nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Keep points within bounds and set 300DPI

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-03-23 10:28:58 +02:00
parent 954020bb36
commit e4c10b23a7
1 changed files with 12 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/virtual_drawing_surface/src/py/drawing_surface.py
View File

@@ -22,6 +22,8 @@ import numpy as np
def translate(val, lmin, lmax, rmin, rmax): def translate(val, lmin, lmax, rmin, rmax):
val = max(lmin, val)
val = min(lmax, val)
lspan = lmax - lmin lspan = lmax - lmin
rspan = rmax - rmin rspan = rmax - rmin
val = float(val - lmin) / float(lspan) val = float(val - lmin) / float(lspan)
@@ -33,8 +35,10 @@ class DrawingApp(tk.Tk):
self.point_queue = point_queue self.point_queue = point_queue
self.image_queue = image_queue self.image_queue = image_queue
self.width = 400
self.height = 400 #300dpi A4 paper is 2480x3508 px
self.width = 3508
self.height = 2480
self.img = PImage.new("RGB", (self.width, self.height), (255, 255, 255)) self.img = PImage.new("RGB", (self.width, self.height), (255, 255, 255))
self.arr = np.array(self.img) self.arr = np.array(self.img)
self.frame_delay = 1 #ms self.frame_delay = 1 #ms
@@ -87,8 +91,12 @@ class DrawingApp(tk.Tk):
p = self.point_queue.get() p = self.point_queue.get()
#x = translate(p.x, -1.0, 0.5, 0, self.width) #x = translate(p.x, -1.0, 0.5, 0, self.width)
#y = translate(p.y, 0.5, -1.0, 0, self.height) #y = translate(p.y, 0.5, -1.0, 0, self.height)
x = translate(p.x, -1.0, 0.5, 0, self.width) #<pose>-0.1485 -0.3 0.5 0 0 0</pose>
y = translate(p.y, -1.0, 0.5, 0, self.height) #<size>0.297 0.21</size>
x = translate(p.x, -0.1485, 0.1485, 0, self.width)
y = translate(p.y, -0.3, -0.09, 0, self.height)
self.draw(int(x),int(y),0) self.draw(int(x),int(y),0)
if self.counter >= self.window_update_delay: if self.counter >= self.window_update_delay: