def plot_costmaps():
workspace = sample_circle_workspaces(nb_circles=4)
grid_sparse = workspace.box.stacked_meshgrid(24)
grid_dense = workspace.box.stacked_meshgrid(100)
extent = workspace.box.box_extent()
sdf = SignedDistanceWorkspaceMap(workspace)
viewer = WorkspaceDrawer(workspace,
wait_for_keyboard=True,
rows=1,
cols=2,
scale=1.)
viewer.set_drawing_axis(0)
viewer.set_workspace(workspace)
viewer.draw_ws_img(sdf(grid_dense).T)
viewer.draw_ws_obstacles()
viewer.set_drawing_axis(1)
viewer.set_workspace(workspace)
viewer.draw_ws_img(sdf(grid_sparse).T)
viewer.draw_ws_obstacles()
viewer.show_once()
# PERFORMANCE OF THIS SOFTWARE.
#
# Jim Mainprice on Sunday June 13 2018
import demos_common_imports
from pyrieef.geometry.workspace import *
from pyrieef.geometry.pixel_map import sdf
from pyrieef.rendering.workspace_renderer import WorkspaceDrawer
import scipy.misc
from scipy.misc import imresize
env = EnvBox(dim=np.array([2., 2.]))
box = Box(origin=np.array([-.2, -.2]))
segment = Segment(origin=np.array([.4, -.1]), orientation=0.2)
circle = Circle(origin=np.array([.5, .5]), radius=0.2)
workspace = Workspace(env)
workspace.obstacles.append(box)
workspace.obstacles.append(segment)
workspace.obstacles.append(circle)
viewer = WorkspaceDrawer(workspace, wait_for_keyboard=True)
nb_points = 20
occupancy_map = occupancy_map(nb_points, workspace)
signed_distance_field = sdf(occupancy_map)
# viewer.draw_ws_img(occupancy_map)
viewer.draw_ws_img(
ndimage.gaussian_filter(imresize(signed_distance_field, (300, 300),
'nearest'),
sigma=3))
viewer.draw_ws_obstacles()
viewer.show_once()