From: François Fleuret <francois@fleuret.org>
Date: Sat, 8 Jul 2023 19:50:21 +0000 (+0200)
Subject: Update.
X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=commitdiff_plain;h=e38b98574f1966ea3a91ffb8fd9042f10a75ca88;p=picoclvr.git

Update.
---

diff --git a/world.py b/world.py
new file mode 100755
index 0000000..bac9e76
--- /dev/null
+++ b/world.py
@@ -0,0 +1,150 @@
+#!/usr/bin/env python
+
+import math
+
+import torch, torchvision
+
+from torch import nn
+from torch.nn import functional as F
+import cairo
+
+
+class Box:
+    def __init__(self, x, y, w, h, r, g, b):
+        self.x = x
+        self.y = y
+        self.w = w
+        self.h = h
+        self.r = r
+        self.g = g
+        self.b = b
+
+    def collision(self, scene):
+        for c in scene:
+            if (
+                self is not c
+                and max(self.x, c.x) <= min(self.x + self.w, c.x + c.w)
+                and max(self.y, c.y) <= min(self.y + self.h, c.y + c.h)
+            ):
+                return True
+        return False
+
+
+def scene2tensor(xh, yh, scene, size=512):
+    width, height = size, size
+    pixel_map = torch.ByteTensor(width, height, 4).fill_(255)
+    data = pixel_map.numpy()
+    surface = cairo.ImageSurface.create_for_data(
+        data, cairo.FORMAT_ARGB32, width, height
+    )
+
+    ctx = cairo.Context(surface)
+    ctx.set_fill_rule(cairo.FILL_RULE_EVEN_ODD)
+
+    for b in scene:
+        ctx.move_to(b.x * size, b.y * size)
+        ctx.rel_line_to(b.w * size, 0)
+        ctx.rel_line_to(0, b.h * size)
+        ctx.rel_line_to(-b.w * size, 0)
+        ctx.close_path()
+        ctx.set_source_rgba(b.r, b.g, b.b, 1.0)
+        ctx.fill_preserve()
+        ctx.set_source_rgba(0, 0, 0, 1.0)
+        ctx.stroke()
+
+    hs = size * 0.05
+    ctx.set_source_rgba(0.0, 0.0, 0.0, 1.0)
+    ctx.move_to(xh * size - hs / 2, yh * size - hs / 2)
+    ctx.rel_line_to(hs, 0)
+    ctx.rel_line_to(0, hs)
+    ctx.rel_line_to(-hs, 0)
+    ctx.close_path()
+    ctx.fill()
+
+    return pixel_map[None, :, :, :3].flip(-1).permute(0, 3, 1, 2).float() / 255
+
+
+def random_scene():
+    scene = []
+    colors = [
+        (1.00, 0.00, 0.00),
+        (0.00, 1.00, 0.00),
+        (0.00, 0.00, 1.00),
+        (1.00, 1.00, 0.00),
+        (0.75, 0.75, 0.75),
+    ]
+
+    for k in range(10):
+        wh = torch.rand(2) * 0.2 + 0.2
+        xy = torch.rand(2) * (1 - wh)
+        c = colors[torch.randint(len(colors), (1,))]
+        b = Box(
+            xy[0].item(), xy[1].item(), wh[0].item(), wh[1].item(), c[0], c[1], c[2]
+        )
+        if not b.collision(scene):
+            scene.append(b)
+
+    return scene
+
+
+def sequence(length=10):
+    delta = 0.1
+    effects = [
+        (False, 0, 0),
+        (False, delta, 0),
+        (False, 0, delta),
+        (False, -delta, 0),
+        (False, 0, -delta),
+        (True, delta, 0),
+        (True, 0, delta),
+        (True, -delta, 0),
+        (True, 0, -delta),
+    ]
+
+    while True:
+        scene = random_scene()
+        xh, yh = tuple(x.item() for x in torch.rand(2))
+
+        frame_start = scene2tensor(xh, yh, scene)
+
+        actions = torch.randint(len(effects), (length,))
+        change = False
+
+        for a in actions:
+            g, dx, dy = effects[a]
+            if g:
+                for b in scene:
+                    if b.x <= xh and b.x + b.w >= xh and b.y <= yh and b.y + b.h >= yh:
+                        x, y = b.x, b.y
+                        b.x += dx
+                        b.y += dy
+                        if (
+                            b.x < 0
+                            or b.y < 0
+                            or b.x + b.w > 1
+                            or b.y + b.h > 1
+                            or b.collision(scene)
+                        ):
+                            b.x, b.y = x, y
+                        else:
+                            xh += dx
+                            yh += dy
+                            change = True
+            else:
+                x, y = xh, yh
+                xh += dx
+                yh += dy
+                if xh < 0 or xh > 1 or yh < 0 or yh > 1:
+                    xh, yh = x, y
+
+        frame_end = scene2tensor(xh, yh, scene)
+        if change:
+            break
+
+    return frame_start, frame_end, actions
+
+
+if __name__ == "__main__":
+    frame_start, frame_end, actions = sequence()
+    torchvision.utils.save_image(frame_start, "world_start.png")
+    torchvision.utils.save_image(frame_end, "world_end.png")