def intersection_over_union(target, list_of_bboxes, xp):
print list_of_bboxes.shape
target = LinearRing(get_vertex(target))
list_of_bboxes = [LinearRing(get_vertex(i)) for i in list_of_bboxes]
areas = xp.zeros(len(list_of_bboxes))
for index, item in enumerate(list_of_bboxes):
vertex = []
if target.intersects(item):
if isinstance(target.intersection(item),Point):
continue
for ver in target.intersection(item):
if isinstance(ver,LineString):
u, v = ver.xy
vertex.append([u[0], v[0]])
vertex.append([u[1], v[1]])
else:
vertex.append([ver.x, ver.y])
for ver in target.coords[:4]:
if Point(ver).within(Polygon(item)):
vertex.append(list(ver))
for ver in item.coords[:4]:
if Point(ver).within(Polygon(target)):
vertex.append(list(ver))
areas[index] = Polygon(PolygonSort(vertex)).area
return areas
def IoU(bbox_a,bbox_b):
bbox_a = LinearRing(get_vertex(bbox_a))
bbox_b = LinearRing(get_vertex(bbox_b))
vertex = []
if bbox_a.intersects(bbox_b):
if isinstance(bbox_a.intersection(bbox_b),Point):
return 0
for ver in bbox_a.intersection(bbox_b):
if isinstance(ver,LineString):
u, v = ver.xy
vertex.append([u[0], v[0]])
vertex.append([u[1], v[1]])
else:
vertex.append([ver.x, ver.y])
for ver in bbox_a.coords[:4]:
if Point(ver).within(Polygon(bbox_b)):
vertex.append(list(ver))
for ver in bbox_b.coords[:4]:
if Point(ver).within(Polygon(bbox_a)):
vertex.append(list(ver))
return Polygon(PolygonSort(vertex)).area
return 0
def fig_intersects(fig1, fig2) -> float:
lr1 = LinearRing(fig1)
lr2 = LinearRing(fig2)
return 1 if lr1.intersects(lr2) else 0
def TakeAction(self, action):
if not self.injail:
proposal = Point((self.current_state.x + action[0],
self.current_state.y + action[1]))
#print proposal.x, proposal.y
path = LineString([self.current_state, proposal])
if self.obstacles:
for obstacle in self.obstacles:
if obstacle.intersects(path):
self.injail = True
self.current_state = Point((-1, -1))
return
if self.muds:
for mud in self.muds:
if mud.intersects(path):
# print 'we are here'
path_inmud = mud.intersection(path)
coords = [path.coords[0], path.coords[1]]
for loc in path_inmud.coords:
if loc not in coords:
coords.append(loc)
coords.sort(key=lambda tup: tup[1])
p_in_mud = proposal.intersects(mud)
s_in_mud = self.current_state.intersects(mud)
if p_in_mud and not s_in_mud:
# print 'current not in mud'
if coords.index((self.current_state.x,
self.current_state.y)) == 0:
x = coords[1][0] - coords[0][0] + 0.5 * (
coords[-1][0] - coords[1][0])
y = coords[1][1] - coords[0][1] + 0.5 * (
coords[-1][1] - coords[1][1])
proposal = Point(
(coords[0][0] + x, coords[0][1] + y))
else:
x = coords[1][0] - coords[-1][0] + 0.5 * (
coords[0][0] - coords[1][0])
y = coords[1][1] - coords[-1][1] + 0.5 * (
coords[0][1] - coords[1][1])
proposal = Point(
(coords[-1][0] + x, coords[-1][1] + y))
elif s_in_mud and not p_in_mud:
# print 'proposal not in mud'
if coords.index((self.current_state.x,
self.current_state.y)) == 0:
x = 0.5 * (coords[1][0] - coords[0][0]) + (
coords[-1][0] - coords[1][0])
y = 0.5 * (coords[1][1] - coords[0][1]) + (
coords[-1][1] - coords[1][1])
proposal = Point(
(coords[0][0] + x, coords[0][1] + y))
else:
x = 0.5 * (coords[1][0] - coords[-1][0]) + (
coords[0][0] - coords[1][0])
y = 0.5 * (coords[1][1] - coords[-1][1]) + (
coords[0][1] - coords[1][1])
proposal = Point(
(coords[-1][0] + x, coords[-1][1] + y))
else:
proposal = Point(
(self.current_state.x + action[0] * 0.5,
self.current_state.y + action[1] * 0.5))
path = LineString([self.current_state, proposal])
bounds = LinearRing(self.maze.exterior.coords)
if bounds.intersects(path):
onedge = bounds.intersection(path)
if type(onedge) is MultiPoint:
for point in onedge:
if not point.equals(self.current_state):
proposal = point
elif type(onedge) is Point:
if not onedge.equals(self.current_state):
proposal = onedge
elif not self.maze.contains(proposal):
proposal = bounds.interpolate(bounds.project(proposal))
self.current_state = proposal
else:
self.deadend_toleration = self.deadend_toleration - 1
return self.GetCurrentState()
