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feat: add perspective transform

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russian_proger
2026-01-10 17:47:32 +03:00
parent 155bf17847
commit 17594bc8fc
6 changed files with 150 additions and 254 deletions
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28
main.py
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@@ -142,9 +142,19 @@ def main():
if i == zoom_next_event:
r = random.randint(0, 1)
direction = ['up', 'down'][r]
simulator.change_zoom(direction)
# simulator.change_zoom(direction)
zoom_next_event = i + random.randint(20, 40)
# if i > 0:
# simulator.set_pitch(np.sin(i / 10) * 5)
# simulator.set_roll(np.sin(i / 15) * 5)
# simulator.set_zoom(1.0 + np.sin(i / 10) * 0.3)
if command.stop:
break
# simulator.handle(command.dangle, command.velocity)
chunk = simulator.get_chunk()
command = pilot.handle(chunk)
@@ -157,26 +167,24 @@ def main():
vis_manager.pause(0.2)
vis_manager.set_target_index(pilot.target_idx)
vis_manager.update_drone_trajectory(pilot.geo.x, pilot.geo.y)
vis_manager.update_global_map(simulator.geo.x, simulator.geo.y)
vis_manager.update_error_plot(i, pilot.geo.x, pilot.geo.y, simulator.geo.x, simulator.geo.y)
vis_manager.update_drone_trajectory(pilot.pos.x, pilot.pos.y)
vis_manager.update_global_map(simulator.pos.x, simulator.pos.y)
vis_manager.update_error_plot(i, pilot.pos.x, pilot.pos.y, simulator.pos.x, simulator.pos.y)
errors.append(np.hypot(pilot.geo.x - simulator.geo.x, pilot.geo.y - simulator.geo.y))
errors.append(np.hypot(pilot.pos.x - simulator.pos.x, pilot.pos.y - simulator.pos.y))
if last_chunk_index != pilot.target_idx:
last_chunk_index = pilot.target_idx
chunk_errors.append(errors[-1])
chunk_improves.append(errors[-1] - errors[max(len(errors) - 2, 0)])
if command.stop:
break
simulator.handle(command.dangle, command.velocity)
vis_manager.update_display()
vis_manager.pause(0.2)
last_proc_times = proc_time[-10:]
print("Average FPS:", 1 / last_proc_times.mean())
print("Pilot coords:", pilot.pos)
print("Simulator coords:", simulator.pos)
simulator.handle(command.dangle, command.velocity)
print("Errors:", errors)
print("MSE:", (np.array(errors) ** 2).mean())