| 1 | #!/usr/bin/python -tt
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| 2 | #
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| 3 | # Dominik Neise
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| 4 | #
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| 5 | import os.path
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| 6 | import numpy as np
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| 7 | import math
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| 8 | from euclid import *
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| 9 | import sys
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| 10 |
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| 11 | class Coordinator(object):
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| 12 | """ class to transform chid <-> hexagonal coordinates and vice versa """
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| 13 |
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| 14 | def __init__(self, map_file_path = "../map.txt"):
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| 15 | """ read map text file and generate from the three columns
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| 16 | chid, xe and ye
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| 17 | 3 dictionaries: chid2coor, coor2chid, chid2nn
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| 18 | chid2nn means 'chid_to_next_neighbor_chids'
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| 19 |
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| 20 | this is done by calculating the hexagonal coordinates
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| 21 | from the euclidian coordinates given in xe & ye.
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| 22 | the center and the two base vectors are hard coded to be:
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| 23 | center = Vector2( 0. , 1./2.)
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| 24 | ey = Vector2( 0. , 1. )
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| 25 | ex = Vector2( sqrt(3)/2. , 1./2. )
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| 26 | """
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| 27 | _CheckPath(map_file_path)
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| 28 | path = os.path.abspath(__file__)
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| 29 | path = os.path.dirname(path)
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| 30 | map_file_path = os.path.join(path, map_file_path)
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| 31 | chid, xe, ye = np.loadtxt(map_file_path, unpack=True)
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| 32 | # -ye in order to correct for the sign difference between my mapping file
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| 33 | # and FACTmap111030.txt
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| 34 | self.x = xe
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| 35 | self.y = ye
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| 36 | coors = zip(xe,-ye,chid)
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| 37 |
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| 38 | # this list will contain vectors pointing to the center of pixel
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| 39 | # in euclidian space. The coordinate system is in the focalplane of the
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| 40 | # camera, the unit is not mm, but something like 9mm.
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| 41 | # actually the list will not only contain these vectors, but also
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| 42 | # also the CHID of the according pixel, both bundled in a tuple
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| 43 | vectors_and_chids = []
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| 44 | for c in coors:
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| 45 | vectors_and_chids.append( (Vector2(c[0], c[1]) , int(c[2])) )
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| 46 |
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| 47 | # In the next few lines, I will calculate hexagonal coordinates from
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| 48 | # the euclidian coordinates. The reason is, that I like to work with
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| 49 | # integers.
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| 50 | # I could have read these numbers from a file instead of calculating,
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| 51 | # but this is error prone, because one has to make sure, the different
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| 52 | # coordinates in a file are always conincident.
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| 53 |
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| 54 | # The center of the coordinate system is not 0. / 0. since there
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| 55 | # is not pixel :-) We decided to define the upper one of the two
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| 56 | # central pixels, as 'The Center' :-)
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| 57 | center = Vector2( 0. , 1./2.)
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| 58 | # the y-axis goes up
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| 59 | ey = Vector2( 0. , 1. )
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| 60 | # but the x-axis is turned 30degrees up, wrt the euclidian x-axis.
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| 61 | ex = Vector2( math.sqrt(3)/2. , 1./2. )
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| 62 | self.center = ( center.x , center.y )
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| 63 | self.ey = ( ey.x, ey.y)
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| 64 | self.ex = ( ex.x, ex.y )
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| 65 |
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| 66 | # these dicts will serve as translators,
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| 67 | # e.g. put a chid into chid2coor and you get a Vector2 out, which points
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| 68 | # to the center of the according pixel.
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| 69 | coor2chid = {}
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| 70 | chid2coor = {}
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| 71 | chid2coor_np = {}
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| 72 | chid2vec = {}
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| 73 | euc2chid = {}
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| 74 | # we will fill these translators now.
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| 75 | for vector_and_chid in vectors_and_chids:
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| 76 | vec = vector_and_chid[0]
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| 77 | chid = vector_and_chid[1]
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| 78 |
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| 79 | # translating from euclidian into hexagonal
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| 80 | # coordinates here...
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| 81 | x = (vec-center).x / float(ex.x)
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| 82 | y = ((vec-center)-x*ex).y / float(ey.y)
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| 83 |
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| 84 | # I want them to be integger, so I think I have to
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| 85 | # treat the values, which are almost zero special,
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| 86 | # but maybe rounding is just sufficient, as it is done
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| 87 | # in the line after these...
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| 88 | if abs(x) < 0.01:
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| 89 | x=0.0
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| 90 | if abs(y) < 0.01:
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| 91 | y=0.0
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| 92 |
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| 93 | # okay, now coor, is the hexagonal coordinate pair of the current pixel
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| 94 | # as a tuple
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| 95 | coor = (int(round(x)),int(round(y)))
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| 96 | # as Vector2
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| 97 | coor_vec = Vector2(coor[0], coor[1])
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| 98 |
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| 99 | # since we just calculated this coordinate, we should make
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| 100 | # sure, that we did not make an error such, that two pixels have the
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| 101 | # same coordinates
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| 102 | # other errors like holes in the camera plane cannot be detected so easily
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| 103 | if coor in coor2chid:
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| 104 | print 'error while filling "coor2chid":'
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| 105 | print 'coor:',coor,'of chid:',chid,
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| 106 | print 'is equal to coor of chid:',coor2chid[coor]
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| 107 |
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| 108 | # now we fill the translators
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| 109 | chid2coor[ chid ] = coor
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| 110 | chid2coor_np[ chid ] = np.array(coor)
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| 111 | chid2vec[ chid ] = coor_vec
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| 112 | # this translator is hardly used by people, but the next step
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| 113 | # the calculation of the neighbors needs it
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| 114 | coor2chid[ coor ] = chid
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| 115 | euc2chid[(vec[0],vec[1])] = chid
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| 116 |
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| 117 |
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| 118 | # hard code the offsets to the next neighbors
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| 119 | # in hexagonal coordinates, the coordinates of neighbors are easily calculated.
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| 120 | # just add one of the Vectors below.
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| 121 | offsets = [ Vector2(1,0) , # right and up
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| 122 | Vector2(-1,0) , # left and down
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| 123 | Vector2(1,-1) , # right and down
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| 124 | Vector2(0,1) , # up
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| 125 | Vector2(0,-1) , # down
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| 126 | Vector2(-1,1) ] # left and up
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| 127 | # this dict serves as a neighbor look up table
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| 128 | # put a CHID in and get a list of neighboring CHIDs out.
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| 129 | chid2nn = {}
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| 130 | for chid in chid2coor.keys():
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| 131 | coor = Vector2( chid2coor[chid][0] , chid2coor[chid][1] )
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| 132 | nn_coors = []
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| 133 | nn_chids = []
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| 134 | for offset in offsets:
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| 135 | nn_coors.append( ((coor+offset).x , (coor+offset).y) )
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| 136 | for coor in nn_coors:
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| 137 | if coor in coor2chid:
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| 138 | nn_chids.append( coor2chid[coor] )
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| 139 | chid2nn[chid] = nn_chids
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| 140 | self.nn = chid2nn
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| 141 |
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| 142 | self.chid2coor = chid2coor
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| 143 | self.chid2coor_np = chid2coor_np
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| 144 | self.coor2chid = coor2chid
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| 145 | self.chid2vec = chid2vec
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| 146 | self.euc2chid = euc2chid
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| 147 |
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| 148 | # for chid in chid2nn.keys():
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| 149 | # print chid, '->',chid2nn[chid]
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| 150 |
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| 151 | def first(a):
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| 152 | return a[0]
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| 153 |
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| 154 | def second(a):
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| 155 | return a[1]
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| 156 |
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| 157 |
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| 158 | def _CheckPath( inpath ):
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| 159 | path = os.path.abspath(__file__)
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| 160 | path = os.path.dirname(path)
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| 161 | inpath = os.path.join(path, inpath)
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| 162 | if not os.path.isfile(inpath):
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| 163 | raise IOError('not able to find file: '+inpath)
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| 164 |
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