def transformTrack(self, track):
points = np.asarray(track.positions)
undistorted = [
np.array([x, self._imgHeight - y]) for x, y in track.positions
]
newTrack = Track(np.asarray(undistorted), track.times, track.id)
return newTrack
def transformTracks(self, tracks):
for track in tracks:
points = np.asarray(track.positions)
undistorted = [
np.array([x, self._imgHeight - y]) for x, y in track.positions
]
newTrack = Track(np.asarray(undistorted), track.times, track.id)
yield newTrack
def transformTrack(self, track):
points = np.asarray(track.positions)
undistorted = [
np.dot(self._rotation, np.append(p, [1])) for p in track.positions
]
newTrack = Track(np.asarray(undistorted), track.times, track.id)
return newTrack
def simulateWithMass(self,
particle,
velocity,
mass,
endTime,
startTime=0.0):
if (self._flowField is None):
print("Error: No vector field is set")
return None
self._mass = mass
particleObservations = []
particlePositions = []
particleTimes = []
# y = [x, y, x', y']
f = lambda t, y: self._motion(t, y)
r = ode(f).set_integrator('dop853')
x, y = particle
vx, vy = velocity
if self._mass < 0.001:
vx, vy = self._flowField.sampleAtPoint((x, y))
y0 = np.asarray([x, y, vx, vy])
print("y0:", y0)
particleVel = self._flowField.sampleAtPoint(tuple(particle))
print(f"Field Velocity at initial particle location: {particleVel}")
t0 = startTime
print(self._motion(t0, y0))
#particleTimes.append(t0)
#particlePositions.append(y0)
savePosition = lambda t, y: particleObservations.append((t, [*y]))
r.set_solout(savePosition)
r.set_initial_value(y0, t0)
r.integrate(endTime)
for t, p in particleObservations:
particleTimes.append(t)
particlePositions.append(np.asarray(p[:2]))
particleTrack = Track(particlePositions, particleTimes)
return particleTrack
def simulateODEInt(self, particle, times):
if (self._flowField is None):
print("Error: No vector field is set")
return None
particleObservations = []
particlePositions = []
particleTimes = []
f = lambda y, t: list(self._flowField.sampleAtPoint(tuple(y)))
particleVel = self._flowField.sampleAtPoint(tuple(particle))
print(f"Initial Particle Velocity: {particleVel}")
y0 = np.asarray(particle)
solution = odeint(f, y0, times)
#print(solution)
particleTrack = Track(solution, times)
return particleTrack
def simulate(self, particle, endTime, startTime=0.0, timestep=None):
if (self._flowField is None):
print("Error: No vector field is set")
return None
particleObservations = []
particlePositions = []
particleTimes = []
f = lambda t, y: list(self._flowField.sampleAtPoint(tuple(y)))
r = ode(f).set_integrator('dop853')
particleVel = self._flowField.sampleAtPoint(tuple(particle))
#print(f"Initial Particle Velocity: {particleVel}")
y0 = np.asarray(particle)
t0 = startTime
#particleTimes.append(t0)
#particlePositions.append(y0)
if (timestep is None):
savePosition = lambda t, y: particleObservations.append((t, [*y]))
r.set_solout(savePosition)
r.set_initial_value(y0, t0)
r.integrate(endTime)
else:
r.set_initial_value(y0, t0)
while (r.successful() and r.t < endTime):
y = r.integrate(r.t + timestep)
particleObservations.append((r.t, [*y]))
for t, p in particleObservations:
particleTimes.append(t)
particlePositions.append(np.asarray(p))
particleTrack = Track(particlePositions, particleTimes)
return particleTrack
def inverseTransformTrack(self, track):
points = np.asarray(track.positions)
distorted = self._camera.distortPoints(points)
newTrack = Track(np.asarray(distorted), track.times, track.id)
return newTrack
def transformTracks(self, tracks):
for track in tracks:
points = np.asarray(track.positions)
undistorted = self._camera.undistortPoints(points)
newTrack = Track(np.asarray(undistorted), track.times, track.id)
yield newTrack
boatPosition = (boat[0] + boat[2] / 2, boat[1] + boat[3] / 2)
frontPanelPosition = (frontPanel[0] + frontPanel[2] / 2,
frontPanel[1] + frontPanel[3] / 2)
rearPanelPosition = (rearPanel[0] + rearPanel[2] / 2,
rearPanel[1] + rearPanel[3] / 2)
b.append(np.array(boatPosition))
f.append(np.array(frontPanelPosition))
r.append(np.array(rearPanelPosition))
db = [b, f, r]
c1 = f[-1]
c2 = r[-1]
m = (c1 + c2) / 2
boatTrack = Track.from_point(m, timestamp)
while (data.more()):
img, timestamp = data.read()
transImg = undistortTransform.transformImage(img)
ok, boxes = boatTracker.update(transImg)
for i, box in enumerate(boxes):
if ok:
position = (box[0] + box[2] / 2, box[1] + box[3] / 2)
db[i].append(np.array(position))
p1 = (int(box[0]), int(box[1]))
p2 = (int(box[0] + box[2]), int(box[1] + box[3]))
color = [0., 0., 0.]
color[i] = 200.
cv2.rectangle(transImg, p1, p2, tuple(color), 2)