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renderer.py
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renderer.py
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from utils import *
from typing import List
import cv2
import numpy as np
from pydantic.utils import deep_update
BLACK = (0, 0, 0)
WHITE = (255, 255, 255)
RED = (200, 0, 0)
BLUE = (0, 0, 255)
GREEN = (0, 120, 0)
CYAN = (0, 255, 255)
class RendererState():
def __init__(self, state: State):
# heading angle
self.theta_boat = state["theta_boat"][2]
self.dt_theta_boat = np.abs(state["dt_theta_boat"][2]) * \
angle_to_vec(self.theta_boat +
np.sign(state["dt_theta_boat"][2]) * np.pi / 2) # is either -90 or 90 degrees
# position
self.p_boat = np.array([state["p_boat"][0], state["p_boat"][1]])
self.dt_p_boat = 6 * np.array([state["dt_p_boat"][0], state["dt_p_boat"][1]])
# rudder
self.theta_rudder = np.pi + self.theta_boat + state["theta_rudder"][0]
self.dt_rudder = np.abs(state["dt_theta_rudder"][0]) * \
angle_to_vec(self.theta_rudder +
np.sign(state["dt_theta_rudder"][0]) * np.pi / 2) # is either -90 or 90 degrees
# sail
self.theta_sail = np.pi + self.theta_boat + state["theta_sail"][0]
self.dt_sail = np.abs(state["dt_theta_sail"][0]) * \
angle_to_vec(self.theta_sail
+ np.sign(state["dt_theta_sail"][0]) * np.pi / 2) # is either -90 or 90 degrees
# wind
self.apparent_wind = state["apparent_wind"]
self.wind = state["wind"]
# water
self.water = state["water"]
self.cur_waypoint = state["cur_waypoint"]
self.waypoints = state["waypoints"]
self.buoys = state["buoys"]
self.no_go_zone_size = state["no_go_zone_size"]
self.decision_zone_size = state["decision_zone_size"]
class CV2DRenderer():
def __init__(self, size=512, padding=30, vector_scale=10, style={}):
self.size = size
self.padding = padding
self.vector_scale = vector_scale
self.map_bounds = None
self.center = None
self.trail_positions = []
self.style = {
"background": WHITE,
"border": {
"color": rgba(BLACK, .2),
"width": 1,
},
"boat": {
"color": rgba(BLACK, .3),
"spike_coef": 2,
"size": 10,
"phi": np.deg2rad(40),
"dt_p": {
"color": GREEN,
"width": 1,
},
"dt_theta": {
"color": RED,
"width": 1,
},
"center": {
"color": WHITE,
"radius": 2,
}
},
"rudder": {
"color": rgba(BLACK, .3),
"width": 2,
"height": 5,
"dt_theta": {
"color": RED,
"width": 1,
},
},
"sail": {
"color": rgba(BLACK, .7),
"width": 2,
"height": 15,
"dt_theta": {
"color": RED,
"width": 1,
},
},
"wind": {
"color": rgba(BLUE, .5),
"width": 2,
},
"water": {
"color": rgba(CYAN, .5),
"width": 2,
},
}
self.style = deep_update(self.style, style)
def _create_empty_img(self):
bg = np.array(self.style["background"])
img = bg[None, None, :] + np.zeros((self.size, self.size, 3))
return img.astype(np.uint8)
def _scale_to_fit_in_img(self, x):
return x / (self.map_bounds[1] - self.map_bounds[0]).max() * (self.size - 2 * self.padding)
def _translate_and_scale_to_fit_in_map(self, x):
return self._scale_to_fit_in_img(x - self.map_bounds[0]) + self.padding
def _transform_state_to_fit_in_img(self, state: RendererState):
# translate and scale positions
state.p_boat = self._translate_and_scale_to_fit_in_map(state.p_boat)
# scale vectors
# state.dt_p_boat = self._scale_to_fit_in_img(state.dt_p_boat)
state.dt_theta_boat = self._scale_to_fit_in_img(state.dt_theta_boat)
state.dt_rudder = self._scale_to_fit_in_img(state.dt_rudder)
state.dt_sail = self._scale_to_fit_in_img(state.dt_sail)
state.wind = self._scale_to_fit_in_img(state.wind)
state.water = self._scale_to_fit_in_img(state.water)
def _draw_borders(self, img: np.ndarray):
borders = self._translate_and_scale_to_fit_in_map(
self.map_bounds).astype(int)
cv2.rectangle(img,
tuple(borders[0]),
tuple(borders[1]),
self.style["border"]["color"],
self.style["border"]["width"],
lineType=cv2.LINE_AA)
def _draw_wind(self, img: np.ndarray, state: RendererState):
img_center = np.array([self.size, self.size]) / 2
cv2.arrowedLine(img,
tuple(img_center.astype(int)),
tuple((img_center + 40 * state.wind *
self.vector_scale).astype(int)),
self.style["wind"]["color"],
self.style["wind"]["width"],
tipLength=0.2,
line_type=cv2.LINE_AA)
def _draw_water(self, img: np.ndarray, state: RendererState):
img_center = np.array([self.size, self.size]) / 2
cv2.arrowedLine(img,
tuple(img_center.astype(int)),
tuple((img_center + state.water *
self.vector_scale).astype(int)),
self.style["water"]["color"],
self.style["water"]["width"],
tipLength=0.2,
line_type=cv2.LINE_AA)
def _draw_no_go_zone_lines(self, img: np.ndarray, state: RendererState):
# print(normalized_apparent_wind)
line_start = np.array([420, 420])
line_end1 = line_start + 40 * rotate_vector(np.array([0, 1]), np.deg2rad(180 - state.no_go_zone_size/2))
line_end2 = line_start + 40 * rotate_vector(np.array([0, 1]), np.deg2rad(180 + state.no_go_zone_size/2))
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end1.astype(int)),
(139, 0, 0),
1,
lineType=cv2.LINE_AA)
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end2.astype(int)),
(139, 0, 0),
1,
lineType=cv2.LINE_AA)
if np.linalg.norm(state.wind) != 0:
normalized_wind = state.wind/ np.linalg.norm(state.wind)
line_start = state.p_boat
line_end1 = line_start + 40 * rotate_vector(normalized_wind, np.deg2rad(180 - state.no_go_zone_size/2))
line_end2 = line_start + 40 * rotate_vector(normalized_wind, np.deg2rad(180 + state.no_go_zone_size/2))
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end1.astype(int)),
(0, 0, 139),
1,
lineType=cv2.LINE_AA)
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end2.astype(int)),
(0, 0, 139),
1,
lineType=cv2.LINE_AA)
def _draw_decision_zone_lines(self, img: np.ndarray, state: RendererState):
# if np.linalg.norm(state.wind) != 0:
# normalized_true_wind = state.wind/ np.linalg.norm(state.wind)
# # print(normalized_apparent_wind)
# line_start = np.array([420, 420])
# line_end1 = line_start + 40 * rotate_vector(normalized_true_wind, np.deg2rad(180 - np.rad2deg(state.theta_boat) - state.decision_zone_size/2))
# line_end2 = line_start + 40 * rotate_vector(normalized_true_wind, np.deg2rad(180 - np.rad2deg(state.theta_boat) + state.decision_zone_size/2))
# cv2.line(img,
# tuple(line_start.astype(int)),
# tuple(line_end1.astype(int)),
# (139, 0, 0),
# 1,
# lineType=cv2.LINE_AA)
# cv2.line(img,
# tuple(line_start.astype(int)),
# tuple(line_end2.astype(int)),
# (139, 0, 0),
# 1,
# lineType=cv2.LINE_AA)
if np.linalg.norm(state.wind) != 0:
normalized_wind = state.wind/ np.linalg.norm(state.wind)
line_start = state.p_boat
line_end1 = line_start + 40 * rotate_vector(normalized_wind, np.deg2rad(180 - state.decision_zone_size/2))
line_end2 = line_start + 40 * rotate_vector(normalized_wind, np.deg2rad(180 + state.decision_zone_size/2))
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end1.astype(int)),
RED,
1,
lineType=cv2.LINE_AA)
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end2.astype(int)),
RED,
1,
lineType=cv2.LINE_AA)
def _draw_boat(self, img: np.ndarray, state: RendererState):
boat_size = self.style["boat"]["size"]
phi = self.style["boat"]["phi"]
spike_coeff = self.style["boat"]["spike_coef"]
sailboat_pts = np.array([
[state.p_boat + angle_to_vec(state.theta_boat + phi) * boat_size],
[state.p_boat + angle_to_vec(state.theta_boat +
(np.pi - phi)) * boat_size],
[state.p_boat + angle_to_vec(state.theta_boat +
(np.pi + phi)) * boat_size],
[state.p_boat + angle_to_vec(state.theta_boat - phi) * boat_size],
[state.p_boat + angle_to_vec(state.theta_boat)
* spike_coeff * boat_size]
], dtype=int)
cv2.fillConvexPoly(img,
sailboat_pts,
self.style["boat"]["color"],
lineType=cv2.LINE_AA)
def _draw_trail(self, img: np.ndarray, state: RendererState):
self.trail_positions.append(state.p_boat)
for trail_dot_pos in self.trail_positions:
cv2.circle(img,
tuple(trail_dot_pos.astype(int)),
1,
(125, 125, 125),
-1)
def _draw_desired_heading_line(self, img: np.ndarray, state: RendererState, next_waypoint: tuple):
line_start = state.p_boat
line_end = next_waypoint
cv2.line(img,
tuple(line_start.astype(int)),
tuple(line_end.astype(int)),
BLACK,
1,
lineType=cv2.LINE_AA)
def _draw_apparent_wind_angle(self, img: np.ndarray, state: RendererState):
# arrow_start = (self.map_bounds[1][0] - 10, self.map_bounds[1][1] - 10)
arrow_start = np.array((420, 420))
wind_speed = np.linalg.norm(state.apparent_wind)
_, AWA = cartesian_vector_to_polar(state.apparent_wind[0], state.apparent_wind[1])
# AWA += 90
# AWA -= np.rad2deg(state.theta_boat)
arrow_end = (int(arrow_start[0] + 100 * wind_speed * np.cos(np.deg2rad(AWA))), int(arrow_start[1] - 100 * wind_speed * np.sin(np.deg2rad(AWA))))
cv2.arrowedLine(img,
arrow_start,
arrow_end,
self.style["wind"]["color"],
self.style["wind"]["width"],
tipLength=0.2,
line_type=cv2.LINE_AA)
# cv2.fillConvexPoly(img,
# sailboat_pts,
# self.style["boat"]["color"],
# lineType=cv2.LINE_AA)
def _draw_sail(self, img: np.ndarray, state: RendererState):
sail_height = self.style["sail"]["height"]
sail_start = state.p_boat
sail_end = sail_start + angle_to_vec(state.theta_sail) * sail_height
cv2.line(img,
tuple(sail_start.astype(int)),
tuple(sail_end.astype(int)),
self.style["sail"]["color"],
self.style["sail"]["width"],
lineType=cv2.LINE_AA)
def _draw_rudder(self, img: np.ndarray, state: RendererState):
rudder_height = self.style["rudder"]["height"]
boat_phi = self.style["boat"]["phi"]
boat_size = self.style["boat"]["size"]
back_of_boat = state.p_boat + \
angle_to_vec(np.pi + state.theta_boat) * \
np.cos(boat_phi) * boat_size
rudder_start = back_of_boat
rudder_end = rudder_start + \
angle_to_vec(state.theta_rudder) * rudder_height
cv2.line(img,
tuple(rudder_start.astype(int)),
tuple(rudder_end.astype(int)),
self.style["rudder"]["color"],
self.style["rudder"]["width"],
lineType=cv2.LINE_AA)
def _draw_boat_pos_velocity(self, img: np.ndarray, state: RendererState):
dt_p_boat_start = state.p_boat
dt_p_boat_end = dt_p_boat_start + 3 * state.dt_p_boat * self.vector_scale
cv2.arrowedLine(img,
tuple(dt_p_boat_start.astype(int)),
tuple(dt_p_boat_end.astype(int)),
self.style["boat"]["dt_p"]["color"],
self.style["boat"]["dt_p"]["width"],
tipLength=.2,
line_type=cv2.LINE_AA)
def _draw_boat_heading_velocity(self, img: np.ndarray, state: RendererState):
spike_coeff = self.style["boat"]["spike_coef"]
boat_size = self.style["boat"]["size"]
front_of_boat = state.p_boat + \
angle_to_vec(state.theta_boat) * spike_coeff * boat_size
state.dt_p_boat
dt_theta_boat_start = front_of_boat
dt_theta_boat_end = dt_theta_boat_start + state.dt_theta_boat * self.vector_scale
cv2.arrowedLine(img,
tuple(dt_theta_boat_start.astype(int)),
tuple(dt_theta_boat_end.astype(int)),
self.style["boat"]["dt_theta"]["color"],
self.style["boat"]["dt_theta"]["width"],
tipLength=.2,
line_type=cv2.LINE_AA)
def _draw_rudder_velocity(self, img: np.ndarray, state: RendererState):
boat_phi = self.style["boat"]["phi"]
boat_size = self.style["boat"]["size"]
rudder_height = self.style["rudder"]["height"]
back_of_boat = state.p_boat + \
angle_to_vec(np.pi + state.theta_boat) * \
np.cos(boat_phi) * boat_size
dt_rudder_start = back_of_boat + \
angle_to_vec(state.theta_rudder) * rudder_height
dt_rudder_end = dt_rudder_start + state.dt_rudder
cv2.arrowedLine(img,
tuple(dt_rudder_start.astype(int)),
tuple(dt_rudder_end.astype(int)),
self.style["rudder"]["dt_theta"]["color"],
self.style["rudder"]["dt_theta"]["width"],
tipLength=.2,
line_type=cv2.LINE_AA)
def _draw_sail_velocity(self, img: np.ndarray, state: RendererState):
sail_height = self.style["sail"]["height"]
dt_sail_start = state.p_boat + \
angle_to_vec(state.theta_sail) * sail_height
dt_sail_end = dt_sail_start + state.dt_sail
cv2.arrowedLine(img,
tuple(dt_sail_start.astype(int)),
tuple(dt_sail_end.astype(int)),
self.style["sail"]["dt_theta"]["color"],
self.style["sail"]["dt_theta"]["width"],
tipLength=.2,
line_type=cv2.LINE_AA)
def _draw_boat_center(self, img: np.ndarray, state: RendererState):
cv2.circle(img,
tuple(state.p_boat.astype(int)),
self.style["boat"]["center"]["radius"],
self.style["boat"]["center"]["color"],
-1)
def _draw_waypoint(self, img: np.ndarray, x_position, y_position, color):
cv2.circle(img, (int(x_position), int(y_position)), radius=5, color=color, thickness=-1)
def _draw_buoys(self, img: np.ndarray, buoys):
for buoy in buoys:
cv2.circle(img, (int(buoy[0]), int(buoy[1])), radius=5, color=(0,165,255), thickness=-1)
def get_render_mode(self) -> str:
return 'rgb_array'
def get_render_modes(self) -> List[str]:
return ['rgb_array']
def setup(self, map_bounds):
self.map_bounds = map_bounds[:, 0:2] # ignore z axis
self.center = (self.map_bounds[0] + self.map_bounds[1]) / 2
def render(self, state, draw_extra_fct=None):
"""
Args:
state (State): A State object (from utils.py) that represents the boat's current state (stuff like position, speed, wind, etc).
local_waypoints (list[tuples]): A list of all of the desired waypoints to draw in local coordinates.
Returns:
np.ndarray: the image to be displayed
"""
assert (self.map_bounds is not None
and self.center is not None), "Please call setup() first."
img = self._create_empty_img()
# prepare state
state = RendererState(state)
self._transform_state_to_fit_in_img(state)
waypoints = [self._translate_and_scale_to_fit_in_map(np.array(waypoint)) for waypoint in state.waypoints]
buoys = [self._translate_and_scale_to_fit_in_map(np.array(buoy)) for buoy in state.buoys]
# draw extra stuff
if draw_extra_fct is not None:
draw_extra_fct(img, state)
# draw map
self._draw_trail(img, state)
if waypoints:
self._draw_desired_heading_line(img, state, waypoints[state.cur_waypoint])
self._draw_borders(img)
self._draw_water(img, state)
self._draw_decision_zone_lines(img, state)
self._draw_no_go_zone_lines(img, state)
self._draw_boat(img, state)
self._draw_apparent_wind_angle(img, state)
self._draw_boat_heading_velocity(img, state)
self._draw_boat_pos_velocity(img, state)
self._draw_rudder(img, state)
self._draw_rudder_velocity(img, state)
self._draw_sail(img, state)
self._draw_sail_velocity(img, state)
self._draw_boat_center(img, state)
self._draw_wind(img, state)
self._draw_buoys(img, buoys)
if waypoints:
for index, (x, y) in enumerate(waypoints):
if index == state.cur_waypoint:
continue
else:
self._draw_waypoint(img, x, y, (0, 0, 0))
x,y = waypoints[state.cur_waypoint]
self._draw_waypoint(img, x, y, (255, 0, 0))
# flip vertically
img = img[::-1, :, :]
return img