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sensor_plots.py
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sensor_plots.py
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import numpy as np
import matplotlib.pyplot as plt
from PyQt5.QtWidgets import *
from matplotlib.animation import FuncAnimation
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT
from PyQt5.QtCore import Qt, QTimer
from math import radians
from matplotlib.figure import Figure
from sensor_data_dict_format import top_sensor_dict
from sensor_data_dict_format import left_sensor_dict
from sensor_data_dict_format import right_sensor_dict
# Create a polar plot
class SensorPlots():
def __init__(self):
self.figure = Figure()
self.canvas = FigureCanvas(self.figure)
self.plt1 = self.figure.add_subplot(111)
self.plt1.set_ylim(-2500, 500)
self.plt1.set_xlim(-1500, 1500)
self.plt1.grid(True)
self.line1, = self.plt1.plot(0, 0, label='Top', color='black')
self.line2, = self.plt1.plot(0, 0, label='Left', color='blue')
self.line3, = self.plt1.plot(0, 0, label='Right', color='red')
def get_widget(self):
widget = QWidget()
layout = QVBoxLayout()
toolbar = NavigationToolbar2QT(self.canvas, widget)
layout.addWidget(toolbar)
layout.addWidget(self.canvas)
widget.setLayout(layout)
return widget
def update_plot_top(self, dict_index, x_offset, y_offset, rotation_angle):
dict_values_top = top_sensor_dict.TOP[str(dict_index)]
if isinstance(x_offset, QDoubleSpinBox):
x_offset = x_offset.value()
else:
x_offset = float(x_offset)
if isinstance(y_offset, QDoubleSpinBox):
y_offset = y_offset.value()
else:
y_offset = float(y_offset)
if isinstance(rotation_angle, QDoubleSpinBox):
rotation_angle = rotation_angle.value()
else:
rotation_angle = float(rotation_angle)
dict_values_top = self.rotate_points(dict_values_top, rotation_angle)
x_values_t = [t[1] + float(x_offset) for t in dict_values_top]
y_values_t = [t[0] + float(y_offset) for t in dict_values_top]
self.line1.set_data(x_values_t, y_values_t)
self.canvas.draw_idle()
def update_plot_left(self, dict_index, x_offset, y_offset, rotation_angle):
dict_values_left = left_sensor_dict.LEFT[str(dict_index)]
if isinstance(x_offset, QDoubleSpinBox):
x_offset = x_offset.value()
else:
x_offset = float(x_offset)
if isinstance(y_offset, QDoubleSpinBox):
y_offset = y_offset.value()
else:
y_offset = float(y_offset)
if isinstance(rotation_angle, QDoubleSpinBox):
rotation_angle = rotation_angle.value()
else:
rotation_angle = float(rotation_angle)
dict_values_left = self.rotate_points(dict_values_left, rotation_angle)
x_values_l = [t[1]*-1 - 1226 + float(x_offset) for t in dict_values_left]
y_values_l = [t[0] - 1020 + float(y_offset) for t in dict_values_left]
self.line2.set_data(x_values_l, y_values_l)
self.canvas.draw_idle()
def update_plot_right(self, dict_index, x_offset, y_offset, rotation_angle):
dict_values_right = right_sensor_dict.RIGHT[str(dict_index)]
if isinstance(x_offset, QDoubleSpinBox):
x_offset = x_offset.value()
else:
x_offset = float(x_offset)
if isinstance(y_offset, QDoubleSpinBox):
y_offset = y_offset.value()
else:
y_offset = float(y_offset)
if isinstance(rotation_angle, QDoubleSpinBox):
rotation_angle = rotation_angle.value()
else:
rotation_angle = float(rotation_angle)
dict_values_right = self.rotate_points(dict_values_right, rotation_angle)
x_values_r = [t[1] + 1180 + float(x_offset) for t in dict_values_right]
y_values_r = [t[0] - 1070 + float(y_offset) for t in dict_values_right]
self.line3.set_data(x_values_r, y_values_r)
self.canvas.draw_idle()
def rotate_points(self, points, angle):
points_array = np.array(points)
x = points_array[:, 0]
y = points_array[:, 1]
pivot = (0, 0)
# Calculate the translation vector to move the pivot point to the origin
translation = -np.array(pivot)
translated_x = x + translation[0]
translated_y = y + translation[1]
# Apply the rotation transformation
theta = np.radians(angle)
rotated_x = np.cos(theta) * translated_x - np.sin(theta) * translated_y
rotated_y = np.sin(theta) * translated_x + np.cos(theta) * translated_y
# Translate the points back to the original position
translated_back_x = rotated_x - translation[0]
translated_back_y = rotated_y - translation[1]
# Combine translated back x and y coordinates into points array
translated_back_points = np.column_stack((translated_back_x, translated_back_y))
# Convert the NumPy array back to a list of tuples
rotated_points_list = translated_back_points.tolist()
return rotated_points_list