def __init__(self, positions,
min_value=0, max_value=1, normalize=False, noise=None,
shape=None):
'''
:param positions: 2D positions of the sensels
'''
if normalize:
logger.warning('normalize=True is deprecated')
if shape is None:
shape = [len(positions)]
self.num_sensels = len(positions)
self.positions = np.array(positions)
self.min_value = min_value
self.max_value = max_value
self.normalize = normalize
self.noise_spec = noise
self.noise = (None if self.noise_spec is None else
instantiate_spec(self.noise_spec))
boot_spec = {
'desc': 'Field sampler',
'shape': shape,
'format': 'C',
'range': [float(self.min_value), float(self.max_value)],
'extra': {'positions': self.positions.tolist(),
'normalize': bool(normalize),
'max_value': float(max_value),
'min_value': float(min_value),
'noise': self.noise_spec}
}
VehicleSensor.__init__(self, boot_spec)
self.primitives = None
from vehicles_cairo import vehicles_has_cairo
if not vehicles_has_cairo:
logger.error('This program cannot run if Cairo is not installed.')
return
from vehicles_cairo import ...
'''
from vehicles import __version__, logger
try:
import cairo # @UnresolvedImport
vehicles_has_cairo = True
except ImportError as e:
cairo_error = e
vehicles_has_cairo = False
logger.warning('Could not import PyCairo; visualization not available.')
from .constants import *
from .utils import *
from .skins import *
from .world_geometry import *
from .sensor_data import *
from .display_all import *
from .write_to_file import *
def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (cairo_plot_rectangle)
from vehicles_cairo import cairo_plot_circle, cairo_set_axis, show_grid
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--outdir", "-o", default='.',
help="output directory [%default]")
# parser.add_option("--outdir", "-o", default='.',
# help="additional config directory [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception()
width = 400
height = 400
r = Report('skins_demo')
f = r.figure(cols=3)
import cairo
VehiclesConfig.make_sure_loaded()
skins = get_conftools_skins().keys()
logger.info('Skins: %s' % skins)
for id_skin in skins:
skin = get_conftools_skins().instance(id_skin)
with f.data_file(id_skin, MIME_PNG) as filename:
surf = cairo.ImageSurface(cairo.FORMAT_ARGB32, # @UndefinedVariable
width, height)
cr = cairo.Context(surf) # @UndefinedVariable
cairo_plot_rectangle(cr, 0, 0, width, height, fill_color=[1, 1, 1])
cairo_set_axis(cr, width, height, [-2, +2, -2, +2])
cairo_plot_circle(cr, center=[0, 0], radius=1, facecolor=None,
edgecolor=(1, 0, 0), width=0.1)
show_grid(cr, bx=[-3, +3], by=[-3, +3], spacing=1.0)
if skin.njoints_required() > 1:
logger.warning('Skipping skin %r' % id_skin)
continue
try:
skin.draw(cr, joints=[])
except Exception:
logger.error('Error for skin %r' % id_skin)
raise
surf.write_to_png(filename) # Output to PNG
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (cairo_plot_rectangle)
from vehicles_cairo import cairo_plot_circle, cairo_set_axis, show_grid
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--outdir",
"-o",
default='.',
help="output directory [%default]")
# parser.add_option("--outdir", "-o", default='.',
# help="additional config directory [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception()
width = 400
height = 400
r = Report('skins_demo')
f = r.figure(cols=3)
import cairo
VehiclesConfig.make_sure_loaded()
skins = get_conftools_skins().keys()
logger.info('Skins: %s' % skins)
for id_skin in skins:
skin = get_conftools_skins().instance(id_skin)
with f.data_file(id_skin, MIME_PNG) as filename:
surf = cairo.ImageSurface(
cairo.FORMAT_ARGB32, # @UndefinedVariable
width,
height)
cr = cairo.Context(surf) # @UndefinedVariable
cairo_plot_rectangle(cr, 0, 0, width, height, fill_color=[1, 1, 1])
cairo_set_axis(cr, width, height, [-2, +2, -2, +2])
cairo_plot_circle(cr,
center=[0, 0],
radius=1,
facecolor=None,
edgecolor=(1, 0, 0),
width=0.1)
show_grid(cr, bx=[-3, +3], by=[-3, +3], spacing=1.0)
if skin.njoints_required() > 1:
logger.warning('Skipping skin %r' % id_skin)
continue
try:
skin.draw(cr, joints=[])
except Exception:
logger.error('Error for skin %r' % id_skin)
raise
surf.write_to_png(filename) # Output to PNG
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)