I used AutoIt's _ScreenCapture_Capture() before without any trouble. But on Windows 10 with a 4k resolution screen I'm using DPI scaling at 200%. _ScreenCapture_capture() now gets something 2x zoomed in and half the location I asked for.
For instance :
_ScreenCapture_Capture("c:\a.bmp", 100, 100, 200, 200)
; Path, X1, Y1, X2, Y2
Does not return a 100x100 pixel square of the screen (at 100,100 to 200,200). It returns a 100x100 pixel square (at 50,50 to 100,100) instead.
I did find a solution :
DllCall("User32.dll", "bool", "SetProcessDPIAware")
However this screws up the GUI looks. So I then found this code:
GUISetFont(8.5 * _GDIPlus_GraphicsGetDPIRatio()[0])
Func _GDIPlus_GraphicsGetDPIRatio($iDPIDef = 96)
Local $aResults[2] = [1, 1]
_GDIPlus_Startup()
Local $hGfx = _GDIPlus_GraphicsCreateFromHWND(0)
If #error Then Return SetError(1, #extended, $aResults)
#forcedef $__g_hGDIPDll, $ghGDIPDll
$aResult = DllCall($__g_hGDIPDll, "int", "GdipGetDpiX", "handle", $hGfx, "float*", 0)
If #error Then Return SetError(2, #extended, $aResults)
Local $iDPI = $aResult[2]
Local $aresults[2] = [$iDPIDef / $iDPI, $iDPI / $iDPIDef]
_GDIPlus_GraphicsDispose($hGfx)
_GDIPlus_Shutdown()
Return $aresults
EndFunc ;==>_GDIPlus_GraphicsGetDPIRatio
Which works great for the GUI but doesn't help for _ScreenCapture_Capture() calls. Seems I can either have a good looking- or a functioning program, not both.
How could I combine these two solutions to get both a good GUI and a functioning program? If I knew how to do the opposite of :
DllCall("User32.dll", "bool", "SetProcessDPIAware")
Then when I need to capture a screen portion I could turn on compatibility, then immediately turn it off when done capturing. But I don't know how to 'UNsetprocessdpiaware'.
If you are using Windows 10 A update (10.0.14393) you can spin up a separate thread and make the thread alone Per Monitor DPI aware, and leave your main GUI as dpi unaware.
See
SetThreadDpiAwarenessContext function
If you are building using a version of visual studio before 2015 you can declare a pointer to the function prototype
DPI_AWARENESS_CONTEXT WINAPI SetThreadDpiAwarenessContext(
_In_ DPI_AWARENESS_CONTEXT dpiContext
);
and use GetProcAddress to test for the presence of the function before you call it. Anything in that thread will give you raw physical information if you used
DPI_AWARENESS_CONTEXT_PER_MONITOR_AWARE
Note that this function is not available on Windows 10 10.0.10586. You must test for its availability.
Related
I'm a student teaching myself Drake, specifically pydrake with Dr. Russ Tedrake's excellent Underactuated Robotics course. I am trying to write a combined energy shaping and lqr controller for keeping a cartpole system balanced upright. I based the diagram on the cartpole example found in Chapter 3 of Underactuated Robotics [http://underactuated.mit.edu/acrobot.html], and the SwingUpAndBalanceController on Chapter 2: [http://underactuated.mit.edu/pend.html].
I have found that due to my use of the cart_pole.sdf model I have to create an abstract input port due receive FramePoseVector from the cart_pole.get_output_port(0). From there I know that I have to create a control signal output of type BasicVector to feed into a Saturation block before feeding into the cartpole's actuation port.
The problem I'm encountering right now is that I'm not sure how to get the system's current state data in the DeclareVectorOutputPort's callback function. I was under the assumption I would use the LeafContext parameter in the callback function, OutputControlSignal, obtaining the BasicVector continuous state vector. However, this resulting vector, x_bar is always NaN. Out of desperation (and testing to make sure the rest of my program worked) I set x_bar to the controller's initialization cart_pole_context and have found that the simulation runs with a control signal of 0.0 (as expected). I can also set output to 100 and the cartpole simulation just flies off into endless space (as expected).
TL;DR: What is the proper way to obtain the continuous state vector in a custom controller extending LeafSystem with a DeclareVectorOutputPort?
Thank you for any help! I really appreciate it :) I've been teaching myself so it's been a little arduous haha.
# Combined Energy Shaping (SwingUp) and LQR (Balance) Controller
# with a simple state machine
class SwingUpAndBalanceController(LeafSystem):
def __init__(self, cart_pole, cart_pole_context, input_i, ouput_i, Q, R, x_star):
LeafSystem.__init__(self)
self.DeclareAbstractInputPort("state_input", AbstractValue.Make(FramePoseVector()))
self.DeclareVectorOutputPort("control_signal", BasicVector(1),
self.OutputControlSignal)
(self.K, self.S) = BalancingLQRCtrlr(cart_pole, cart_pole_context,
input_i, ouput_i, Q, R, x_star).get_LQR_matrices()
(self.A, self.B, self.C, self.D) = BalancingLQRCtrlr(cart_pole, cart_pole_context,
input_i, ouput_i,
Q, R, x_star).get_lin_matrices()
self.energy_shaping = EnergyShapingCtrlr(cart_pole, x_star)
self.energy_shaping_context = self.energy_shaping.CreateDefaultContext()
self.cart_pole_context = cart_pole_context
def OutputControlSignal(self, context, output):
#xbar = copy(self.cart_pole_context.get_continuous_state_vector())
xbar = copy(context.get_continuous_state_vector())
xbar_ = np.array([xbar[0], xbar[1], xbar[2], xbar[3]])
xbar_[1] = wrap_to(xbar_[1], 0, 2.0*np.pi) - np.pi
# If x'Sx <= 2, then use LQR ctrlr. Cost-to-go J_star = x^T * S * x
threshold = np.array([2.0])
if (xbar_.dot(self.S.dot(xbar_)) < 2.0):
#output[:] = -self.K.dot(xbar_) # u = -Kx
output.set_value(-self.K.dot(xbar_))
else:
self.energy_shaping.get_input_port(0).FixValue(self.energy_shaping_context,
self.cart_pole_context.get_continuous_state_vector())
output_val = self.energy_shaping.get_output_port(0).Eval(self.energy_shaping_context)
output.set_value(output_val)
print(output)
Here are two things that might help:
If you want to get the state of the cart-pole from MultibodyPlant, you probably want to be connecting to the continuous_state output port, which gives you a normal vector instead of the abstract-type FramePoseVector. In that case, your call to get_input_port().Eval(context) should work just fine.
If you do really want to read the FramePoseVector, then you have to evaluate the input port slightly differently. You can find an example of that here.
I was trying to create simple 2d game using tkinter, but faced with interesting problem: animation speed is quite different on various computers.
To test this, I've create script, that measures time of animation
import tkinter as tk
import datetime
root = tk.Tk()
can = tk.Canvas(height=500, width=1000)
can.pack()
rect = can.create_rectangle(0, 240, 20, 260, fil='#5F6A6A')
def act():
global rect, can
pos = can.coords(rect)
if pos[2] < 1000:
can.move(rect, 5, 0)
can.update()
can.after(1)
act()
def key_down(key):
t = datetime.datetime.now()
act()
print(datetime.datetime.now() - t)
can.bind("<Button-1>", key_down)
root.mainloop()
and get these results:
i3-7100u ubuntu 20.04 laptop python3.8.5 - 0.5 seconds
i3-7100u windows 10 laptop python3.9.4 - 3 seconds
i3-6006u ubuntu 20.10 laptop python3.9.x - 0.5 seconds
i3-6006u windows 10 laptop python3.8.x - 3 seconds
i5-7200u windows 10 laptop python3.6.x - 3 seconds
i5-8400 windows 10 desktop python3.9.x - 3 seconds
fx-9830p windows 10 laptop python3.8.x - 0.5 seconds
tkinter vesrion is the same - 8.6
How can be it fixed or at least explained?
tkinter.Canvas.after should be used like so:
def act():
global rect, can
pos = can.coords(rect)
if pos[2] < 1000:
can.move(rect, 5, 0)
can.update()
can.after(1, act)
The after method is not like time.sleep. Rather than recursively calling the function, the above code schedules it to be called later, so this will break your timing code.
If you want to time it again, try this:
def act():
global rect, can, t
pos = can.coords(rect)
if pos[2] < 1000:
can.move(rect, 5, 0)
can.update()
can.after(1, act)
else:
print(datetime.datetime.now() - t)
def key_down(key):
global t
t = datetime.datetime.now()
act()
This may still take different amounts of time on different machines. This difference can be caused by a variety of things like CPU speed, the implementation of tkinter for your OS etc. The difference can be reduced by increasing the delay between iterations: tkinter.Canvas.after takes a time in milliseconds, so a delay of 16 can still give over 60 frames per seconds.
If keeping the animation speed constant is important, I would recommend you use delta time in your motion calculations rather than assuming a constant frame rate.
AS you can see from your data it doesent matter which python version. It appears that ubuntu systems can help process python easier. However, im pretty sure its just the processer or how much ram the computer has.
I have a problem with my 5 inch resistive touch screen which I need to calibrate touch on Kivy app. My touch in Raspberry pi is correctly calibrated but when it comes to Kivy app it is not correct.
How can I calibrate the touch to get accurate touch in my Kivy app (GUI). I am using Raspberry pi 3 with Raspbian os (full version not lite) this.
Take a look at the configuration options for Kivy's mtdev input module: https://kivy.org/docs/api-kivy.input.providers.mtdev.html - in particular max_position_x, min_position_y, etc. From the documentation:
You can use a custom range for the X, Y and pressure values. On some drivers, the range reported is invalid. To fix that, you can add these options to the argument line:
invert_x : 1 to invert X axis
invert_y : 1 to invert Y axis
min_position_x : X minimum
max_position_x : X maximum
min_position_y : Y minimum
max_position_y : Y maximum
min_pressure : pressure minimum
max_pressure : pressure maximum
min_touch_major : width shape minimum
max_touch_major : width shape maximum
min_touch_minor : width shape minimum
max_touch_minor : height shape maximum
rotation : 0,90,180 or 270 to rotate
In ~/.kivy/config.ini, you should put something like this:
[input]
mtdev_%(name)s = probesysfs,provider=mtdev,max_position_x=12345,max_position_y=12345
This is if you're using mtdev, but you can also use hidinput from kernel 2.6.34 onwards. See also: https://kivy.readthedocs.io/en/master/api-kivy.input.providers.hidinput.html
I am trying to write a module for myself for doing some simple drawing with cairocffi to make using the package a bit less cumbersome. However, I seem to have run into some trouble with properly implementing clipping. Specifically, I am having trouble properly resetting the clipping region.
I wrote an example Python script, whose result should be a PostScript file with:
1 red circle (circle_1)
1 black line from the bottom left to the top right of the circle (line1)
1 black line from the top left of the image to the bottom right of the image (line2)
Instead of line2 extending from corner to corner, though, it is still being clipped by the previous call to clip().
Here's the example script:
import cairocffi as cairo
from math import pi
fig_w, fig_h = 237.6, 237.6
test_surf = cairo.PSSurface('test.ps', fig_w, fig_h)
temp_surf = cairo.PSSurface('temp.ps', fig_w, fig_h)
line1 = cairo.Context(temp_surf)
line1.move_to(0, fig_h)
line1.line_to(fig_w, 0)
line1.set_source_rgb(0,0,0)
line1.stroke()
circle_1 = cairo.Context(test_surf)
circle_1.arc(fig_w/2, fig_h/2, fig_w/4, 0, 2*pi)
circle_1.close_path()
circle_1.set_source_rgb(1,0,0)
circle_1.stroke_preserve()
circle_1.set_source_surface(temp_surf)
with circle_1:
circle_1.clip()
circle_1.paint()
line2 = cairo.Context(test_surf)
line2.reset_clip()
line2.move_to(0, 0)
line2.line_to(fig_w, fig_h)
line2.set_source_rgb(0,0,0)
line2.stroke()
I'm not really sure what I'm doing wrong. This seems to be how the cairocffi documentation would suggest that it should be done (i.e., see reset_clip() and save()).
If anyone can point out what I'm doing incorrectly, I'd really appreciate it.
I want to plot a simplified heatmap that is not so difficult to edit with the scalar vector graphics program I am using (inkscape). The original heatmap as produced below contains lots of rectangles, and I wonder if they could be merged together in the different sectors to simplify the output pdf file:
nentries=100000
ci=rainbow(nentries)
set.seed=1
mean=10
## Generate some data (4 factors)
i = data.frame(
a=round(abs(rnorm(nentries,mean-2))),
b=round(abs(rnorm(nentries,mean-1))),
c=round(abs(rnorm(nentries,mean+1))),
d=round(abs(rnorm(nentries,mean+2)))
)
minvalue = 10
# Discretise values to 1 or 0
m0 = matrix(as.numeric(i>minvalue),nrow=nrow(i))
# Remove rows with all zeros
m = m0[rowSums(m0)>0,]
# Reorder with 1,1,1,1 on top
ms =m[order(as.vector(m %*% matrix(2^((ncol(m)-1):0),ncol=1)), decreasing=TRUE),]
rowci = rainbow(nrow(ms))
colci = rainbow(ncol(ms))
colnames(ms)=LETTERS[1:4]
limits=c(which(!duplicated(ms)),nrow(ms))
l=length(limits)
toname=round((limits[-l]+ limits[-1])/2)
freq=(limits[-1]-limits[-l])/nrow(ms)
rn=rep("", nrow(ms))
for(i in toname) rn[i]=paste(colnames(ms)[which(ms[i,]==1)],collapse="")
rn[toname]=paste(rn[toname], ": ", sprintf( "%.5f", freq ), "%")
heatmap(ms,
Rowv=NA,
labRow=rn,
keep.dendro = FALSE,
col=c("black","red"),
RowSideColors=rowci,
ColSideColors=colci,
)
dev.copy2pdf(file="/tmp/file.pdf")
Why don't you try RSvgDevice? Using it you could save your image as svg file, which is much convenient to Inkscape than pdf
I use the Cairo package for producing svg. It's incredibly easy. Here is a much simpler plot than the one you have in your example:
require(Cairo)
CairoSVG(file = "tmp.svg", width = 6, height = 6)
plot(1:10)
dev.off()
Upon opening in Inkscape, you can ungroup the elements and edit as you like.
Example (point moved, swirl added):
I don't think we (the internet) are being clear enough on this one.
Let me just start off with a successful export example
png("heatmap.png") #Ruby dev's think of this as kind of like opening a `File.open("asdfsd") do |f|` block
heatmap(sample_matrix, Rowv=NA, Colv=NA, col=terrain.colors(256), scale="column", margins=c(5,10))
dev.off()
The dev.off() bit, in my mind, reminds me of an end call to a ruby block or method, in that, the last line of the "nested" or enclosed (between png() and dev.off()) code's output is what gets dumped into the png file.
For example, if you ran this code:
png("heatmap4.png")
heatmap(sample_matrix, Rowv=NA, Colv=NA, col=terrain.colors(32), scale="column", margins=c(5,15))
heatmap(sample_matrix, Rowv=NA, Colv=NA, col=greenred(32), scale="column", margins=c(5,15))
dev.off()
it would output the 2nd (greenred color scheme, I just tested it) heatmap to the heatmap4.png file, just like how a ruby method returns its last line by default