def put_up_windows(self, facade_image, windows, wall_length, model_wall):
rospy.loginfo("Planner received information about the windows. Putting windows on walls")
# Generate an array that takes the time from now and the next 30 minutes, which we will say is the estimated mission duration
# We assume that the image itself is the plane, which is harsh to assume, but it's the best we've got...
# Based on the size of the image (width, height), we make translation factors for x and y to be able to place the windows on the planes.
# Let's then generate windows in the form that our mission class can understand, taking the bounding boxes of the instance segmentation, aka the rois and make windows out of them
for i in range(len(windows)):
# Remember that the coordinates of the rois (windows) are upside down on the y-axis
# The rois are in the following form : y1,x1, y2,x2
n_xy_tiles = len(model_wall.x)
n_z_tiles = len(model_wall.z) # this is the y coordinate of the image, but the z coordinate in the world-frame
x1 = n_xy_tiles - round((windows[i].roi[1] / facade_image.width) * n_xy_tiles) - 1
y1 = n_z_tiles - round((windows[i].roi[0] / facade_image.height) * n_z_tiles) - 1
x2 = n_xy_tiles - round((windows[i].roi[3] / facade_image.width) * n_xy_tiles) - 1
y2 = n_z_tiles - round((windows[i].roi[2] / facade_image.height) * n_z_tiles) - 1
#rospy.loginfo([x1, y1, x2, y2])
# We are going to find indecies for the plane and just select the ones that the window covers
# TODO: COrrect this method. It's not quite right...
p1 = np.array([model_wall.x[x1], model_wall.y[x1], model_wall.z[y2]])
p2 = np.array([model_wall.x[x2], model_wall.y[x2], model_wall.z[y2]])
p3 = np.array([model_wall.x[x1], model_wall.y[x1], model_wall.z[y1]])
window = Boundary(p1[0], p1[1], p1[2], p2[0], p2[1], p2[2], p3[0], p3[2], p3[2], "window", self.s.get_lightsource())
window.plot(self.ax)
self.model_windows.append(window)
rospy.loginfo(self.s.date.timestamp())
return PoseArray()
s.get_lightsource)
south_wall = Boundary(local4[0], local4[1], 0.0, local1[0], local1[1],
0.0, local4[0], local4[1], height, "wall",
s.get_lightsource())
#ground_plane = Boundary(-5, -5, 0, 5, -5, 0, -5, 5, 0, "grass", s.get_lightsource())
list_of_reflective_boundaries = [
fake_east_window, south_window, fake_west_window
]
list_of_walls = [east_wall, north_wall, west_wall, south_wall]
fig = plt.figure(num=1, clear=True)
ax = fig.add_subplot(1, 1, 1, projection='3d')
east_wall.plot(ax)
south_window.plot(ax)
north_wall.plot(ax)
fake_east_window.plot(ax)
west_wall.plot(ax)
fake_west_window.plot(ax)
south_wall.plot(ax)
#ground_plane.plot(ax)
s.cast_on(list_of_reflective_boundaries, ax)
m.draw_mission_planes(list_of_walls, ax)
ax.set_xlabel('X: East')
ax.set_xlim(-10, 10)
ax.set_ylabel('Y: North')