map generator v0.0 xd

src/drone_web/drone_web/map_generator.py

@@ -0,0 +1,109 @@
+import numpy as np
+import cv2
+import math
+import smallestenclosingcircle as sec
+
+#according to the rules the final map should include: 
+
+#- trees divided into categories
+#- time, place and kind of shots fired
+#- time of mission 
+#- drone's route
+
+class Tree():
+    def __init__(self, north, east, color: str, time: str = None):
+        self.location_local = (north,east)
+        self.time = time
+        self.map = None #geometric information about map in dronekit local frame
+
+        if color == 'gold': #BGR (OpenCV format)
+            self.color = (65, 159, 212)
+        elif color == 'beige':
+            self.color = (227, 246, 249)
+        elif color == 'brown':
+            self.color = (76, 107, 147)
+
+class MapInfo():
+    def __init__(self, corners, home, time):
+        self.time = time
+        self.corners = corners
+        self.home = home
+
+class MapGenerator():
+    def __init__(self, trees, map_info: MapInfo, route=None):
+        self.map_image = np.zeros((700, 850, 3), dtype=np.uint8)
+
+        self.route = route
+        self.trees = trees
+        self.map_info = map_info
+        self.__parse_map()
+
+    def __parse_map(self):
+        points = [self.map_info.home]
+        for corners in self.map_info.corners:
+            points.append(corners)
+        x,y,r = sec.make_circle(points)
+        self.map.center = (x,y)
+        self.map.radius = r
+
+    def __to_map_coords(self, point):
+        image_x = (point[0]-self.map.center[0]) / self.map.radius * (self.map_image.shape[0]-50) + self.map_image.shape[0]//2
+        image_y = (point[1]-self.map.center[1]) / self.map.radius * (self.map_image.shape[1]-200) + ((self.map_image.shape[0]-150)//2)
+        return (image_x,image_y)
+
+    def add_location_markings(self):
+        for corner in self.map_info.corners:
+            location = self.__to_map_coords(corner)
+            cv2.circle(self.map_image, location, radius=6, color=(0, 0, 255), thickness=-1)
+
+        location = self.__to_map_coords(self.map_info.home)
+        cv2.circle(self.map_image, location, radius=8, color=(255, 0, 0), thickness=-1)
+        size, _ = cv2.getTextSize('Start', cv2.FONT_HERSHEY_SIMPLEX, 2, 1)
+        cv2.putText(self.map_image, 'Start', (location[0] - (size[0]//2), location[1]+10), 
+                    cv2.FONT_HERSHEY_SIMPLEX, 2, (255, 255, 255), 1, cv2.LINE_AA)
+
+    def add_legend(self):
+        pass
+
+    def add_trees(self):
+        for tree in self.trees:
+            location = self.__to_map_coords(tree.location_local)
+            cv2.circle(self.map_image, location, radius=4, color=(65, 159, 212), thickness=-1)
+
+            # Display the date below the circle
+            if tree.time != None:
+                text_size, _ = cv2.getTextSize(tree.time, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
+                text_x = location[0] - (text_size[0] // 2)
+                text_y = location[1] + 25
+                cv2.putText(self.map_image, tree.time, (text_x, text_y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1, cv2.LINE_AA)
+
+    def add_route(self):
+        for i in range(len(self.route) - 1):
+            cv2.line(self.map_image, self.__to_map_coords(route[i]), self.__to_map_coords(route[i + 1]), (255,255,255), 1)
+
+    def add_mission_time(self):
+        date_string = f"Mission start time: {self.map_info.time}"
+        size, _ = cv2.getTextSize(date_string, cv2.FONT_HERSHEY_SIMPLEX, 2, 1)
+        cv2.putText(self.map_image, date_string, (self.map_image.shape[0]-size[0],self.map_image.shape[1]-size[1]), 
+                    cv2.FONT_HERSHEY_SIMPLEX, 2, (255, 255, 255), 1, cv2.LINE_AA)
+
+    def save_map(self):
+        cv2.imwrite('map.png',self.map_image)
+
+    def show_map(self):
+        cv2.imshow('map',self.map_image)
+
+#EXAMPLES of how the lists should look like:
+
+corners = [(10,10),(150,15),(45,100),(150,100)]
+route=[(70, 490), (210, 630),(490, 490),(630, 630), (210, 350), (70, 70)] 
+home = (2,8)
+map_data = MapInfo(corners,home,'12:31')
+
+brown = Tree(75,75,'brown','13')
+beige = Tree(40,80,'beige','27')
+gold = Tree(100,20,'gold','50')
+
+trees = [beige, brown, gold]
+
+generator = MapGenerator(trees,map_data)