def center_point1():
outdir = get_comptests_output_dir()
templates = load_tile_types()
for k, v in templates.items():
if isinstance(v, LaneSegment):
area = RectangularArea((-2, -2), (3, 3))
dest = os.path.join(outdir, k)
N = len(v.control_points)
betas = list(np.linspace(-2, N + 1, 20))
betas.extend(range(N))
betas = sorted(betas)
transforms = []
for timestamp in betas:
beta = timestamp
p = v.center_point(beta)
# print('%s: %s' % (beta, geo.SE2.friendly(p)))
transform = SE2Transform.from_SE2(p)
transforms.append(transform)
c = SampledSequence[SE2Transform](betas, transforms)
v.set_object("a", PlacedObject(), ground_truth=c)
draw_static(v, dest, area=area)
def get_sampling_points(ob0: PlacedObject) -> List[Timestamp]:
points = set()
def f(ob: PlacedObject) -> PlacedObject:
# print(ob)
if hasattr(ob, "get_sampling_points"):
if not isinstance(ob, GenericSequence):
raise ZValueError(ob=ob)
sp = ob.get_sampling_points()
if sp == GenericSequence.CONTINUOUS:
pass
else:
points.update(sp)
# else:
# logger.info(f'not a seq: {type(ob)}')
return ob
ob0.filter_all(f)
return sorted(points)
def f(ob: PlacedObject) -> PlacedObject:
# print(ob)
if hasattr(ob, "get_sampling_points"):
if not isinstance(ob, GenericSequence):
raise ZValueError(ob=ob)
sp = ob.get_sampling_points()
if sp == GenericSequence.CONTINUOUS:
pass
else:
points.update(sp)
# else:
# logger.info(f'not a seq: {type(ob)}')
return ob
def remove_stuff_and_children(ob, toremove):
assert isinstance(ob, PlacedObject)
children = {}
for child_name, child in ob.children.items():
if child_name in toremove:
pass
else:
children[child_name] = child
srs = {}
for sr_name, sr in ob.spatial_relations.items():
if sr.b[0] in toremove:
pass
else:
srs[sr_name] = sr
return PlacedObject(children=children, spatial_relations=srs)
def __init__(self, tag=None, **kwargs):
PlacedObject.__init__(self, **kwargs)
self.tag = tag
def __init__(self, tag=None, **kwargs):
# noinspection PyArgumentList
PlacedObject.__init__(self, **kwargs)
self.tag = tag