def test_four_line_sets_should_result(self):
lines = [LineSegment.from_points([Point(0, 0), Point(1, 0)]), \
LineSegment.from_points([Point(0.5, 1), Point(1.5, 1)])]
traj_lines = [TrajectoryLineSegment(lines[0], 0), \
TrajectoryLineSegment(lines[1], 1)]
res = get_representative_trajectory_average_inputs(trajectory_line_segments=traj_lines, \
min_prev_dist=0.5, min_lines=1)
expected = 4
self.assertEquals(len(res), expected)
def test_two_short_line_endpoints_get_picked(self):
lines = [LineSegment.from_points([Point(0, 0), Point(1, 0)]), \
LineSegment.from_points([Point(0, 1), Point(1, 1)])]
traj_lines = [TrajectoryLineSegment(lines[0], 0), \
TrajectoryLineSegment(lines[1], 1)]
res = get_representative_trajectory_average_inputs(trajectory_line_segments=traj_lines, \
min_prev_dist=1, min_lines=2)
expected = 2
self.assertEquals(len(res), expected)
def from_points(cls, points: Iterable[Tuple[Point, Point]]) -> "Track":
segments: List[TrackSegment] = []
for (s1, s2), (e1, e2) in pairwise(points):
segments.append(
TrackSegment(
Wall(LineSegment.from_points((s1, e1))),
Wall(LineSegment.from_points((s2, e2))),
)
)
return cls(segments)
def get_orientation_ray(cls, perspective, landmark):
standard_direction = Vec2(0,1)
top_primary_axes = landmark.get_top_parent().get_primary_axes()
our_axis = None
for axis in top_primary_axes:
if axis.contains_point(perspective):
our_axis = axis
assert( our_axis != None )
new_axis = our_axis.parallel(landmark.representation.middle)
new_perspective = new_axis.project(perspective)
p_segment = LineSegment.from_points( [new_perspective, landmark.representation.middle] )
angle = standard_direction.angle_to(p_segment.vector)
rotation = Affine.rotation(angle)
o = [cls.orientation]
rotation.itransform(o)
direction = o[0]
ori_ray = Ray(p_segment.end, direction)
return ori_ray
def __init__(self,
orientation='height',
line=LineSegment.from_points([Vec2(0, 0),
Vec2(1, 0)]),
alt_of=None):
super(LineRepresentation, self).__init__(alt_of)
self.line = line
# extend the LineSegment to include a bounding_box field, planar doesn't have that originally
self.line.bounding_box = BoundingBox.from_points(self.line.points)
self.num_dim = 1
self.middle = line.mid
self.alt_representations = [PointRepresentation(self.line.mid, self)]
classes = [Landmark.END, Landmark.MIDDLE, Landmark.END] if orientation == 'height' \
else [Landmark.SIDE, Landmark.MIDDLE, Landmark.SIDE]
self.landmarks = {
'start':
Landmark('start', PointRepresentation(self.line.start), self,
classes[0]),
'end':
Landmark('end', PointRepresentation(self.line.end), self,
classes[2]),
'middle':
Landmark('middle', PointRepresentation(self.line.mid), self,
classes[1]),
}
def get_orientation_ray(cls, perspective, landmark):
standard_direction = Vec2(0, 1)
top_primary_axes = landmark.get_top_parent().get_primary_axes()
our_axis = None
for axis in top_primary_axes:
if axis.contains_point(perspective):
our_axis = axis
assert (our_axis != None)
new_axis = our_axis.parallel(landmark.representation.middle)
new_perspective = new_axis.project(perspective)
p_segment = LineSegment.from_points(
[new_perspective, landmark.representation.middle])
angle = standard_direction.angle_to(p_segment.vector)
rotation = Affine.rotation(angle)
o = [cls.orientation]
rotation.itransform(o)
direction = o[0]
ori_ray = Ray(p_segment.end, direction)
return ori_ray
def __init__(self, perspective, landmark, poi, orientation):
super(OrientationRelation, self).__init__(perspective, landmark, poi)
self.standard = Vec2(0,1)
self.orientation = orientation
top_primary_axes = landmark.get_top_parent().get_primary_axes()
our_axis = None
for axis in top_primary_axes:
if axis.contains_point(perspective):
our_axis = axis
assert( our_axis != None )
new_axis = our_axis.parallel(self.landmark.representation.middle)
new_perspective = new_axis.project(perspective)
p_segment = LineSegment.from_points( [new_perspective, self.landmark.representation.middle] )
angle = self.standard.angle_to(p_segment.vector)
rotation = Affine.rotation(angle)
o = [self.orientation]
rotation.itransform(o)
direction = o[0]
self.ori_ray = Ray(p_segment.end, direction)
self.projected = self.ori_ray.line.project(poi)
self.distance = self.ori_ray.start.distance_to(self.projected)
self.measurement = Measurement(self.distance, required=False)
def get_line_features(lmk):
ps = [Vec2(0, 0), Vec2(1, 0)]
ls = LineSegment.from_points(ps)
dist_start = lmk.distance_to(ls.start)
dist_end = lmk.distance_to(ls.end)
dist_mid = lmk.distance_to(ls.mid)
tl = Line.from_normal(ls.direction, ls.start.x)
dir_start = -1 if tl.point_left(lmk) else 1
tl = Line.from_normal(ls.direction, ls.end.x)
dir_end = -1 if tl.point_left(lmk) else 1
tl = Line.from_normal(ls.direction, ls.mid.x)
dir_mid = -1 if tl.point_left(lmk) else 1
return {
'dist_start': dist_start,
'dist_mid': dist_mid,
'dist_end': dist_end,
'dir_start': dir_start,
'dir_mid': dir_mid,
'dir_end': dir_end,
}
def __init__(self, lmk_group, alt_of=None):
centers = np.array([lmk.representation.middle for lmk in lmk_group])
x = centers[:,0]
y = centers[:,1]
A = np.vstack([x, np.ones(len(x))]).T
m, c = np.linalg.lstsq(A, y)[0]
lxy = zip(x, m*x + c)
points = [Vec2(px,py) for px,py in sorted(lxy)]
super(GroupLineRepresentation, self).__init__(line=LineSegment.from_points(points),alt_of=alt_of)
sorted_idx = sorted(range(len(lxy)), key=lxy.__getitem__)
self.landmark_group = [lmk_group[idx] for idx in sorted_idx]
def create_line(self,
horizontal_start,
horizontal_end,
line_set_ids,
trajectory_id,
orig_pos=None):
if orig_pos == None:
orig_pos = random.randint(0, 1000)
return {'trajectory_line_segment': \
TrajectoryLineSegment(LineSegment.from_points([Point(horizontal_start, random.randint(0, 1000)), \
Point(horizontal_end, random.randint(0, 1000))]), \
trajectory_id, orig_pos), \
'line_set_ids': line_set_ids}
def __init__(self, lmk_group, alt_of=None):
centers = np.array([lmk.representation.middle for lmk in lmk_group])
x = centers[:,0]
y = centers[:,1]
A = np.vstack([x, np.ones(len(x))]).T
m, c = np.linalg.lstsq(A, y)[0]
lxy = zip(x, m*x + c)
points = [Vec2(px,py) for px,py in sorted(lxy)]
super(GroupLineRepresentation, self).__init__(line=LineSegment.from_points(points),alt_of=alt_of)
sorted_idx = sorted(range(len(lxy)), key=lxy.__getitem__)
self.landmark_group = [lmk_group[idx] for idx in sorted_idx]
def __init__(self, orientation='height', line=LineSegment.from_points([Vec2(0, 0), Vec2(1, 0)]), alt_of=None):
super(LineRepresentation, self).__init__(alt_of)
self.line = line
# extend the LineSegment to include a bounding_box field, planar doesn't have that originally
self.line.bounding_box = BoundingBox.from_points(self.line.points)
self.num_dim = 1
self.middle = line.mid
self.alt_representations = [PointRepresentation(self.line.mid, self)]
classes = [Landmark.END, Landmark.MIDDLE, Landmark.END] if orientation == 'height' \
else [Landmark.SIDE, Landmark.MIDDLE, Landmark.SIDE]
self.landmarks = {
'start': Landmark('start', PointRepresentation(self.line.start), self, classes[0]),
'end': Landmark('end', PointRepresentation(self.line.end), self, classes[2]),
'middle': Landmark('middle', PointRepresentation(self.line.mid), self, classes[1]),
}
def __init__(self, ratio=None, line=LineSegment.from_points([Vec2(0, 0), Vec2(1, 0)]), alt_of=None):
super(LineRepresentation, self).__init__(alt_of)
self.line = line
# extend the LineSegment to include a bounding_box field, planar doesn't have that originally
self.line.bounding_box = BoundingBox.from_points(self.line.points)
self.num_dim = 1
self.middle = line.mid
self.alt_representations = [PointRepresentation(self.line.mid, self)]
self.ratio_limit = 2
if ratio is None or ratio >= self.ratio_limit:
self.landmarks = {
'start': Landmark('start', PointRepresentation(self.line.start), self, Landmark.END),
'middle': Landmark('middle', PointRepresentation(self.line.mid), self, Landmark.MIDDLE),
'end': Landmark('end', PointRepresentation(self.line.end), self, Landmark.END),
}
else:
self.landmarks = {
'start': Landmark('start', PointRepresentation(self.line.start), self, Landmark.SIDE),
'end': Landmark('end', PointRepresentation(self.line.end), self, Landmark.SIDE)
}
def __init__(self, ratio=None, line=LineSegment.from_points([Vec2(0, 0), Vec2(1, 0)]), alt_of=None):
super(LineRepresentation, self).__init__(alt_of)
self.ratio = ratio
self.line = line
# extend the LineSegment to include a bounding_box field, planar doesn't have that originally
self.line.bounding_box = BoundingBox.from_points(self.line.points)
self.num_dim = 1
self.middle = line.mid
self.alt_representations = [PointRepresentation(self.line.mid, self)]
self.ratio_limit = 2
if ratio is None or ratio >= self.ratio_limit:
self.landmarks = {
'start': Landmark('start', PointRepresentation(self.line.start), self, Landmark.END),
'middle': Landmark('middle', PointRepresentation(self.line.mid), self, Landmark.MIDDLE),
'end': Landmark('end', PointRepresentation(self.line.end), self, Landmark.END),
}
else:
self.landmarks = {
'start': Landmark('start', PointRepresentation(self.line.start), self, Landmark.SIDE),
'end': Landmark('end', PointRepresentation(self.line.end), self, Landmark.SIDE)
}
def __init__(self, rect=BoundingBox([Vec2(0, 0), Vec2(1, 2)]),
landmarks_to_get=['ll_corner','ur_corner','lr_corner','ul_corner','middle','l_edge','r_edge','n_edge','f_edge','l_surf','r_surf','n_surf','f_surf','m_surf'],
alt_of=None):
super(RectangleRepresentation, self).__init__(alt_of)
self.rect = rect
self.num_dim = 2
self.middle = rect.center
self.alt_representations = [LineRepresentation('width',
LineSegment.from_points([Vec2(self.rect.min_point.x, self.rect.center.y),
Vec2(self.rect.max_point.x, self.rect.center.y)],),
self),
LineRepresentation('height',
LineSegment.from_points([Vec2(self.rect.center.x, self.rect.min_point.y),
Vec2(self.rect.center.x, self.rect.max_point.y)]),
self)]
lrc = Vec2(self.rect.min_point.x + self.rect.width, self.rect.min_point.y)
ulc = Vec2(self.rect.max_point.x - self.rect.width, self.rect.max_point.y)
landmark_constructors = {
'll_corner': '''Landmark('ll_corner', PointRepresentation(self.rect.min_point), self, Landmark.CORNER)''',
'ur_corner': '''Landmark('ur_corner', PointRepresentation(self.rect.max_point), self, Landmark.CORNER)''',
'lr_corner': '''Landmark('lr_corner', PointRepresentation(lrc), self, Landmark.CORNER)''',
'ul_corner': '''Landmark('ul_corner', PointRepresentation(ulc), self, Landmark.CORNER)''',
'middle': '''Landmark('middle', PointRepresentation(self.rect.center), self, Landmark.MIDDLE)''',
'l_edge': '''Landmark('l_edge', LineRepresentation('height', LineSegment.from_points([self.rect.min_point, ulc])), self, Landmark.EDGE)''',
'r_edge': '''Landmark('r_edge', LineRepresentation('height', LineSegment.from_points([lrc, self.rect.max_point])), self, Landmark.EDGE)''',
'n_edge': '''Landmark('n_edge', LineRepresentation('width', LineSegment.from_points([self.rect.min_point, lrc])), self, Landmark.EDGE)''',
'f_edge': '''Landmark('f_edge', LineRepresentation('width', LineSegment.from_points([ulc, self.rect.max_point])), self, Landmark.EDGE)''',
'l_surf': '''Landmark('l_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.min_point.x+rect.width/2.0,
rect.max_point.y)]),
landmarks_to_get=['ll_corner','ul_corner','l_edge']),
self, Landmark.HALF)''',
'r_surf': '''Landmark('r_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x+rect.width/2.0,
rect.min_point.y),
rect.max_point]),
landmarks_to_get=['lr_corner','ur_corner','r_edge']),
self, Landmark.HALF)''',
'n_surf': '''Landmark('n_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.max_point.x,
rect.min_point.y+rect.height/2.0)]),
landmarks_to_get=['ll_corner','lr_corner','n_edge']),
self, Landmark.HALF)''',
'f_surf': '''Landmark('f_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x,
rect.min_point.y+rect.height/2.0),
rect.max_point]),
landmarks_to_get=['ul_corner','ur_corner','f_edge']),
self, Landmark.HALF)''',
'm_surf': '''Landmark('m_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x+rect.width/4.0,
rect.min_point.y+rect.height/4.0),
Vec2(rect.max_point.x-rect.width/4.0,
rect.max_point.y-rect.height/4.0)])), self, Landmark.MIDDLE)''',
}
self.landmarks = {}
for lmk_name in landmarks_to_get:
if lmk_name in landmark_constructors:
self.landmarks[lmk_name] = eval(landmark_constructors[lmk_name])
def linesegment_from_dict(dikt):
return LineSegment.from_points([vec2_from_dict(v) for v in dikt['points']])
def linesegment_from_dict(dikt):
return LineSegment.from_points([vec2_from_dict(v) for v in dikt['points']])
def back_wall(self) -> Wall:
return Wall(
LineSegment.from_points([
self.left_wall.line_segment.start,
self.right_wall.line_segment.start
]))
def get_line_segment_from_points(point_a, point_b):
return LineSegmentWrapper(LineSegment.from_points([point_a, point_b]))
def __init__(self, rect=BoundingBox([Vec2(0, 0), Vec2(1, 2)]),
landmarks_to_get=['ll_corner','ur_corner','lr_corner','ul_corner',
'middle',
'l_edge','r_edge','n_edge','f_edge',
'l_surf','r_surf','n_surf','f_surf',
'm_surf',
'll_corner_surf','ur_corner_surf','lr_corner_surf','ul_corner_surf',
'l_edge_surf','r_edge_surf','n_edge_surf','f_edge_surf'],
alt_of=None):
super(RectangleRepresentation, self).__init__(alt_of)
self.rect = rect
self.num_dim = 2
self.middle = rect.center
self.landmarks_to_get = landmarks_to_get
vert_ratio = self.rect.height / self.rect.width
horiz_ratio = self.rect.width / self.rect.height
self.alt_representations = [LineRepresentation( horiz_ratio,
LineSegment.from_points([Vec2(self.rect.min_point.x, self.rect.center.y),
Vec2(self.rect.max_point.x, self.rect.center.y)],),
self),
LineRepresentation( vert_ratio,
LineSegment.from_points([Vec2(self.rect.center.x, self.rect.min_point.y),
Vec2(self.rect.center.x, self.rect.max_point.y)]),
self)]
lrc = Vec2(self.rect.min_point.x + self.rect.width, self.rect.min_point.y)
ulc = Vec2(self.rect.max_point.x - self.rect.width, self.rect.max_point.y)
min_dimension = min(self.rect.height,self.rect.width)
landmark_constructors = {
'll_corner': '''Landmark('ll_corner', PointRepresentation(self.rect.min_point), self, Landmark.CORNER)''',
'ur_corner': '''Landmark('ur_corner', PointRepresentation(self.rect.max_point), self, Landmark.CORNER)''',
'lr_corner': '''Landmark('lr_corner', PointRepresentation(lrc), self, Landmark.CORNER)''',
'ul_corner': '''Landmark('ul_corner', PointRepresentation(ulc), self, Landmark.CORNER)''',
'middle': '''Landmark('middle', PointRepresentation(self.rect.center), self, Landmark.MIDDLE)''',
'l_edge_surf': '''Landmark('l_edge', LineRepresentation(vert_ratio, LineSegment.from_points([self.rect.min_point, ulc])), self, Landmark.EDGE)''',
'r_edge': '''Landmark('r_edge', LineRepresentation(vert_ratio, LineSegment.from_points([lrc, self.rect.max_point])), self, Landmark.EDGE)''',
'n_edge': '''Landmark('n_edge', LineRepresentation(horiz_ratio, LineSegment.from_points([self.rect.min_point, lrc])), self, Landmark.EDGE)''',
'f_edge': '''Landmark('f_edge', LineRepresentation(horiz_ratio, LineSegment.from_points([ulc, self.rect.max_point])), self, Landmark.EDGE)''',
'l_surf': '''Landmark('l_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.min_point.x+rect.width/2.0,
rect.max_point.y)]),
landmarks_to_get=['ll_corner','ul_corner','l_edge']),
self, Landmark.HALF)''',
'r_surf': '''Landmark('r_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x+rect.width/2.0,
rect.min_point.y),
rect.max_point]),
landmarks_to_get=['lr_corner','ur_corner','r_edge']),
self, Landmark.HALF)''',
'n_surf': '''Landmark('n_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.max_point.x,
rect.min_point.y+rect.height/2.0)]),
landmarks_to_get=['ll_corner','lr_corner','n_edge']),
self, Landmark.HALF)''',
'f_surf': '''Landmark('f_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x,
rect.min_point.y+rect.height/2.0),
rect.max_point]),
landmarks_to_get=['ul_corner','ur_corner','f_edge']),
self, Landmark.HALF)''',
'm_surf': '''Landmark('m_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x+rect.width/4.0,
rect.min_point.y+rect.height/4.0),
Vec2(rect.max_point.x-rect.width/4.0,
rect.max_point.y-rect.height/4.0)])), self, Landmark.MIDDLE)''',
'll_corner_surf': '''Landmark('ll_corner_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.min_point.x+min_dimension/4.0,
rect.min_point.y+min_dimension/4.0)])), self, Landmark.CORNER)''',
'ur_corner_surf': '''Landmark('ur_corner_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.max_point.x-min_dimension/4.0,
rect.max_point.y-min_dimension/4.0),
rect.max_point])), self, Landmark.CORNER)''',
'lr_corner_surf': '''Landmark('lr_corner_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.max_point.x-min_dimension/4.0,
rect.min_point.y),
Vec2(rect.max_point.x,
rect.min_point.y+min_dimension/4.0)])), self, Landmark.CORNER)''',
'ul_corner_surf': '''Landmark('ul_corner_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x,
rect.max_point.y-min_dimension/4.0),
Vec2(rect.min_point.x+min_dimension/4.0,
rect.max_point.y)])), self, Landmark.CORNER)''',
'l_edge_surf': '''Landmark('l_edge_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.min_point.x+min_dimension/8.0,
rect.max_point.y)])), self, Landmark.EDGE)''',
'r_edge_surf': '''Landmark('r_edge_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.max_point.x-min_dimension/8.0,
rect.min_point.y),
rect.max_point])), self, Landmark.EDGE)''',
'n_edge_surf': '''Landmark('n_edge_surf', SurfaceRepresentation( BoundingBox([rect.min_point,
Vec2(rect.max_point.x,
rect.min_point.y+min_dimension/8.0)])), self, Landmark.EDGE)''',
'f_edge_surf': '''Landmark('f_edge_surf', SurfaceRepresentation( BoundingBox([Vec2(rect.min_point.x,
rect.max_point.y-min_dimension/8.0),
rect.max_point])), self, Landmark.EDGE)''',
}
self.landmarks = {}
for lmk_name in landmarks_to_get:
if lmk_name in landmark_constructors:
self.landmarks[lmk_name] = eval(landmark_constructors[lmk_name])
def front_wall(self) -> Wall:
return Wall(
LineSegment.from_points([
self.left_wall.line_segment.end,
self.right_wall.line_segment.end
]))
def poly_to_edges(poly):
edges = []
for i in range(1, len(poly)):
edges.append( LineSegment.from_points([poly[i-1],poly[i]]) )
edges.append( LineSegment.from_points([poly[i],poly[0]]) )
return edges
def poly_to_edges(poly):
edges = []
for i in range(1, len(poly)):
edges.append(LineSegment.from_points([poly[i - 1], poly[i]]))
edges.append(LineSegment.from_points([poly[i], poly[0]]))
return edges