 2) == round(
self.prev_pos['x'], 2):
self.prev_pos['x'] = game.player.position['x']
self.stopping = False
self.stopping_step = 0
if not round(game.player.position['y'], 2) == round(
self.prev_pos['y'], 2):
self.prev_pos['y'] = game.player.position['y']
self.stopping = False
self.stopping_step = 0
if self.stopping:
self.stopping_step += 1
# screen = pygame.surfarray.array2d(game.game_display)
# return screen.reshape(screen.shape[0], screen.shape[1], 1)
target_pos = util.dense_position(game, 5)
state = [
# game.player.shoot_status['fire'], # player shoot fire
# game.player.shoot_status['angle'], # player shoot angle
# game.player.shoot_status['cd'], # player shoot CD time
# game.player.attr['hp'] / game.player.attr['maxhp'], # player hp
round(game.player.position['x'] / game.game_width,
2), # x position
round(game.player.position['y'] / game.game_height,
2), # y position
round(
game.player.velocity['x'] /
math.sqrt(game.player.status['move_speed'] + 5),
2), # x movement
round(
game.player.velocity['y'] /
math.sqrt(game.player.status['move_speed'] + 5),
2), # y movement
round(game.player.acceleration['up'] / 10,
2), # up acceleration volumn
round(game.player.acceleration['down'] / 10,
2), # down acceleration volumn
round(game.player.acceleration['left'] / 10,
2), # left acceleration volumn
round(game.player.acceleration['right'] / 10,
2), # right acceleration volumn
round(
abs(game.player.position['x'] - (game.game_width / 2)) /
(game.game_width / 2), 2), # player x distance ratio to center
round(
abs(game.player.position['y'] -
(game.game_width / 2)) / (game.game_height / 2),
2), # player y distance ratio to center
round(
abs(game.player.position['x'] - target_pos['x']) /
game.game_width, 2), # target position x
round(
abs(game.player.position['y'] - target_pos['y']) /
game.game_height, 2), # target position y
0,
0,
0,
0,
0,
0,
0,
0
]
# compute the grid-cell value
v_x = 0 #max(game.player.position['x'] - game.field['width'] / 2, 0)
v_y = 0 #max(game.player.position['y'] - game.field['height'] / 2, 0)
player_x = game.player.position['x']
player_y = game.player.position['y']
weight = 0
for stuff in game.map_info['stuffs']:
if not util.distance(game.player.position, stuff.position):
continue
weight += 1 / util.distance(game.player.position, stuff.position)
angle = util.angle(game.player.position, stuff.position)
angle += 2 * math.pi if angle < 0 else 0
if 0 < angle <= math.pi / 4:
state[12] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 4 < angle <= math.pi / 2:
state[13] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 2 < angle <= math.pi / 4 * 3:
state[14] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 4 * 3 < angle <= math.pi:
state[15] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi < angle <= math.pi / 4 * 5:
state[16] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 4 * 5 < angle <= math.pi / 2 * 3:
state[17] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 2 * 3 < angle <= math.pi / 4 * 7:
state[18] += 1 / util.distance(game.player.position,
stuff.position)
if math.pi / 4 * 7 < angle <= math.pi * 2:
state[19] += 1 / util.distance(game.player.position,
stuff.position)
if weight > 0:
state[12] = round(state[12] / weight, 2)
state[13] = round(state[13] / weight, 2)
state[14] = round(state[14] / weight, 2)
state[15] = round(state[15] / weight, 2)
state[16] = round(state[16] / weight, 2)
state[17] = round(state[17] / weight, 2)
state[18] = round(state[18] / weight, 2)
state[19] = round(state[19] / weight, 2)
# for diep in game.map_info['dieps']:
# if (current_x < diep.position['x'] < current_x + game.field['width'] / self.grid_size and
# current_y < diep.position['y'] < current_y + game.field['height'] / self.grid_size):
# if (diep.id == game.player.id):
# continue
# score += 3
# for stuff in game.map_info['stuffs']:
# if (current_x < stuff.position['x'] < current_x + game.field['width'] / self.grid_size and
# current_y < stuff.position['y'] < current_y + game.field['height'] / self.grid_size):
# score += 1
# for bullet in game.map_info['bullets']:
# if (current_x < bullet.position['x'] < current_x + game.field['width'] / self.grid_size and
# current_y < bullet.position['y'] < current_y + game.field['height'] / self.grid_size and
# not bullet.owner == game.player.id):
# score -= 5
# for trap in game.map_info['traps']:
# if (current_x < trap.position['x'] < current_x + game.field['width'] / self.grid_size and
# current_y < trap.position['y'] < current_y + game.field['height'] / self.grid_size):
# score += 1
# state.append(score / 50)
return np.asarray(state)
def find_page(img):
"""This function uses a Hough line transform to detect the four sides of a
piece of paper in the image, applies an inverse warp transformation to
correct for perspective distortion, returning the corrected image.
"""
rows, cols = img.shape[:2]
img2 = cv2.GaussianBlur(img, (params.BLUR_RADIUS, params.BLUR_RADIUS), 0)
"""
util.show('Blurred', img2)
"""
# use Canny edge deduction to obtain an edge map
edge_map_bw = cv2.Canny(img2, params.CANNY_THRESHOLD_LOW, params.CANNY_THRESHOLD_HIGH)
"""
util.show('Edges', edge_map_bw)
"""
# use the probablistic Hough transform
lines = cv2.HoughLinesP(
edge_map_bw,
params.HOUGH_DISTANCE_RESOLUTION,
params.HOUGH_ANGLE_RESOLUTION,
params.HOUGH_THRESHOLD,
minLineLength=params.HOUGH_MIN_LINE_LENGTH,
maxLineGap=params.HOUGH_MAX_LINE_GAP,
)
if lines is None:
util.debug("detected no image outlines")
return
else:
lines = lines[0].tolist()
util.debug("detected %d image outlines: %s" % (len(lines), str(lines)))
edge_map_color = cv2.cvtColor(edge_map_bw, cv2.COLOR_GRAY2BGR)
while True:
for a in lines:
"""
util.debug('current line: %s' % str(a))
"""
too_similar = False
for b in lines:
if a == b:
continue
t = util.angle(a, b)
d = util.distance(a, b)
"""
util.debug('other line: %s (angle: %f)' % (str(b), t))
"""
if d < params.DISTANCE_THRESHOLD and t < params.ANGLE_THRESHOLD:
too_similar = True
break
if too_similar:
"""
util.debug('removing %s' % str(a))
"""
lines.remove(a)
break
if not too_similar:
break
util.debug("kept %d image outlines: %s" % (len(lines), str(lines)))
for x1, y1, x2, y2 in lines:
cv2.line(edge_map_color, (x1, y1), (x2, y2), util.RED, params.LINE_THICKNESS)
"""
util.show('Lines', edge_map_color)
"""
if len(lines) != 4:
return None
corners = set()
for a in lines:
for b in lines:
if a == b:
continue
i = util.intersection(a, b)
if i[0] >= 0 and i[0] < cols and i[1] >= 0 and i[1] < cols:
corners.add(i)
# take the most extreme four corners to be the corners of the page
asc_by_x = lambda seq: sorted(seq, cmp=lambda a, b: int(a[0] - b[0]))
asc_by_y = lambda seq: sorted(seq, cmp=lambda a, b: int(a[1] - b[1]))
dsc_by_x = lambda seq: sorted(seq, cmp=lambda a, b: int(b[0] - a[0]))
dsc_by_y = lambda seq: sorted(seq, cmp=lambda a, b: int(b[1] - a[1]))
ul = asc_by_y(asc_by_x(corners))[0]
corners.remove(ul)
ur = asc_by_y(dsc_by_x(corners))[0]
corners.remove(ur)
ll = dsc_by_y(asc_by_x(corners))[0]
corners.remove(ll)
lr = dsc_by_y(dsc_by_x(corners))[0]
corners.remove(lr)
for x, y in [ul, ur, ll, lr]:
cv2.circle(edge_map_color, (x, y), 3, util.GREEN, -1)
"""
util.show('Lines & corners', edge_map_color)
"""
# use these four corners to construct a transformation matrix
# for the height/width of the new image, we use a bounding box
rows2 = max(ll[1], lr[1]) - min(ul[1], ur[1])
cols2 = max(ur[0], lr[0]) - min(ul[0], ll[0])
"""
print("source: ", numpy.array([ul, ur, ll, lr]).astype('float32'))
print("dest: ", numpy.array(
[
[0, 0],
[cols2 - 1, 0],
[cols2 - 1, rows2 - 1],
[0, rows2 - 1]
]
).astype('float32'))
"""
m = cv2.getPerspectiveTransform(
numpy.array([ul, ur, ll, lr]).astype("float32"),
numpy.array([[0, 0], [cols2 - 1, 0], [cols2 - 1, rows2 - 1], [0, rows2 - 1]]).astype("float32"),
)
corrected = cv2.warpPerspective(img, m, (cols2, rows2))
"""
util.show('Corrected', corrected)
"""
return corrected
def start():
pygame.init()
agent = DQNShootAgent()
counter_games = 0
score_plot = []
elapsed_time_plot = []
counter_plot = []
record = 0
while counter_games < 10000:
# initialize the network
game = Game(800, 600, agent, record)
# reward counter
current_reward = 0
# measure elapsed time
start_time = time.time()
if display_option:
game.display()
old_state = []
while not (len(game.map_info['stuffs']) == 0):
if display_option:
game.update()
pygame.time.wait(speed)
final_action = np.zeros(2)
if len(game.map_info['stuffs']) > 0:
old_state = agent.get_state(game)
# agent.learning_rate = math.log(max(1.0001, 1.5 - counter_games / 80))
agent.epslion = 10000 - counter_games
if random.randint(0, 10000) < agent.epslion:
angle = random.uniform(0, 1)
if len(game.map_info['stuffs']):
angle = util.angle(game.player.position,
game.map_info['stuffs'][0].position)
angle += 2 * math.pi if angle < 0 else 0
final_action = [1, angle]
else:
prediction = agent.model.predict(old_state.reshape(1, 5))
# print('prediction:', prediction)
final_action[0] = 1
final_action[1] = prediction[0][0]
game.player.do_shoot_action(game, final_action)
new_state = []
if len(game.map_info['stuffs']) > 0:
new_state = agent.get_state(game)
old_state = new_state
else:
new_state = old_state
reward = agent.set_reward(game, game.player.attr['hp'] <= 0,
game.player.hit)
current_reward += reward
if game.player.shoot_status['fire']:
print('reward: ', reward, 'action: ', final_action)
agent.train_short_memory(old_state, final_action, reward,
new_state,
game.player.attr['hp'] <= 0,
game.player.hit)
agent.remember(old_state, final_action, reward, new_state,
game.player.attr['hp'] <= 0, game.player.hit)
record = max(game.score, record)
elapsed_time = time.time() - start_time
agent.replay_new(agent.memory)
counter_games += 1
print('Game %d, Reward: %d, Elapsed time: %d' %
(counter_games, current_reward, elapsed_time))
score_plot.append(current_reward)
elapsed_time_plot.append(elapsed_time)
counter_plot.append(counter_games)
agent.model.save_weights('shoot_weights.hdf5')
game.plot_seaborn(counter_plot, score_plot)