| 8 | |
| 9 | |
| 10 | class Plotter(object): |
| 11 | def __init__(self, size): |
| 12 | self.size = size |
| 13 | self.clear() |
| 14 | self.title = str(self.size) |
| 15 | |
| 16 | def clear(self): |
| 17 | from PIL import Image, ImageDraw |
| 18 | |
| 19 | self.img = Image.fromarray(np.zeros((self.size, self.size, 3), dtype=np.uint8)) |
| 20 | self.draw = ImageDraw.Draw(self.img) |
| 21 | |
| 22 | def dot(self, pos, node, color=(255, 255, 255), r=2): |
| 23 | x, y = 5.5 * (pos - node) |
| 24 | x += self.size / 2 |
| 25 | y += self.size / 2 |
| 26 | |
| 27 | self.draw.ellipse((x-r, y-r, x+r, y+r), color) |
| 28 | |
| 29 | def show(self): |
| 30 | if not DEBUG: |
| 31 | return |
| 32 | |
| 33 | import cv2 |
| 34 | |
| 35 | cv2.imshow(self.title, cv2.cvtColor(np.array(self.img), cv2.COLOR_BGR2RGB)) |
| 36 | cv2.waitKey(1) |
| 37 | |
| 38 | |
| 39 | class RoutePlanner(object): |