image_based_navigation.py 文件源码

def set_circular_observation(self, img, col_center, row_center, radius, color=(0,0,0)):
        rr,cc = circle(row_center, col_center, radius)
        # make sure within bounds of img
        rr[rr<0] = 0
        rr[rr>img.shape[0]-1] = img.shape[0]-1
        cc[cc<0] = 0
        cc[cc>img.shape[1]-1] = img.shape[1]-1
        img[rr,cc] = color
        return img