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map.py
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import cv2 as cv
import numpy as np
class Map:
def __init__(self, position):
path = "./maps/easy.bmp"
self.__position = position
self.__content = cv.imread(path, cv.IMREAD_UNCHANGED)
external_bounding_box, internal_bounding_box = self.__create_bounding_box()
self.__external_bounding_box = external_bounding_box
self.__internal_bounding_box = internal_bounding_box
def __create_bounding_box(self):
imgray = cv.cvtColor(self.__content, cv.COLOR_BGR2GRAY)
_, thresh = cv.threshold(imgray, 254, 255, cv.THRESH_BINARY)
countours, _ = cv.findContours(thresh, cv.RETR_LIST, cv.CHAIN_APPROX_NONE)
#internal box
min_internal_point = max_internal_point = None
for c in countours[1]:
point = [c[0][0], c[0][1]]
if min_internal_point == None or point < min_internal_point:
min_internal_point = point
if max_internal_point == None or point > max_internal_point:
max_internal_point = point
#external box
min_external_point = max_external_point = None
for c in countours[2]:
point = [c[0][0], c[0][1]]
if min_external_point == None or point < min_external_point:
min_external_point = point
if max_external_point == None or point > max_external_point:
max_external_point = point
return [min_external_point, max_external_point], [min_internal_point, max_internal_point]
def position_available(self, item_bounding_box):
external_min_point, external_max_point = self.__external_bounding_box
internal_min_point, internal_max_point = self.__internal_bounding_box
item_min_point, item_max_point = item_bounding_box
outside_internal_box_low = item_min_point[1] > internal_max_point[1]
outside_internal_box_top = item_max_point[1] < internal_min_point[1]
outside_internal_box_right = item_min_point[0] > internal_max_point[0]
outside_internal_box_left = item_max_point[0] < internal_min_point[0]
outside_internal_box = outside_internal_box_low or outside_internal_box_top or outside_internal_box_right or outside_internal_box_left
inside_external_box_low = item_max_point[1] < external_max_point[1]
inside_external_box_top = item_min_point[1] > external_min_point[1]
inside_external_box_right = item_max_point[0] < external_max_point[0]
inside_external_box_left = item_min_point[0] > external_min_point[0]
inside_external_box = inside_external_box_low and inside_external_box_top and inside_external_box_right and inside_external_box_left
inside_map = outside_internal_box and inside_external_box
return inside_map
def __get_front_distance(self, direction, center):
external_min_point, external_max_point = self.__external_bounding_box
internal_min_point, internal_max_point = self.__internal_bounding_box
x, y = center
distance = 0
if direction[0] == 1:
if x > external_min_point[0] and x < internal_min_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la izquierda de la caja interna
distance = internal_min_point[0] - x
else:
distance = external_max_point[0] - x
if direction[0] == -1:
if x > internal_max_point[0] and x < external_max_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la derecha de la caja interna
distance = x - internal_max_point[0]
else:
distance = x - external_min_point[0]
if direction[1] == 1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > external_min_point[1] and y < internal_min_point[1]:
#sobre de la caja interna
distance = internal_min_point[1] - y
else:
distance = external_max_point[1] - y
if direction[1] == -1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > internal_max_point[1] and y < external_max_point[1]:
#bajo de la caja interna
distance = y - internal_max_point[1]
else:
distance = y - external_min_point[1]
return distance
def __right_distance(self, direction, center):
external_min_point, external_max_point = self.__external_bounding_box
internal_min_point, internal_max_point = self.__internal_bounding_box
x, y = center
distance = 0
if direction[0] == 1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > external_min_point[1] and y < internal_min_point[1]:
#sobre de la caja interna
distance = internal_min_point[1] - y
else:
distance = external_max_point[1] - y
if direction[0] == -1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > internal_max_point[1] and y < external_max_point[1]:
#bajo de la caja interna
distance = y - internal_max_point[1]
else:
distance = y - external_min_point[1]
if direction[1] == 1:
if x > internal_max_point[0] and x < external_max_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la derecha de la caja interna
distance = x - internal_max_point[0]
else:
distance = x - external_min_point[0]
if direction[1] == -1:
if x > external_min_point[0] and x < internal_min_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la izquierda de la caja interna
distance = internal_min_point[0] - x
else:
distance = external_max_point[0] - x
return distance
def __left_distance(self, direction, center):
external_min_point, external_max_point = self.__external_bounding_box
internal_min_point, internal_max_point = self.__internal_bounding_box
x, y = center
distance = 0
if direction[0] == 1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > internal_max_point[1] and y < external_max_point[1]:
#bajo de la caja interna
distance = y - internal_max_point[1]
else:
distance = y - external_min_point[1]
if direction[0] == -1:
if x > internal_min_point[0] and x < internal_max_point[0] and y > external_min_point[1] and y < internal_min_point[1]:
#sobre de la caja interna
distance = internal_min_point[1] - y
else:
distance = external_max_point[1] - y
if direction[1] == 1:
if x > external_min_point[0] and x < internal_min_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la izquierda de la caja interna
distance = internal_min_point[0] - x
else:
distance = external_max_point[0] - x
if direction[1] == -1:
if x > internal_max_point[0] and x < external_max_point[0] and y > internal_min_point[1] and y < internal_max_point[1]:
#a la derecha de la caja interna
distance = x - internal_max_point[0]
else:
distance = x - external_min_point[0]
return distance
def get_distances(self, direction, center):
front_distance = self.__get_front_distance(direction, center)
right_distance = self.__right_distance(direction, center)
left_distance = self.__left_distance(direction, center)
return [front_distance, right_distance, left_distance]
def transform(self):
pass
def render(self):
return self.__position, self.__content