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4706d83 56d9b88 4706d83 56d9b88 4706d83 56d9b88 4706d83 56d9b88 4706d83 56d9b88 4706d83 56d9b88 4706d83 56d9b88 4706d83 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | import cv2
import numpy as np
import gradio as gr
def calculate_configuration_space(map_img, robot_img, map_coords, robot_coords):
# Convert coordinates to NumPy arrays
map_coords = np.array(map_coords, dtype=np.float32)
robot_coords = np.array(robot_coords, dtype=np.float32)
# Get the perspective transform for the map image
map_height, map_width = map_img.shape[:2]
dest_map_coords = np.array([[0, 0], [map_width, 0], [map_width, map_height], [0, map_height]], dtype=np.float32)
map_transform = cv2.getPerspectiveTransform(map_coords, dest_map_coords)
map_transformed = cv2.warpPerspective(map_img, map_transform, (map_width, map_height))
# Get the bounding box of the robot coordinates
robot_rect = cv2.boundingRect(robot_coords)
robot_width, robot_height = robot_rect[2], robot_rect[3]
# Create an empty image for the robot footprint and draw the footprint on it
robot_transformed = np.zeros((robot_height, robot_width), dtype=np.uint8)
cv2.drawContours(robot_transformed, [robot_coords - robot_rect[:2]], -1, 255, -1)
# Dilate the map image by the robot footprint to get the configuration space
configuration_space = cv2.dilate(map_transformed, robot_transformed)
# Invert colors for better visualization
configuration_space = cv2.bitwise_not(configuration_space)
# Convert configuration space back to BGR for displaying
configuration_space_bgr = cv2.cvtColor(configuration_space, cv2.COLOR_GRAY2BGR)
return configuration_space_bgr
def main(map_img, robot_img, map_coords, robot_coords):
result_img = calculate_configuration_space(map_img, robot_img, map_coords, robot_coords)
return result_img
# Define the Gradio interface
iface = gr.Interface(
fn=main,
inputs=[
gr.Image(type="numpy", label="Map Image"),
gr.Image(type="numpy", label="Robot Footprint Image"),
gr.Textbox(lines=2, placeholder="List of 4 map coordinates (e.g., [[0,0],[1,0],[1,1],[0,1]])", label="Map Coordinates"),
gr.Textbox(lines=2, placeholder="List of robot footprint coordinates (e.g., [[0,0],[1,0],[1,1],[0,1]])", label="Robot Footprint Coordinates")
],
outputs=gr.Image(type="numpy", label="Configuration Space"),
title="Configuration Space Calculator",
description="Upload a map and a robot footprint with coordinates to calculate the configuration space."
)
if __name__ == "__main__":
iface.launch()
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