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Obstacle_space generator.py
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Obstacle_space generator.py
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# =========================================================================================================================================================================================================================== #
# -------------> Project 03 <---------------#
# =========================================================================================================================================================================================================================== #
# Authors :-> Sudharsan
# Date :-> 23 April 2019
# =========================================================================================================================================================================================================================== #
# =========================================================================================================================================================================================================================== #
# Import Section
# =========================================================================================================================================================================================================================== #
import numpy as np
import cv2 as cv
import os, sys, time, math
# =========================================================================================================================================================================================================================== #
# Obstacle Space Class Definition
# =========================================================================================================================================================================================================================== #
class ObstacleSpace:
def __init__(self, width: int, height: int, res=1.0) -> None:
self.res = res
self.obstacle_space = np.ones((height, width, 3))
self.robot_points = []
self.obstacles = set()
self.coordinates = set()
self.circle_minowski = set()
self.net_obstacle = set()
self.minowski = set()
clearance = int(res * 22)
t0 = time.time()
# -----> Generate Robot Space <----- #
print('Robot Point Creation: started..!')
for y in range(-clearance, clearance + 1):
for x in range(-clearance, clearance + 1):
if x ** 2 + y ** 2 - clearance ** 2 <= 0:
self.robot_points.append((y, x))
print('Robot Points Creation: Done..!')
# -----> Generate Obstacle Space <----- #
print('Obstacle Space Creation: started..!')
for y in range(height):
for x in range(width):
self.rect_check(y, x)
self.circle_check(y, x, 0)
self.boundry_check(y, x)
self.circle_check(y, x, 29)
if x == 0 or y == 0 or x == width - 1 or y == height - 1:
self.obstacle_space[y, x] = (0.6, 0.6, 0)
if (y, x) not in self.obstacles:
self.obstacles.add((y, x))
if (y, x) not in self.coordinates:
self.coordinates.add((y, x))
t1 = time.time()
print('Obstacle Creation: Done..!')
print("TIme Elapsed: ", t1 - t0)
# -----> Generate Minowski summed Obstacle Space <----- #
print('Minowski sum Obstacle Creation: started..!')
self.minowski_sum(self.robot_points, height, width)
t2 = time.time()
print('Minowski sum obstacle Creation: Done..!')
print("Total TIme Elapsed: ", t2 - t0)
# ======================================================================================================================================================================================================================= #
# Function for rectange check
# ======================================================================================================================================================================================================================= #
def rect_check(self, y: int, x: int):
if 150 <= x <= 309.7 and 100 <= y <= 260:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 01
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 832 <= x <= 918 and 0 <= y <= 183:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 02
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 983 <= x <= 1026 and 0 <= y <= 91:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 03
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 744 <= x <= 1111 and 313 <= y <= 389:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 04
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 1052 <= x <= 1111 and 444.5 <= y <= 561.5:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 05
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 1019 <= x <= 1111 and 561.5 <= y <= 647.5:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 06
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 784.5 <= x <= 934.5 and 626 <= y <= 743:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 07
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 529 <= x <= 712 and 669 <= y <= 745:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 08
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 438 <= x <= 529 and 512 <= y <= 695:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 09
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 1052 <= x <= 1111 and 714.8 <= y <= 831.8:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 10
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 927 <= x <= 1111 and 899 <= y <= 975:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 11
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 779 <= x <= 896 and 917 <= y <= 975:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 12
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 474 <= x <= 748 and 823 <= y <= 975:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 13
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
elif 685 <= x <= 1111 and 975 <= y <= 1011:
self.obstacle_space[y, x] = [0.6, 0.6, 0] # Rect-obstacle - 14
if (y, x) not in self.obstacles: self.obstacles.add((y, x))
# ======================================================================================================================================================================================================================= #
# Function for Circle check
# ======================================================================================================================================================================================================================= #
def circle_check(self, y: int, x: int, flag=0):
if flag:
if (39.5) ** 2 < ((x - 390) ** 2 + (y - 45) ** 2) < (41.5) ** 2:
self.coordinates.add((y, x))
elif (39.5) ** 2 < ((x - 438) ** 2 + (y - 274) ** 2) < (41.5) ** 2:
self.coordinates.add((y, x))
elif (39.5) ** 2 < ((x - 438) ** 2 + (y - 736) ** 2) < (41.5) ** 2:
self.coordinates.add((y, x))
elif (39.5) ** 2 < ((x -
390) ** 2 + (y - 965) ** 2) < (41.5) ** 2:
self.coordinates.add((y, x))
elif (79) ** 2 < ((x - 150) ** 2 + (y - 180) ** 2) < (81) ** 2:
self.coordinates.add((y, x))
elif (79) ** 2 < ((x - 309.7) ** 2 + (y - 180) ** 2) < (81) ** 2:
self.coordinates.add((y, x))
else:
if ((x - 390) ** 2 + (y - 45) ** 2) <= (41) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
elif ((x - 438) ** 2 + (y - 274) ** 2) <= (41) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
elif ((x - 438) ** 2 + (y - 736) ** 2) <= (41) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
elif ((x - 390) ** 2 + (y - 965) ** 2) <= (41) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
elif ((x - 150) ** 2 + (y - 180) ** 2) <= (80) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
elif ((x - 309.7) ** 2 + (y - 180) ** 2) <= (80) ** 2:
self.obstacles.add((y, x))
self.obstacle_space[y, x] = [0.6, 0.6, 0]
# ======================================================================================================================================================================================================================= #
# Function for Boundry check to perform minowski
# ======================================================================================================================================================================================================================= #
def boundry_check(self, y: int, x: int):
if ((150 == x or x == 310) and 100 <= y <= 260) or (
150 <= x <= 310 and (100 == y or y == 260)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 01
if ((832 == x or x == 918) and 0 <= y <= 183) or (
832 <= x <= 918 and (0 == y or y == 183)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 02
if ((983 == x or x == 1026) and 0 <= y <= 91) or (
983 <= x <= 1026 and (0 == y or y == 91)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 03
if ((744 == x or x == 1111) and 313 <= y <= 389) or (
744 <= x <= 1111 and (313 == y or y == 389)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 04
if ((1052 == x or x == 1111) and 445 <= y <= 562) or (
1052 <= x <= 1111 and (445 == y or y == 562)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 05
if ((1019 == x or x == 1111) and 562 <= y <= 648) or (
1019 <= x <= 1111 and (562 == y or y == 648)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 06
if ((785 == x or x == 935) and 626 <= y <= 743) or (
785 <= x <= 935 and (626 == y or y == 743)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 07
if ((529 == x or x == 712) and 669 <= y <= 745) or (
529 <= x <= 712 and (669 == y or y == 745)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 08
if ((x == 438 or x == 529) and 512 <= y <= 695) or (
438 <= x <= 529 and (y == 512 or y == 695)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 09
if ((x == 1052 or x == 1111) and 715 <= y <= 832) or (
1052 <= x <= 1111 and (y == 715 or y == 832)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 10
if ((x == 927 or x == 1111) and 899 <= y <= 975) or (
927 <= x <= 1111 and (y == 899 or y == 975)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 11
if ((x == 779 or x == 896) and 917 <= y <= 975) or (
779 <= x <= 896 and (y == 917 or y == 975)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 12
if ((x == 474 or x == 748) and 823 <= y <= 975) or (
474 <= x <= 748 and (y == 823 or y == 975)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 13
if ((x == 685 or x == 1111) and 975 <= y <= 1011) or (
685 <= x <= 1111 and (y == 975 or y == 1011)): self.coordinates.add(
(y, x)) # Boundry check for Rectangle: 14
# ======================================================================================================================================================================================================================= #
# Function for Minowski Sum
# ======================================================================================================================================================================================================================= #
def minowski_sum(self, robot_points: np.array, h: int, w: int) -> None:
for y, x in self.coordinates:
for j in robot_points:
point = (y - (-1) * j[0], x - (-1) * j[1])
if 0 <= point[1] < w and 0 <= point[0] < h:
if point not in self.obstacles:
self.minowski.add(point)
self.obstacle_space[point] = [0.6, 0.6, 0.6]
self.net_obstacle = self.obstacles.union(self.minowski)
print(len(self.obstacles))
print(len(self.minowski))
print(len(self.net_obstacle))
if __name__ == '__main__':
res = 1
maps = ObstacleSpace(int(1111 * res), int(1011 * res), res)
cv.imshow("Maps", maps.obstacle_space)
maps.obstacle_space = 255 * maps.obstacle_space
obstacle_space = maps.obstacle_space.astype('uint8')
cv.imwrite('./Data/Obstacle_space.jpg', obstacle_space)
obstacle_space_gray = cv.cvtColor(obstacle_space, cv.COLOR_BGR2GRAY)
cv.imwrite('./Data/Obstacle_space_gray.jpg', obstacle_space_gray)
obstacle_space_binary = (255 * (obstacle_space_gray == 255)).astype('uint8')
cv.imwrite('./Data/Obstacle_space_binary.jpg', obstacle_space_binary)
cv.waitKey(0)