From: Francois Fleuret Date: Thu, 2 Mar 2017 16:41:21 +0000 (+0100) Subject: Update. X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=flatland.git;a=commitdiff_plain;h=1f91ec6f67da83525115f49dcc7d535ff2e71ef0 Update. --- diff --git a/flatland.c b/flatland.c index 032336a..77f89aa 100644 --- a/flatland.c +++ b/flatland.c @@ -18,14 +18,18 @@ #include "sequence_generator.h" -THByteTensor *generate_sequence(long nb_sequences, long nb_images_per_sequence, long image_width, long image_height) { +THByteTensor *generate_sequence(long nb_sequences, + long nb_images, + long image_height, long image_width, + int random_shape_size, int random_colors) { + long nb_channels = 3; unsigned char *a, *b; long s, c, k, i, j, st0, st1, st2, st3, st4; THLongStorage *size = THLongStorage_newWithSize(5); size->data[0] = nb_sequences; - size->data[1] = nb_images_per_sequence; + size->data[1] = nb_images; size->data[2] = nb_channels; size->data[3] = image_height; size->data[4] = image_width; @@ -38,13 +42,15 @@ THByteTensor *generate_sequence(long nb_sequences, long nb_images_per_sequence, st3 = THByteTensor_stride(result, 3); st4 = THByteTensor_stride(result, 4); - unsigned char tmp_buffer[nb_images_per_sequence * nb_channels * image_width * image_height]; + unsigned char tmp_buffer[nb_images * nb_channels * image_width * image_height]; for(s = 0; s < nb_sequences; s++) { a = THByteTensor_storage(result)->data + THByteTensor_storageOffset(result) + s * st0; - fl_generate_sequences(1, nb_images_per_sequence, image_width, image_height, tmp_buffer); + fl_generate_sequence(nb_images, image_width, image_height, + random_shape_size, random_colors, + tmp_buffer); unsigned char *r = tmp_buffer; - for(k = 0; k < nb_images_per_sequence; k++) { + for(k = 0; k < nb_images; k++) { for(c = 0; c < nb_channels; c++) { for(i = 0; i < image_height; i++) { b = a + k * st1 + c * st2 + i * st3; diff --git a/flatland.h b/flatland.h index 734add4..e86533e 100644 --- a/flatland.h +++ b/flatland.h @@ -1,4 +1,5 @@ THByteTensor *generate_sequence(long nb_sequences, - long nb_images_per_sequence, - long image_width, long image_height); + long nb_images, + long image_height, long image_width, + int random_shape_size, int random_colors); diff --git a/polygon.cc b/polygon.cc index b64fbe4..bfa95f8 100644 --- a/polygon.cc +++ b/polygon.cc @@ -517,6 +517,14 @@ void Polygon::apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p) { } +bool Polygon::collide_with_borders(scalar_t xmin, scalar_t ymin, + scalar_t xmax, scalar_t ymax) { + for(int n = 0; n < _nb_vertices; n++) { + if(_x[n] <= xmin || _x[n] >= xmax || _y[n] <= ymin || _y[n] >= ymax) return true; + } + return false; +} + bool Polygon::collide(Polygon *p) { for(int n = 0; n < _nb_vertices; n++) { int np = (n+1)%_nb_vertices; diff --git a/polygon.h b/polygon.h index 557fdd6..acf9775 100644 --- a/polygon.h +++ b/polygon.h @@ -122,6 +122,9 @@ public: void apply_border_forces(scalar_t dt, scalar_t xmin, scalar_t ymin, scalar_t xmax, scalar_t ymax); void apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p); + bool collide_with_borders(scalar_t xmin, scalar_t ymin, + scalar_t xmax, scalar_t ymax); + bool collide(Polygon *p); }; diff --git a/sequence_generator.cc b/sequence_generator.cc index 6e6b747..540c574 100644 --- a/sequence_generator.cc +++ b/sequence_generator.cc @@ -65,10 +65,10 @@ void draw_grabbing_point_on_canvas(CanvasCairo *canvas, scalar_t scaling, ////////////////////////////////////////////////////////////////////// -extern "C" void fl_generate_sequences(int nb_sequences, - int nb_images_per_sequence, - int width, int height, - unsigned char *output) { +extern "C" void fl_generate_sequence(int nb_images, + int width, int height, + int random_shape_size, int random_colors, + unsigned char *output) { const scalar_t world_width = width * 8; const scalar_t world_height = height * 8; @@ -85,33 +85,32 @@ extern "C" void fl_generate_sequences(int nb_sequences, // nice materials for presentations or papers. int every_nth = 16; - int nb_simulated_frames = 1 + (nb_images_per_sequence - 1) * every_nth; + int nb_simulated_frames = 1 + (nb_images - 1) * every_nth; int random_grasp = 1; - int random_shape_size = 0; int nb_shapes = 10; - int skip = -1; - for(int n = 0; n < nb_sequences; n++) { + Universe *universe; + Polygon *grabbed_polygon; - Universe *universe; - Polygon *grabbed_polygon; + universe = new Universe(nb_shapes, world_width, world_height); - universe = new Universe(nb_shapes, world_width, world_height); + const int nb_saved_frames = (nb_simulated_frames + every_nth - 1) / every_nth; + if(nb_saved_frames != nb_images) { + cerr << "It makes no sense." << endl; + abort(); + } - const int nb_saved_frames = (nb_simulated_frames + every_nth - 1) / every_nth; - if(nb_saved_frames != nb_images_per_sequence) { - cerr << "It makes no sense." << endl; - abort(); - } + CanvasCairo *canvases[nb_saved_frames * 2]; - CanvasCairo *canvases[nb_saved_frames * 2]; + for(int s = 0; s < 2 * nb_saved_frames; s++) { + canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height()); + } - for(int s = 0; s < 2 * nb_saved_frames; s++) { - canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height()); - } + scalar_t grab_start_x, grab_start_y; - scalar_t grab_start_x, grab_start_y; + int failed; + do { if(random_grasp) { grab_start_x = world_width * (0.1 + 0.8 * drand48()); grab_start_y = world_height * (0.1 + 0.8 * drand48()); @@ -139,6 +138,21 @@ extern "C" void fl_generate_sequences(int nb_sequences, shape_size = 80; } + scalar_t red, green, blue; + + if(random_colors) { + do { + red = drand48(); + green = drand48(); + blue = drand48(); + } while(red < 0.9 and green < 0.9 and blue < 0.9 and + red > 0.1 and green > 0.1 and blue > 0.1); + } else { + red = 1.0; + green = 1.0; + blue = 1.0; + } + do { scalar_t x[] = { - shape_size * 0.4, + shape_size * 0.4, + shape_size * 0.4, - shape_size * 0.4 }; @@ -146,20 +160,19 @@ extern "C" void fl_generate_sequences(int nb_sequences, scalar_t y[] = { - shape_size * 0.6, - shape_size * 0.6, + shape_size * 0.6, + shape_size * 0.6 }; - scalar_t delta = shape_size / sqrt(2.0); - - scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48(); - scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48(); + scalar_t object_center_x = world_width * drand48(); + scalar_t object_center_y = world_height * drand48(); delete pol; - pol = new Polygon(0.5, 1.0, 1.0, 1.0, x, y, sizeof(x)/sizeof(scalar_t)); + pol = new Polygon(0.5, red, green, blue, x, y, sizeof(x) / sizeof(scalar_t)); pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48()); pol->set_speed(0, 0, 0); universe->initialize_polygon(pol); nb_attempts++; - } while(nb_attempts < nb_attempts_max && universe->collide(pol)); + } while(nb_attempts < nb_attempts_max && + (universe->collide(pol) || universe->collide_with_borders(pol, 2.0 / scaling))); if(nb_attempts == nb_attempts_max) { delete pol; @@ -174,60 +187,67 @@ extern "C" void fl_generate_sequences(int nb_sequences, grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y); } while(!grabbed_polygon); - if(skip < 0 || n >= skip) { + failed = 0; - scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y); - scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y); + scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y); + scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y); - for(int s = 0; s < nb_simulated_frames; s++) { - if(s % every_nth == 0) { - int t = s / every_nth; - // scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y); - // scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y); + for(int s = 0; !failed && s < nb_simulated_frames; s++) { + if(s % every_nth == 0) { + int t = s / every_nth; + // scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y); + // scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y); - // canvases[2 * t + 0]->clear(); - // draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling, - // xf, yf, 0.0, 0.0, 0.0); - // canvases[2 * t + 1]->clear(); - // draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe); + // canvases[2 * t + 0]->clear(); + // draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling, + // xf, yf, 0.0, 0.0, 0.0); + // canvases[2 * t + 1]->clear(); + // draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe); - canvases[t]->clear(); - draw_universe_on_canvas(canvases[t], scaling, universe); + canvases[t]->clear(); + draw_universe_on_canvas(canvases[t], scaling, universe); - // if(show_grabbing_point) { - // draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling, - // xf, yf, 1.0, 0.0, 0.0); - // } - } - - if(s < nb_simulated_frames - 1) { - // Run the simulation - for(int i = 0; i < nb_iterations_per_steps; i++) { - scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y); - scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y); - grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0); - universe->update(dt, 1.0 / scaling); - } - } + // if(show_grabbing_point) { + // draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling, + // xf, yf, 1.0, 0.0, 0.0); + // } } - for(int t = 0; t < nb_images_per_sequence; t++) { - unsigned char *src = canvases[t]->_data; - unsigned char *dst = output + (n * nb_images_per_sequence + t) * width * height * 3; - for(int d = 0; d < 3; d++) { - for(int y = 0; y < height; y++) { - for(int x = 0; x < width; x++) { - dst[x + width * (y + height * d)] = src[d + 4 * (x + width * y)]; - } + if(s < nb_simulated_frames - 1) { + // Run the simulation + for(int i = 0; i < nb_iterations_per_steps; i++) { + scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y); + scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y); + cout << "xf = " << xf << " yf = " << yf << endl; + if (xf < 0 || xf >= world_width || yf < 0 || yf >= world_height) { + failed = 1; } + grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0); + universe->update(dt, 1.0 / scaling); } } } - for(int t = 0; t < 2 * nb_saved_frames; t++) { - delete canvases[t]; + if(failed) cout << "** FAILED" << endl; + else cout << "** DONE" << endl; + + } while(failed); + + for(int t = 0; t < nb_images; t++) { + unsigned char *src = canvases[t]->_data; + unsigned char *dst = output + t * width * height * 3; + for(int d = 0; d < 3; d++) { + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + dst[x + width * (y + height * d)] = src[d + 4 * (x + width * y)]; + } + } } + } - delete universe; + for(int t = 0; t < 2 * nb_saved_frames; t++) { + delete canvases[t]; } + + delete universe; } diff --git a/sequence_generator.h b/sequence_generator.h index 9a9247a..76f1d33 100644 --- a/sequence_generator.h +++ b/sequence_generator.h @@ -3,10 +3,10 @@ extern "C" { #endif -void fl_generate_sequences(int nb_sequences, - int nb_images_per_sequence, - int width, int height, - unsigned char *output); +void fl_generate_sequence(int nb_images, + int width, int height, + int random_shape_size, int random_colors, + unsigned char *output); #ifdef __cplusplus } diff --git a/test.py b/test.py index c6b6c48..2853309 100755 --- a/test.py +++ b/test.py @@ -8,7 +8,7 @@ from _ext import flatland ###################################################################### -def sequences_to_image(x): +def sequences_to_image(x, gap=1, gap_color = (0, 128, 255)): from PIL import Image nb_sequences = x.size(0) @@ -21,8 +21,6 @@ def sequences_to_image(x): height = x.size(3) width = x.size(4) - gap = 1 - gap_color = (0, 128, 255) result = torch.ByteTensor(nb_channels, gap + nb_sequences * (height + gap), @@ -34,7 +32,9 @@ def sequences_to_image(x): for s in range(0, nb_sequences): for i in range(0, nb_images_per_sequences): - result.narrow(1, gap + s * (height + gap), height).narrow(2, gap + i * (width + gap), width).copy_(x[s][i]) + result.narrow(1, gap + s * (height + gap), height) \ + .narrow(2, gap + i * (width + gap), width) \ + .copy_(x[s][i]) result_numpy = result.cpu().byte().transpose(0, 2).transpose(0, 1).numpy() @@ -42,6 +42,6 @@ def sequences_to_image(x): ###################################################################### -x = flatland.generate_sequence(5, 3, 128, 96) +x = flatland.generate_sequence(1, 3, 80, 80, True, True) -sequences_to_image(x).save('sequences.png') +sequences_to_image(x, gap = 2, gap_color = (0, 0, 0)).save('sequences.png') diff --git a/universe.cc b/universe.cc index b897d0c..32e6f33 100644 --- a/universe.cc +++ b/universe.cc @@ -62,6 +62,11 @@ void Universe::add_polygon(Polygon *p) { } } +bool Universe::collide_with_borders(Polygon *p, scalar_t padding) { + return p->collide_with_borders(padding, padding,_width - padding, _height - padding); + +} + bool Universe::collide(Polygon *p) { for(int n = 0; n < _nb_polygons; n++) if(_polygons[n] && _polygons[n]->collide(p)) return true; diff --git a/universe.h b/universe.h index c80bf2c..3537750 100644 --- a/universe.h +++ b/universe.h @@ -50,11 +50,14 @@ public: void initialize_polygon(Polygon *p); void clear(); void add_polygon(Polygon *p); + + bool collide_with_borders(Polygon *p, scalar_t padding); bool collide(Polygon *p); // Compute collisions between projections of the polygons on a few // axis to speed up the computation void compute_pseudo_collisions(int nb_axis, int *nb_colliding_axis); + void apply_collision_forces(scalar_t dt); bool update(scalar_t dt, scalar_t padding);