def test_canvas_to_cv2():
# Make sure that the conversion works for different input types.
assert np.allclose(canvas_to_cv2([1, 2]), [2, 1])
assert np.allclose(canvas_to_cv2((1, 2)), [2, 1])
assert np.allclose(canvas_to_cv2(np.array([10, 11])), [11, 10])
assert np.allclose(canvas_to_cv2(np.array([[1, 2], [3, 4]])),
[[2, 1], [4, 3]])
def test_invalid_canvas_to_cv2():
with pytest.raises(MorphacLogicError):
_ = canvas_to_cv2([1, 2, 3])
with pytest.raises(MorphacLogicError):
_ = canvas_to_cv2((1, 2, 3))
with pytest.raises(MorphacLogicError):
_ = canvas_to_cv2(np.zeros(3))
with pytest.raises(MorphacLogicError):
_ = canvas_to_cv2(np.zeros((3, 3)))
def paint_polygon_using_canvas_coords(canvas, canvas_coords, color):
# Interchanging x and y while drawing as opencv points requires the x and
# y axes to be the regular axes, with the origin at the top left.
# fillPoly needs the input coordinates in a weird format.
coords = [canvas_to_cv2(canvas_coords)]
cv2.fillPoly(canvas, coords, color, lineType=cv2.LINE_AA)
def evolve_map_with_polygonal_obstacle(env_map, polygon_points):
env_map_data = np.copy(env_map.data)
points = canvas_to_cv2(
world_to_canvas(
polygon_points,
env_map.resolution,
env_map.data.shape,
))
cv2.fillPoly(env_map_data, [points],
MapConstants.OBSTACLE,
lineType=cv2.LINE_AA)
return env_map.evolve(env_map_data)
def evolve_map_with_circular_obstacle(env_map, circle_shape):
env_map_data = np.copy(env_map.data)
center = canvas_to_cv2(
world_to_canvas(circle_shape.center, env_map.resolution,
env_map.data.shape))
radius = world_to_canvas(circle_shape.radius, env_map.resolution)
cv2.circle(env_map_data,
tuple(center),
radius,
MapConstants.OBSTACLE,
thickness=-1)
return env_map.evolve(env_map_data)